From 32836b06945bac5da3bdd50cfed51f6387e2f5f1 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 4 Jul 2019 12:49:45 -0700 Subject: [PATCH 001/389] set up deformable world and solver (does not support contact or friction yet) --- examples/DeformableDemo/DeformableDemo.cpp | 269 ++++++++++++++++++ examples/DeformableDemo/DeformableDemo.h | 20 ++ examples/ExampleBrowser/ExampleEntries.cpp | 3 + src/.DS_Store | Bin 0 -> 6148 bytes src/BulletDynamics/Dynamics/btDynamicsWorld.h | 3 +- src/BulletSoftBody/btBackwardEulerObjective.h | 163 +++++++++++ src/BulletSoftBody/btConjugateGradient.h | 208 ++++++++++++++ src/BulletSoftBody/btDeformableBodySolver.h | 269 ++++++++++++++++++ .../btDeformableRigidDynamicsWorld.cpp | 39 +++ .../btDeformableRigidDynamicsWorld.h | 89 ++++++ src/BulletSoftBody/btLagrangianForce.h | 53 ++++ src/BulletSoftBody/btMassSpring.h | 113 ++++++++ src/BulletSoftBody/btSoftBody.cpp | 1 + src/BulletSoftBody/btSoftBody.h | 6 + src/BulletSoftBody/btSoftBodySolvers.h | 3 +- 15 files changed, 1237 insertions(+), 2 deletions(-) create mode 100644 examples/DeformableDemo/DeformableDemo.cpp create mode 100644 examples/DeformableDemo/DeformableDemo.h create mode 100644 src/.DS_Store create mode 100644 src/BulletSoftBody/btBackwardEulerObjective.h create mode 100644 src/BulletSoftBody/btConjugateGradient.h create mode 100644 src/BulletSoftBody/btDeformableBodySolver.h create mode 100644 src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp create mode 100644 src/BulletSoftBody/btDeformableRigidDynamicsWorld.h create mode 100644 src/BulletSoftBody/btLagrangianForce.h create mode 100644 src/BulletSoftBody/btMassSpring.h diff --git a/examples/DeformableDemo/DeformableDemo.cpp b/examples/DeformableDemo/DeformableDemo.cpp new file mode 100644 index 000000000..7edc3c4a3 --- /dev/null +++ b/examples/DeformableDemo/DeformableDemo.cpp @@ -0,0 +1,269 @@ +/* +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 "DeformableDemo.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 //printf debugging + +#include "../CommonInterfaces/CommonRigidBodyBase.h" +#include "../Utils/b3ResourcePath.h" + +///The DeformableDemo 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). +class DeformableDemo : public CommonRigidBodyBase +{ +public: + DeformableDemo(struct GUIHelperInterface* helper) + : CommonRigidBodyBase(helper) + { + } + virtual ~DeformableDemo() + { + } + void initPhysics(); + + void exitPhysics(); + + void resetCamera() + { +// float dist = 30; +// float pitch = -14; +// float yaw = 0; +// float targetPos[3] = {0, 0, 0}; + float dist = 45; + float pitch = -45; + float yaw = 100; + float targetPos[3] = {0,0, 0}; + m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]); + } + 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 DeformableDemo::initPhysics() +{ + m_guiHelper->setUpAxis(1); + + ///collision configuration contains default setup for memory, collision setup +// m_collisionConfiguration = new btDefaultCollisionConfiguration(); + 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) + btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver; + m_solver = sol; + + m_dynamicsWorld = new btDeformableRigidDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration, deformableBodySolver); + // 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); + m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); + + { + ///create a few basic rigid bodies +// btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(10.), btScalar(5.), btScalar(25.))); + btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.), btScalar(25.), btScalar(50.))); + + m_collisionShapes.push_back(groundShape); + + btTransform groundTransform; + groundTransform.setIdentity(); + groundTransform.setOrigin(btVector3(0, -30, 0)); +// groundTransform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI * 0.03)); + //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(.5); + + //add the body to the dynamics world + m_dynamicsWorld->addRigidBody(body); + } +// +// { +// ///create a few basic rigid bodies +// btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(100.), btScalar(100.), btScalar(50.))); +// +// m_collisionShapes.push_back(groundShape); +// +// btTransform groundTransform; +// groundTransform.setIdentity(); +// groundTransform.setOrigin(btVector3(0, 0, -54)); +// //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(.1); +// //add the body to the dynamics world +// m_dynamicsWorld->addRigidBody(body); +// } +// +// { +// // add a simple deformable body +// const btVector3 s(3,2,1); // side length +// const btVector3 p(0,30,0); // origin; +// const btVector3 h = s * 0.5; +// const btVector3 c[] = {p + h * btVector3(-1, -1, -1), +// p + h * btVector3(+1, -1, -1), +// p + h * btVector3(-1, +1, -1), +// p + h * btVector3(+1, +1, -1), +// p + h * btVector3(-1, -1, +1), +// p + h * btVector3(+1, -1, +1), +// p + h * btVector3(-1, +1, +1), +// p + h * btVector3(+1, +1, +1)}; +// btSoftBody* psb = btSoftBodyHelpers::CreateFromConvexHull(getDeformableDynamicsWorld()->getSoftDynamicsWorld()->getWorldInfo(), c, 8); +// psb->generateBendingConstraints(2); +// psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS; +// psb->setTotalMass(150); +// getDeformableDynamicsWorld()->addSoftBody(psb); +// } + { + const btScalar s = 8; + btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getSoftDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s), + btVector3(+s, 0, -s), + btVector3(-s, 0, +s), + btVector3(+s, 0, +s), + 10, 10, + // 31,31, + 1 + 2 + 4 + 8, true); +// 0, true); + + psb->getCollisionShape()->setMargin(0.5); +// btSoftBody::Material* pm = psb->appendMaterial(); +// pm->m_kLST = 0.4 * 1000; +// pm->m_flags -= btSoftBody::fMaterial::DebugDraw; + psb->generateBendingConstraints(2); + psb->setTotalMass(1); + psb->setDampingCoefficient(0.01); + getDeformableDynamicsWorld()->addSoftBody(psb); + } + m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); +} + +void DeformableDemo::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* DeformableCreateFunc(struct CommonExampleOptions& options) +{ + return new DeformableDemo(options.m_guiHelper); +} diff --git a/examples/DeformableDemo/DeformableDemo.h b/examples/DeformableDemo/DeformableDemo.h new file mode 100644 index 000000000..c688cea9d --- /dev/null +++ b/examples/DeformableDemo/DeformableDemo.h @@ -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_DEMO_H +#define _DEFORMABLE_DEMO_H + +class CommonExampleInterface* DeformableCreateFunc(struct CommonExampleOptions& options); + +#endif //_DEFORMABLE_DEMO_H diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index e80b4eee9..6d3db549e 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -47,6 +47,7 @@ #include "../FractureDemo/FractureDemo.h" #include "../DynamicControlDemo/MotorDemo.h" #include "../RollingFrictionDemo/RollingFrictionDemo.h" +#include "../DeformableDemo/DeformableDemo.h" #include "../SharedMemory/PhysicsServerExampleBullet2.h" #include "../SharedMemory/PhysicsServerExample.h" #include "../SharedMemory/PhysicsClientExample.h" @@ -118,6 +119,8 @@ 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(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), diff --git a/src/.DS_Store b/src/.DS_Store new file mode 100644 index 0000000000000000000000000000000000000000..ee616d543128a1988ca9f9dc9bb19e1f51a11544 GIT binary patch literal 6148 zcmeHKQESvd5T3oBn)IMV5VYXKf)9PUhZFUxZy~mQDp;D*K4?7?61_mkmR!<9j)Tx2 z&>x_$T7QS_pXd+i4{&C8uUKmPSgXt&v)^QPW_I)Kv6}?|5!A_301p5hRKk{v%^!sN zNiRvudI*KCkwOI_DENrT@-HwzYqtOa)R5!v_w@^K9TWH*k4JlPu40Tki}&(uRP}nN zqBYmPbN8O(&Uf6-LdV?=hiV*FQB{wEs2q5Y!z@YTsNBhtYPgjat9iPg7H`V+s7lMX z6uhNWjseDw;_WOQ54;DjRZ&G*k(RoisqtUZUf{>y1sPL`K@UHSZ3e>!y?XK`t5^L>4A_~q-j??*p=9_u6!`2W>% z-{K5T(72YL{je-@ReZv@S&dmPBQwAZFax)h0lQy0o!dG=o)ihr2Bz|HBn1TO_0nuIwR|0$`d$wMBIXY`4 t>IYO3ifas>r=X#aVvMDu_z|iW^h+`jeT$7j^q}yEfTn>PX5dB{_yxA-W?TRO literal 0 HcmV?d00001 diff --git a/src/BulletDynamics/Dynamics/btDynamicsWorld.h b/src/BulletDynamics/Dynamics/btDynamicsWorld.h index eadd8c12e..10853b761 100644 --- a/src/BulletDynamics/Dynamics/btDynamicsWorld.h +++ b/src/BulletDynamics/Dynamics/btDynamicsWorld.h @@ -34,7 +34,8 @@ enum btDynamicsWorldType BT_CONTINUOUS_DYNAMICS_WORLD = 3, BT_SOFT_RIGID_DYNAMICS_WORLD = 4, BT_GPU_DYNAMICS_WORLD = 5, - BT_SOFT_MULTIBODY_DYNAMICS_WORLD = 6 + BT_SOFT_MULTIBODY_DYNAMICS_WORLD = 6, + BT_DEFORMABLE_RIGID_DYNAMICS_WORLD = 7 }; ///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc. diff --git a/src/BulletSoftBody/btBackwardEulerObjective.h b/src/BulletSoftBody/btBackwardEulerObjective.h new file mode 100644 index 000000000..2dca39bb6 --- /dev/null +++ b/src/BulletSoftBody/btBackwardEulerObjective.h @@ -0,0 +1,163 @@ +// +// btBackwardEulerObjective.h +// BulletSoftBody +// +// Created by Xuchen Han on 7/1/19. +// + +#ifndef BT_BACKWARD_EULER_OBJECTIVE_H +#define BT_BACKWARD_EULER_OBJECTIVE_H +#include +#include "btConjugateGradient.h" +#include "btLagrangianForce.h" +#include "btMassSpring.h" + +struct DirichletDofProjection +{ + using TVStack = btAlignedObjectArray; + const btAlignedObjectArray& m_softBodies; + DirichletDofProjection(const btAlignedObjectArray& softBodies) + : m_softBodies(softBodies) + {} + + void operator()(TVStack& x) + { + size_t counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + const btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + if (psb->m_nodes[j].m_im == 0) + { + x[counter].setZero(); + } + ++counter; + } + } + } +}; + +class btBackwardEulerObjective +{ +public: + using TVStack = btAlignedObjectArray; + struct EmptyProjection + { + void operator()(TVStack& x) + {} + }; + struct DefaultPreconditioner + { + void operator()(const TVStack& x, TVStack& b) + { + btAssert(b.size() == x.size()); + for (int i = 0; i < b.size(); ++i) + b[i] = x[i]; + } + }; + btScalar m_dt; + btConjugateGradient cg; + + btAlignedObjectArray m_lf; + btAlignedObjectArray& m_softBodies; + std::function project; + std::function precondition; + + btBackwardEulerObjective(btAlignedObjectArray& softBodies) + : cg(20) + , m_softBodies(softBodies) + , project(EmptyProjection()) + , precondition(DefaultPreconditioner()) + { + // this should really be specified in initialization instead of here + btMassSpring* mass_spring = new btMassSpring(m_softBodies); + m_lf.push_back(mass_spring); + } + + virtual ~btBackwardEulerObjective() {} + + void initialize(){} + + void computeResidual(btScalar dt, TVStack& residual) const + { + // gravity is treated explicitly in predictUnconstraintMotion + + // add force + for (int i = 0; i < m_lf.size(); ++i) + { + m_lf[i]->addScaledForce(dt, residual); + } + } + + btScalar computeNorm(const TVStack& residual) const + { + btScalar norm_squared = 0; + for (int i = 0; i < residual.size(); ++i) + { + norm_squared += residual[i].length2(); + } + return std::sqrt(norm_squared); + } + + void computeStep(TVStack& dv, const TVStack& residual, const btScalar& dt) + { + m_dt = dt; + // TODO:figure out what the tolerance should be + btScalar tolerance = std::numeric_limits::epsilon()*16 * computeNorm(residual); + cg.solve(*this, dv, residual, tolerance); + } + + void multiply(const TVStack& x, TVStack& b) const + { + for (int i = 0; i < b.size(); ++i) + b[i].setZero(); + + // add in the mass term + size_t counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + const auto& node = psb->m_nodes[j]; + b[counter] += (node.m_im == 0) ? btVector3(0,0,0) : x[counter] / node.m_im; + ++counter; + } + } + + for (int i = 0; i < m_lf.size(); ++i) + { + // damping force is implicit and elastic force is explicit + m_lf[i]->addScaledDampingForceDifferential(-m_dt, x, b); + } + } + + void reinitialize(bool nodeUpdated) + { + for (int i = 0; i < m_lf.size(); ++i) + { + m_lf[i]->reinitialize(nodeUpdated); + } + + if(nodeUpdated) + { + DirichletDofProjection dirichlet(m_softBodies); + setProjection(dirichlet); + } + } + + template + void setProjection(Func project_func) + { + project = project_func; + } + + template + void setPreconditioner(Func preconditioner_func) + { + precondition = preconditioner_func; + } +}; + +#endif /* btBackwardEulerObjective_h */ diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h new file mode 100644 index 000000000..76297226d --- /dev/null +++ b/src/BulletSoftBody/btConjugateGradient.h @@ -0,0 +1,208 @@ +// +// btConjugateGradient.h +// BulletSoftBody +// +// Created by Xuchen Han on 7/1/19. +// + +#ifndef BT_CONJUGATE_GRADIENT_H +#define BT_CONJUGATE_GRADIENT_H +#include +template +class btConjugateGradient +{ + using TVStack = btAlignedObjectArray; + TVStack r,p,z,temp; + int max_iterations; + btScalar tolerance; + +public: + btConjugateGradient(const int max_it_in) + : max_iterations(max_it_in) + , tolerance(std::numeric_limits::epsilon() * 16) + { + } + + virtual ~btConjugateGradient(){} + +// // return the number of iterations taken +// int solve(const TM& A, TVStack& x, const TVStack& b, btScalar tolerance) +// { +// btAssert(x.size() == b.size()); +// reinitialize(b); +// +// // r = M * (b - A * x) --with assigned dof zeroed out +// A.multiply(x, temp); +// temp = sub(b, temp); +// A.project(temp); +// A.precondition(temp, r); +// +// btScalar r_dot_r = squaredNorm(r), r_dot_r_new; +// btScalar r_norm = std::sqrt(r_dot_r); +// if (r_norm < tolerance) { +// std::cout << "Iteration = 0" << std::endl; +// std::cout << "Two norm of the residual = " << r_norm << std::endl; +// return 0; +// } +// +// p = r; +// // q = M * A * q; +// A.multiply(p, temp); +// A.precondition(temp, q); +// +// // alpha = |r|^2 / (p^T * A * p) +// btScalar alpha = r_dot_r / dot(p, q), beta; +// +// for (int k = 1; k < max_iterations; k++) { +//// x += alpha * p; +//// r -= alpha * q; +// multAndAddTo(alpha, p, x); +// multAndAddTo(-alpha, q, r); +// +// // zero out the dofs of r +// A.project(r); +// +// r_dot_r_new = squaredNorm(r); +// r_norm = std::sqrt(r_dot_r_new); +// +// if (r_norm < tolerance) { +// std::cout << "ConjugateGradient iterations " << k << std::endl; +// return k; +// +// beta = r_dot_r_new / r_dot_r; +// r_dot_r = r_dot_r_new; +//// p = r + beta * p; +// p = multAndAdd(beta, p, r); +// +// // q = M * A * q; +// A.multiply(p, temp); +// A.precondition(temp, q); +// +// alpha = r_dot_r / dot(p, q); +// } +// +// setZero(q); +// setZero(r); +// } +// std::cout << "ConjugateGradient max iterations reached " << max_iterations << std::endl; +// return max_iterations; +// } + + // return the number of iterations taken + int solve(const TM& A, TVStack& x, const TVStack& b, btScalar tolerance) + { + btAssert(x.size() == b.size()); + reinitialize(b); + + // r = b - A * x --with assigned dof zeroed out + A.multiply(x, temp); + r = sub(b, temp); + A.project(r); + + btScalar r_norm = std::sqrt(squaredNorm(r)); + if (r_norm < tolerance) { + std::cout << "Iteration = 0" << std::endl; + std::cout << "Two norm of the residual = " << r_norm << std::endl; + return 0; + } + + // z = M^(-1) * r + A.precondition(r, z); + // p = z; + p = z; + // temp = A*p + A.multiply(p, temp); + + btScalar r_dot_z = dot(z,r), r_dot_z_new; + // alpha = r^T * z / (p^T * A * p) + btScalar alpha = r_dot_z / dot(p, temp), beta; + + for (int k = 1; k < max_iterations; k++) { + // x += alpha * p; + // r -= alpha * temp; + multAndAddTo(alpha, p, x); + multAndAddTo(-alpha, temp, r); + + // zero out the dofs of r + A.project(r); + + r_norm = std::sqrt(squaredNorm(r)); + + if (r_norm < tolerance) { + std::cout << "ConjugateGradient iterations " << k << std::endl; + return k; + } + + // z = M^(-1) * r + A.precondition(r, z); + r_dot_z_new = dot(r,z); + beta = r_dot_z_new/ r_dot_z; + r_dot_z = r_dot_z_new; + // p = z + beta * p; + p = multAndAdd(beta, p, z); + // temp = A * p; + A.multiply(p, temp); + // alpha = r^T * z / (p^T * A * p) + alpha = r_dot_z / dot(p, temp); + } + std::cout << "ConjugateGradient max iterations reached " << max_iterations << std::endl; + return max_iterations; + } + + void reinitialize(const TVStack& b) + { + r.resize(b.size()); + p.resize(b.size()); + z.resize(b.size()); + temp.resize(b.size()); + } + + TVStack sub(const TVStack& a, const TVStack& b) + { + // c = a-b + btAssert(a.size() == b.size()) + TVStack c; + c.resize(a.size()); + for (int i = 0; i < a.size(); ++i) + c[i] = a[i] - b[i]; + return c; + } + + btScalar squaredNorm(const TVStack& a) + { + return dot(a,a); + } + + btScalar dot(const TVStack& a, const TVStack& b) + { + btScalar ans(0); + for (int i = 0; i < a.size(); ++i) + ans += a[i].dot(b[i]); + return ans; + } + + void setZero(TVStack& a) + { + for (int i = 0; i < a.size(); ++i) + a[i].setZero(); + } + + void multAndAddTo(btScalar s, const TVStack& a, TVStack& result) + { +// result += s*a + btAssert(a.size() == result.size()) + for (int i = 0; i < a.size(); ++i) + result[i] += s * a[i]; + } + + TVStack multAndAdd(btScalar s, const TVStack& a, const TVStack& b) + { + // result = a*s + b + TVStack result; + result.resize(a.size()); + for (int i = 0; i < a.size(); ++i) + result[i] = s * a[i] + b[i]; + return result; + } +}; +#endif /* btConjugateGradient_h */ diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h new file mode 100644 index 000000000..4e36a2112 --- /dev/null +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -0,0 +1,269 @@ +// +// btDeformableBodySolver.h +// BulletSoftBody +// +// Created by Chuyuan Fu on 7/1/19. +// + +#ifndef BT_DEFORMABLE_BODY_SOLVERS_H +#define BT_DEFORMABLE_BODY_SOLVERS_H + +#include "btSoftBodySolvers.h" +#include "btBackwardEulerObjective.h" + +#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" + +struct btCollisionObjectWrapper; + +class btDeformableBodySolver : public btSoftBodySolver +{ + using TVStack = btAlignedObjectArray; +protected: + /** Variable to define whether we need to update solver constants on the next iteration */ + bool m_updateSolverConstants; + int m_numNodes; + TVStack m_dv; + TVStack m_residual; + btAlignedObjectArray m_softBodySet; + btBackwardEulerObjective m_objective; + int m_solveIterations; + int m_impulseIterations; + +public: + btDeformableBodySolver() + : m_numNodes(0) + , m_objective(m_softBodySet) + , m_solveIterations(1) + , m_impulseIterations(1) + { + } + + virtual ~btDeformableBodySolver() + { + } + + virtual SolverTypes getSolverType() const + { + return DEFORMABLE_SOLVER; + } + + virtual bool checkInitialized() + { + return true; + } + + virtual void updateSoftBodies() + { + for (int i = 0; i < m_softBodySet.size(); i++) + { + btSoftBody *psb = (btSoftBody *)m_softBodySet[i]; + if (psb->isActive()) + { + psb->integrateMotion(); // normal is updated here + } + } + } + + virtual void optimize(btAlignedObjectArray &softBodies, bool forceUpdate = false) + { + m_softBodySet.copyFromArray(softBodies); + } + + virtual void copyBackToSoftBodies(bool bMove = true) {} + + virtual void solveConstraints(float solverdt) + { + bool nodeUpdated = updateNodes(); + reinitialize(nodeUpdated); + + for (int i = 0; i < m_solveIterations; ++i) + { + // get the velocity after contact solve + // TODO: perform contact solve here + for (int j = 0; j < m_impulseIterations; ++j) + { + for (int s = 0; s < m_softBodySet.size(); ++s) + VSolve_RContacts(m_softBodySet[s], 0, solverdt); + } + + // advect with v_n+1 ** to update position based states + // where v_n+1 ** is the velocity after contact response + + // only need to advect x here if elastic force is implicit +// prepareSolve(solverdt); + + m_objective.computeResidual(solverdt, m_residual); + m_objective.computeStep(m_dv, m_residual, solverdt); + + updateVelocity(); + } + advect(solverdt); + } + + void reinitialize(bool nodeUpdated) + { + if (nodeUpdated) + { + m_dv.resize(m_numNodes); + m_residual.resize(m_numNodes); + } + for (int i = 0; i < m_dv.size(); ++i) + { + m_dv[i].setZero(); + m_residual[i].setZero(); + } + m_objective.reinitialize(nodeUpdated); + } + + void prepareSolve(btScalar dt) + { + for (int i = 0; i < m_softBodySet.size(); ++i) + { + btSoftBody* psb = m_softBodySet[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + auto& node = psb->m_nodes[j]; + node.m_x = node.m_q + dt * node.m_v * psb->m_dampingCoefficient; + } + } + } + void advect(btScalar dt) + { + size_t counter = 0; + for (int i = 0; i < m_softBodySet.size(); ++i) + { + btSoftBody* psb = m_softBodySet[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + auto& node = psb->m_nodes[j]; + node.m_x += dt * m_dv[counter++]; + } + } + } + + void updateVelocity() + { + // serial implementation + int counter = 0; + for (int i = 0; i < m_softBodySet.size(); ++i) + { + btSoftBody* psb = m_softBodySet[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_v += m_dv[counter++]; + } + } + } + + bool updateNodes() + { + int numNodes = 0; + for (int i = 0; i < m_softBodySet.size(); ++i) + numNodes += m_softBodySet[i]->m_nodes.size(); + if (numNodes != m_numNodes) + { + m_numNodes = numNodes; + return true; + } + return false; + } + virtual void predictMotion(float solverdt) + { + for (int i = 0; i < m_softBodySet.size(); ++i) + { + btSoftBody *psb = m_softBodySet[i]; + + if (psb->isActive()) + { + psb->predictMotion(solverdt); + } + } + } + + virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer) {} + + virtual void processCollision(btSoftBody * softBody, const btCollisionObjectWrapper * collisionObjectWrap) + { + softBody->defaultCollisionHandler(collisionObjectWrap); + } + + virtual void processCollision(btSoftBody *, btSoftBody *) { + // TODO + } + + void VSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar dt) + { + const btScalar mrg = psb->getCollisionShape()->getMargin(); + btMultiBodyJacobianData jacobianData; + for (int i = 0, ni = psb->m_rcontacts.size(); i < ni; ++i) + { + const btSoftBody::RContact& c = psb->m_rcontacts[i]; + const btSoftBody::sCti& cti = c.m_cti; + if (cti.m_colObj->hasContactResponse()) + { + btVector3 va(0, 0, 0); + btRigidBody* rigidCol = 0; + btMultiBodyLinkCollider* multibodyLinkCol = 0; + btScalar* deltaV; + + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + va = rigidCol ? rigidCol->getVelocityInLocalPoint(c.m_c1) * dt : btVector3(0, 0, 0); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + jacobianData.m_jacobians.resize(ndof); + jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof); + btScalar* jac = &jacobianData.m_jacobians[0]; + + multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, c.m_node->m_x, cti.m_normal, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m); + deltaV = &jacobianData.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0], deltaV, jacobianData.scratch_r, jacobianData.scratch_v); + + btScalar vel = 0.0; + for (int j = 0; j < ndof; ++j) + { + vel += multibodyLinkCol->m_multiBody->getVelocityVector()[j] * jac[j]; + } + va = cti.m_normal * vel * dt; + } + } + + const btVector3 vb = c.m_node->m_x - c.m_node->m_q; + const btVector3 vr = vb - va; + const btScalar dn = btDot(vr, cti.m_normal); + if (dn <= SIMD_EPSILON) + { + const btScalar dp = btMin((btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg); + const btVector3 fv = vr - (cti.m_normal * dn); + // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient + const btVector3 impulse = c.m_c0 * ((vr - (fv * c.m_c3) + (cti.m_normal * (dp * c.m_c4))) * kst); + c.m_node->m_v -= impulse * c.m_c2 / dt; + + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + if (rigidCol) + rigidCol->applyImpulse(impulse, c.m_c1); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + if (multibodyLinkCol) + { + double multiplier = 0.5; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV, -impulse.length() * multiplier); + } + } + } + } + } + } + +}; + +#endif /* btDeformableBodySolver_h */ diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp new file mode 100644 index 000000000..73d4f67f6 --- /dev/null +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp @@ -0,0 +1,39 @@ +// +// btDeformableRigidDynamicsWorld.cpp +// BulletSoftBody +// +// Created by Xuchen Han on 7/1/19. +// + +#include +#include "btDeformableRigidDynamicsWorld.h" +#include "btDeformableBodySolver.h" + +void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) +{ + // Let the solver grab the soft bodies and if necessary optimize for it + m_deformableBodySolver->optimize(getSoftDynamicsWorld()->getSoftBodyArray()); + + if (!m_deformableBodySolver->checkInitialized()) + { + btAssert("Solver initialization failed\n"); + } + + btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::internalSingleStepSimulation(timeStep); + + ///solve deformable bodies constraints + solveDeformableBodiesConstraints(timeStep); + + + ///update soft bodies + m_deformableBodySolver->updateSoftBodies(); + + // End solver-wise simulation step + // /////////////////////////////// +} + +void btDeformableRigidDynamicsWorld::solveDeformableBodiesConstraints(btScalar timeStep) +{ + m_deformableBodySolver->solveConstraints(timeStep); +} + diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h new file mode 100644 index 000000000..55ed41d86 --- /dev/null +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h @@ -0,0 +1,89 @@ +/* + 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 BT_DEFORMABLE_RIGID_DYNAMICS_WORLD_H +#define BT_DEFORMABLE_RIGID_DYNAMICS_WORLD_H + +#include "btSoftRigidDynamicsWorld.h" +#include "btLagrangianForce.h" +#include "btMassSpring.h" +#include "btDeformableBodySolver.h" +typedef btAlignedObjectArray btSoftBodyArray; + +class btDeformableBodySolver; +class btLagrangianForce; + +class btDeformableRigidDynamicsWorld : public btSoftRigidDynamicsWorld +{ + using TVStack = btAlignedObjectArray; + ///Solver classes that encapsulate multiple deformable bodies for solving + btDeformableBodySolver* m_deformableBodySolver; + + +protected: + virtual void internalSingleStepSimulation(btScalar timeStep); + + void solveDeformableBodiesConstraints(btScalar timeStep); + +public: + btDeformableRigidDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0) + : btSoftRigidDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration, 0), + m_deformableBodySolver(deformableBodySolver) + { + } + + virtual ~btDeformableRigidDynamicsWorld() + { + } + + virtual btSoftRigidDynamicsWorld* getSoftDynamicsWorld() + { + return (btSoftRigidDynamicsWorld*)(this); + } + + virtual const btSoftRigidDynamicsWorld* getSoftDynamicsWorld() const + { + return (const btSoftRigidDynamicsWorld*)(this); + } + + virtual btDynamicsWorldType getWorldType() const + { + return BT_DEFORMABLE_RIGID_DYNAMICS_WORLD; + } + + virtual void predictUnconstraintMotion(btScalar timeStep) + { + btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep); + m_deformableBodySolver->predictMotion(float(timeStep)); + } + // virtual void internalStepSingleStepSimulation(btScalar timeStep); + + // virtual void solveDeformableBodiesConstraints(btScalar timeStep); + + virtual void addSoftBody(btSoftBody* body, int collisionFilterGroup = btBroadphaseProxy::DefaultFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter) + { + getSoftDynamicsWorld()->getSoftBodyArray().push_back(body); + + // Set the soft body solver that will deal with this body + // to be the world's solver + body->setSoftBodySolver(m_deformableBodySolver); + + btCollisionWorld::addCollisionObject(body, + collisionFilterGroup, + collisionFilterMask); + } +}; + +#endif //BT_DEFORMABLE_RIGID_DYNAMICS_WORLD_H diff --git a/src/BulletSoftBody/btLagrangianForce.h b/src/BulletSoftBody/btLagrangianForce.h new file mode 100644 index 000000000..40e63207e --- /dev/null +++ b/src/BulletSoftBody/btLagrangianForce.h @@ -0,0 +1,53 @@ +// +// btLagrangianForce.h +// BulletSoftBody +// +// Created by Xuchen Han on 7/1/19. +// + +#ifndef BT_LAGRANGIAN_FORCE_H +#define BT_LAGRANGIAN_FORCE_H + +#include "btSoftBody.h" +#include + +class btLagrangianForce +{ +public: + using TVStack = btAlignedObjectArray; + const btAlignedObjectArray& m_softBodies; + std::unordered_map m_indices; + + btLagrangianForce(const btAlignedObjectArray& softBodies) + : m_softBodies(softBodies) + { + } + + virtual ~btLagrangianForce(){} + + virtual void addScaledForce(btScalar scale, TVStack& force) = 0; + + virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) = 0; + + virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) = 0; + + virtual void reinitialize(bool nodeUpdated) + { + if (nodeUpdated) + updateId(); + } + + void updateId() + { + size_t index = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + m_indices[&(psb->m_nodes[j])] = index++; + } + } + } +}; +#endif /* btLagrangianForce_h */ diff --git a/src/BulletSoftBody/btMassSpring.h b/src/BulletSoftBody/btMassSpring.h new file mode 100644 index 000000000..ffe21c801 --- /dev/null +++ b/src/BulletSoftBody/btMassSpring.h @@ -0,0 +1,113 @@ +// +// btMassSpring.h +// BulletSoftBody +// +// Created by Chuyuan Fu on 7/1/19. +// + +#ifndef BT_MASS_SPRING_H +#define BT_MASS_SPRING_H + +#include "btLagrangianForce.h" + +class btMassSpring : public btLagrangianForce +{ +public: + using TVStack = btLagrangianForce::TVStack; + btMassSpring(const btAlignedObjectArray& softBodies) : btLagrangianForce(softBodies) + { + + } + + virtual void addScaledForce(btScalar scale, TVStack& force) + { + int numNodes = getNumNodes(); + btAssert(numNodes == force.size()) + for (int i = 0; i < m_softBodies.size(); ++i) + { + const btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_links.size(); ++j) + { + const auto& link = psb->m_links[j]; + const auto node1 = link.m_n[0]; + const auto node2 = link.m_n[1]; + btScalar kLST = link.Feature::m_material->m_kLST; // this is probly wrong, TODO: figure out how to get stiffness + btScalar r = link.m_rl; + size_t id1 = m_indices[node1]; + size_t id2 = m_indices[node2]; + + // elastic force + btVector3 dir = (node2->m_x - node1->m_x); + btVector3 dir_normalized = dir.normalized(); + btVector3 scaled_force = scale * kLST * (dir - dir_normalized * r); + force[id1] += scaled_force; + force[id2] -= scaled_force; + + // damping force + btVector3 v_diff = (node2->m_v - node1->m_v); + btScalar k_damp = psb->m_dampingCoefficient; // TODO: FIX THIS HACK and set k_damp properly + scaled_force = scale * v_diff * k_damp; + force[id1] += scaled_force; + force[id2] -= scaled_force; + } + } + } + + virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) + { + int numNodes = getNumNodes(); + btAssert(numNodes == dx.size()); + btAssert(numNodes == df.size()); + + // implicit elastic force + for (int i = 0; i < m_softBodies.size(); ++i) + { + const btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_links.size(); ++j) + { + const auto& link = psb->m_links[j]; + const auto node1 = link.m_n[0]; + const auto node2 = link.m_n[1]; + btScalar kLST = link.Feature::m_material->m_kLST; + size_t id1 = m_indices[node1]; + size_t id2 = m_indices[node2]; + btVector3 local_scaled_df = scale * kLST * (dx[id2] - dx[id1]); + df[id1] += local_scaled_df; + df[id2] -= local_scaled_df; + } + } + } + + virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) + { + // implicity damping force + for (int i = 0; i < m_softBodies.size(); ++i) + { + const btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_links.size(); ++j) + { + const auto& link = psb->m_links[j]; + const auto node1 = link.m_n[0]; + const auto node2 = link.m_n[1]; + btScalar k_damp = psb->m_dampingCoefficient; // TODO: FIX THIS HACK and set k_damp properly + size_t id1 = m_indices[node1]; + size_t id2 = m_indices[node2]; + btVector3 local_scaled_df = scale * k_damp * (dv[id2] - dv[id1]); + df[id1] += local_scaled_df; + df[id2] -= local_scaled_df; + } + } + } + + int getNumNodes() + { + int numNodes = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + numNodes += m_softBodies[i]->m_nodes.size(); + } + return numNodes; + } +}; + +#endif /* btMassSpring_h */ diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 58796a88d..066072426 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -110,6 +110,7 @@ void btSoftBody::initDefaults() m_windVelocity = btVector3(0, 0, 0); m_restLengthScale = btScalar(1.0); + m_dampingCoefficient = 1; } // diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index 9b35b799d..01cde89e3 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -704,6 +704,7 @@ public: btDbvt m_fdbvt; // Faces tree btDbvt m_cdbvt; // Clusters tree tClusterArray m_clusters; // Clusters + btScalar m_dampingCoefficient; // Damping Coefficient btAlignedObjectArray m_clusterConnectivity; //cluster connectivity, for self-collision @@ -735,6 +736,11 @@ public: { return m_worldInfo; } + + void setDampingCoefficient(btScalar damping_coeff) + { + m_dampingCoefficient = damping_coeff; + } ///@todo: avoid internal softbody shape hack and move collision code to collision library virtual void setCollisionShape(btCollisionShape* collisionShape) diff --git a/src/BulletSoftBody/btSoftBodySolvers.h b/src/BulletSoftBody/btSoftBodySolvers.h index dcf508265..405475529 100644 --- a/src/BulletSoftBody/btSoftBodySolvers.h +++ b/src/BulletSoftBody/btSoftBodySolvers.h @@ -35,7 +35,8 @@ public: CL_SOLVER, CL_SIMD_SOLVER, DX_SOLVER, - DX_SIMD_SOLVER + DX_SIMD_SOLVER, + DEFORMABLE_SOLVER }; protected: From 35ce2ae0e2dc5b28185fc90355f8033085b7b76a Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 4 Jul 2019 23:07:02 -0700 Subject: [PATCH 002/389] add contact constraint as projections in CG --- .../Dynamics/btDiscreteDynamicsWorld.h | 8 +- src/BulletSoftBody/btBackwardEulerObjective.h | 78 ++++------ src/BulletSoftBody/btCGProjection.h | 80 ++++++++++ src/BulletSoftBody/btConjugateGradient.h | 8 +- src/BulletSoftBody/btContactProjection.cpp | 142 ++++++++++++++++++ src/BulletSoftBody/btContactProjection.h | 56 +++++++ src/BulletSoftBody/btDeformableBodySolver.h | 116 ++++---------- .../btDeformableRigidDynamicsWorld.cpp | 42 +++++- .../btDeformableRigidDynamicsWorld.h | 3 +- 9 files changed, 392 insertions(+), 141 deletions(-) create mode 100644 src/BulletSoftBody/btCGProjection.h create mode 100644 src/BulletSoftBody/btContactProjection.cpp create mode 100644 src/BulletSoftBody/btContactProjection.h diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h index 7fe961921..51b3d906d 100644 --- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h +++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h @@ -17,7 +17,6 @@ subject to the following restrictions: #define BT_DISCRETE_DYNAMICS_WORLD_H #include "btDynamicsWorld.h" - class btDispatcher; class btOverlappingPairCache; class btConstraintSolver; @@ -26,6 +25,7 @@ class btTypedConstraint; class btActionInterface; class btPersistentManifold; class btIDebugDraw; + struct InplaceSolverIslandCallback; #include "LinearMath/btAlignedObjectArray.h" @@ -76,7 +76,7 @@ protected: virtual void calculateSimulationIslands(); - virtual void solveConstraints(btContactSolverInfo & solverInfo); + virtual void updateActivationState(btScalar timeStep); @@ -95,7 +95,7 @@ protected: void serializeRigidBodies(btSerializer * serializer); void serializeDynamicsWorldInfo(btSerializer * serializer); - + public: BT_DECLARE_ALIGNED_ALLOCATOR(); @@ -107,6 +107,8 @@ public: ///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.)); + virtual void solveConstraints(btContactSolverInfo & solverInfo); + virtual void synchronizeMotionStates(); ///this can be useful to synchronize a single rigid body -> graphics object diff --git a/src/BulletSoftBody/btBackwardEulerObjective.h b/src/BulletSoftBody/btBackwardEulerObjective.h index 2dca39bb6..f8f0596b5 100644 --- a/src/BulletSoftBody/btBackwardEulerObjective.h +++ b/src/BulletSoftBody/btBackwardEulerObjective.h @@ -11,42 +11,14 @@ #include "btConjugateGradient.h" #include "btLagrangianForce.h" #include "btMassSpring.h" +#include "btContactProjection.h" +#include "btDeformableRigidDynamicsWorld.h" -struct DirichletDofProjection -{ - using TVStack = btAlignedObjectArray; - const btAlignedObjectArray& m_softBodies; - DirichletDofProjection(const btAlignedObjectArray& softBodies) - : m_softBodies(softBodies) - {} - - void operator()(TVStack& x) - { - size_t counter = 0; - for (int i = 0; i < m_softBodies.size(); ++i) - { - const btSoftBody* psb = m_softBodies[i]; - for (int j = 0; j < psb->m_nodes.size(); ++j) - { - if (psb->m_nodes[j].m_im == 0) - { - x[counter].setZero(); - } - ++counter; - } - } - } -}; - +class btDeformableRigidDynamicsWorld; class btBackwardEulerObjective { public: using TVStack = btAlignedObjectArray; - struct EmptyProjection - { - void operator()(TVStack& x) - {} - }; struct DefaultPreconditioner { void operator()(const TVStack& x, TVStack& b) @@ -58,19 +30,19 @@ public: }; btScalar m_dt; btConjugateGradient cg; - + btDeformableRigidDynamicsWorld* m_world; btAlignedObjectArray m_lf; btAlignedObjectArray& m_softBodies; - std::function project; std::function precondition; + btContactProjection projection; - btBackwardEulerObjective(btAlignedObjectArray& softBodies) + btBackwardEulerObjective(btAlignedObjectArray& softBodies, const TVStack& backup_v) : cg(20) , m_softBodies(softBodies) - , project(EmptyProjection()) , precondition(DefaultPreconditioner()) + , projection(m_softBodies, backup_v) { - // this should really be specified in initialization instead of here + // TODO: this should really be specified in initialization instead of here btMassSpring* mass_spring = new btMassSpring(m_softBodies); m_lf.push_back(mass_spring); } @@ -103,7 +75,6 @@ public: void computeStep(TVStack& dv, const TVStack& residual, const btScalar& dt) { m_dt = dt; - // TODO:figure out what the tolerance should be btScalar tolerance = std::numeric_limits::epsilon()*16 * computeNorm(residual); cg.solve(*this, dv, residual, tolerance); } @@ -133,24 +104,33 @@ public: } } + void updateProjection(const TVStack& dv) + { + projection.update(m_dt, dv); + } + void reinitialize(bool nodeUpdated) { + if(nodeUpdated) + { + projection.setSoftBodies(m_softBodies); + } for (int i = 0; i < m_lf.size(); ++i) { m_lf[i]->reinitialize(nodeUpdated); - } - - if(nodeUpdated) - { - DirichletDofProjection dirichlet(m_softBodies); - setProjection(dirichlet); + projection.reinitialize(nodeUpdated); } } - template - void setProjection(Func project_func) + void enforceConstraint(TVStack& x) { - project = project_func; + projection.enforceConstraint(x); + } + + void project(TVStack& r, const TVStack& dv) + { + updateProjection(dv); + projection(r); } template @@ -158,6 +138,12 @@ public: { precondition = preconditioner_func; } + + virtual void setWorld(btDeformableRigidDynamicsWorld* world) + { + m_world = world; + projection.setWorld(world); + } }; #endif /* btBackwardEulerObjective_h */ diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h new file mode 100644 index 000000000..89743ef27 --- /dev/null +++ b/src/BulletSoftBody/btCGProjection.h @@ -0,0 +1,80 @@ +// btCGProjection.h +// BulletSoftBody +// +// Created by Xuchen Han on 7/4/19. +// + +#ifndef BT_CG_PROJECTION_H +#define BT_CG_PROJECTION_H + +#include "btSoftBody.h" +#include + +class btDeformableRigidDynamicsWorld; +class btCGProjection +{ +public: +// static const int dim = 3; + using TVStack = btAlignedObjectArray; + using TVArrayStack = btAlignedObjectArray >; + using TArrayStack = btAlignedObjectArray >; + btAlignedObjectArray m_softBodies; + btDeformableRigidDynamicsWorld* m_world; + std::unordered_map m_indices; + TVArrayStack m_constrainedDirections; + TArrayStack m_constrainedValues; + const TVStack& m_backupVelocity; + + btCGProjection(btAlignedObjectArray& softBodies, const TVStack& backup_v) + : m_softBodies(softBodies) + , m_backupVelocity(backup_v) + { + + } + + virtual ~btCGProjection() + { + + } + + // apply the constraints + virtual void operator()(TVStack& x) = 0; + + // update the constraints + virtual void update(btScalar dt, const TVStack& dv) = 0; + + virtual void reinitialize(bool nodeUpdated) + { + if (nodeUpdated) + updateId(); + m_constrainedValues.resize(m_indices.size()); + m_constrainedDirections.resize(m_indices.size()); + } + + void updateId() + { + size_t index = 0; + m_indices.clear(); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + m_indices[&(psb->m_nodes[j])] = index++; + } + } + } + + void setSoftBodies(btAlignedObjectArray softBodies) + { + m_softBodies.copyFromArray(softBodies); + } + + virtual void setWorld(btDeformableRigidDynamicsWorld* world) + { + m_world = world; + } +}; + + +#endif /* btCGProjection_h */ diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h index 76297226d..2754a208d 100644 --- a/src/BulletSoftBody/btConjugateGradient.h +++ b/src/BulletSoftBody/btConjugateGradient.h @@ -89,7 +89,7 @@ public: // } // return the number of iterations taken - int solve(const TM& A, TVStack& x, const TVStack& b, btScalar tolerance) + int solve(TM& A, TVStack& x, const TVStack& b, btScalar tolerance) { btAssert(x.size() == b.size()); reinitialize(b); @@ -97,7 +97,8 @@ public: // r = b - A * x --with assigned dof zeroed out A.multiply(x, temp); r = sub(b, temp); - A.project(r); + A.project(r,x); + A.enforceConstraint(x); btScalar r_norm = std::sqrt(squaredNorm(r)); if (r_norm < tolerance) { @@ -124,7 +125,8 @@ public: multAndAddTo(-alpha, temp, r); // zero out the dofs of r - A.project(r); + A.project(r,x); + A.enforceConstraint(x); r_norm = std::sqrt(squaredNorm(r)); diff --git a/src/BulletSoftBody/btContactProjection.cpp b/src/BulletSoftBody/btContactProjection.cpp new file mode 100644 index 000000000..b50918af4 --- /dev/null +++ b/src/BulletSoftBody/btContactProjection.cpp @@ -0,0 +1,142 @@ +// +// btContactProjection.cpp +// BulletSoftBody +// +// Created by Xuchen Han on 7/4/19. +// + +#include "btContactProjection.h" +#include "btDeformableRigidDynamicsWorld.h" +void btContactProjection::update(btScalar dt, const TVStack& dv) +{ + size_t counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_v = m_backupVelocity[counter] + dv[counter]; + ++counter; + } + } + + ///solve rigid body constraints + m_world->btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::solveConstraints(m_world->getSolverInfo()); + + // clear the old constraints + for (int i = 0; i < m_constrainedDirections.size(); ++i) + { + m_constrainedDirections[i].clear(); + m_constrainedValues[i].clear(); + } + + // Set dirichlet constraints + counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + const btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + if (psb->m_nodes[j].m_im == 0) + { + m_constrainedDirections[counter].push_back(btVector3(1,0,0)); + m_constrainedDirections[counter].push_back(btVector3(0,1,0)); + m_constrainedDirections[counter].push_back(btVector3(0,0,1)); + m_constrainedValues[counter].push_back(0); + m_constrainedValues[counter].push_back(0); + m_constrainedValues[counter].push_back(0); + } + ++counter; + } + } + + // loop through contacts to create contact constraints + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + btMultiBodyJacobianData jacobianData; + const btScalar mrg = psb->getCollisionShape()->getMargin(); + for (int i = 0, ni = psb->m_rcontacts.size(); i < ni; ++i) + { + const btSoftBody::RContact& c = psb->m_rcontacts[i]; + + // skip anchor points + if (c.m_node->m_im == 0) + continue; + + const btSoftBody::sCti& cti = c.m_cti; + if (cti.m_colObj->hasContactResponse()) + { + btVector3 va(0, 0, 0); + btRigidBody* rigidCol = 0; + btMultiBodyLinkCollider* multibodyLinkCol = 0; + btScalar* deltaV; + + // grab the velocity of the rigid body + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c.m_c1)) * dt : btVector3(0, 0, 0); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + jacobianData.m_jacobians.resize(ndof); + jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof); + btScalar* jac = &jacobianData.m_jacobians[0]; + + multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, c.m_node->m_x, cti.m_normal, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m); + deltaV = &jacobianData.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0], deltaV, jacobianData.scratch_r, jacobianData.scratch_v); + + btScalar vel = 0.0; + for (int j = 0; j < ndof; ++j) + { + vel += multibodyLinkCol->m_multiBody->getVelocityVector()[j] * jac[j]; + } + va = cti.m_normal * vel * dt; + } + } + + // TODO: rethink what the velocity of the soft body node should be + // const btVector3 vb = c.m_node->m_x - c.m_node->m_q; + const btVector3 vb = c.m_node->m_v * dt; + const btVector3 vr = vb - va; + const btScalar dn = btDot(vr, cti.m_normal); + if (dn <= SIMD_EPSILON) + { + const btScalar dp = btMin((btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg); + const btVector3 fv = vr - (cti.m_normal * dn); + // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient +// const btVector3 impulse = c.m_c0 * ((vr - (fv * c.m_c3))); + const btVector3 impulse = c.m_c0 * ((vr - (fv * c.m_c3))+ (cti.m_normal * (dp * c.m_c4))); + + //c.m_node->m_v -= impulse * c.m_c2 / dt; + // TODO: only contact is considered here, add friction later + btVector3 normal = cti.m_normal.normalized(); + btVector3 dv = -impulse * c.m_c2; + btScalar dvn = dv.dot(normal); + m_constrainedDirections[m_indices[c.m_node]].push_back(normal); + m_constrainedValues[m_indices[c.m_node]].push_back(dvn); + + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + if (rigidCol) + rigidCol->applyImpulse(impulse, c.m_c1); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + if (multibodyLinkCol) + { + double multiplier = 0.5; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV, -impulse.length() * multiplier); + } + } + } + } + } + } +} diff --git a/src/BulletSoftBody/btContactProjection.h b/src/BulletSoftBody/btContactProjection.h new file mode 100644 index 000000000..dc2c8800e --- /dev/null +++ b/src/BulletSoftBody/btContactProjection.h @@ -0,0 +1,56 @@ +// +// btContactProjection.h +// BulletSoftBody +// +// Created by Xuchen Han on 7/4/19. +// + +#ifndef BT_CONTACT_PROJECTION_H +#define BT_CONTACT_PROJECTION_H +#include "btCGProjection.h" +#include "btSoftBody.h" +#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" +#include +class btContactProjection : public btCGProjection +{ +public: + btContactProjection(btAlignedObjectArray& softBodies, const btAlignedObjectArray& backup_v) + : btCGProjection(softBodies, backup_v) + { + + } + + virtual ~btContactProjection() + { + + } + + // apply the constraints + virtual void operator()(TVStack& x) + { + for (int i = 0; i < x.size(); ++i) + { + for (int j = 0; j < m_constrainedDirections[i].size(); ++j) + { + x[i] -= x[i].dot(m_constrainedDirections[i][j]) * m_constrainedDirections[i][j]; + } + } + } + + virtual void enforceConstraint(TVStack& x) + { + for (int i = 0; i < x.size(); ++i) + { + for (int j = 0; j < m_constrainedDirections[i].size(); ++j) + { + x[i] -= x[i].dot(m_constrainedDirections[i][j]) * m_constrainedDirections[i][j]; + x[i] += m_constrainedValues[i][j] * m_constrainedDirections[i][j]; + } + } + } + + // update the constraints + virtual void update(btScalar dt, const TVStack& dv); +}; +#endif /* btContactProjection_h */ diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index 4e36a2112..85441a803 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -10,12 +10,14 @@ #include "btSoftBodySolvers.h" #include "btBackwardEulerObjective.h" - +#include "btDeformableRigidDynamicsWorld.h" #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" struct btCollisionObjectWrapper; +class btDeformableRigidDynamicsWorld; + class btDeformableBodySolver : public btSoftBodySolver { using TVStack = btAlignedObjectArray; @@ -29,13 +31,16 @@ protected: btBackwardEulerObjective m_objective; int m_solveIterations; int m_impulseIterations; + btDeformableRigidDynamicsWorld* m_world; + btAlignedObjectArray m_backupVelocity; public: btDeformableBodySolver() : m_numNodes(0) - , m_objective(m_softBodySet) + , m_objective(m_softBodySet, m_backupVelocity) , m_solveIterations(1) , m_impulseIterations(1) + , m_world(nullptr) { } @@ -76,23 +81,11 @@ public: { bool nodeUpdated = updateNodes(); reinitialize(nodeUpdated); - + backupVelocity(); for (int i = 0; i < m_solveIterations; ++i) { - // get the velocity after contact solve - // TODO: perform contact solve here - for (int j = 0; j < m_impulseIterations; ++j) - { - for (int s = 0; s < m_softBodySet.size(); ++s) - VSolve_RContacts(m_softBodySet[s], 0, solverdt); - } - - // advect with v_n+1 ** to update position based states - // where v_n+1 ** is the velocity after contact response - // only need to advect x here if elastic force is implicit // prepareSolve(solverdt); - m_objective.computeResidual(solverdt, m_residual); m_objective.computeStep(m_dv, m_residual, solverdt); @@ -107,7 +100,9 @@ public: { m_dv.resize(m_numNodes); m_residual.resize(m_numNodes); + m_backupVelocity.resize(m_numNodes); } + for (int i = 0; i < m_dv.size(); ++i) { m_dv[i].setZero(); @@ -151,7 +146,22 @@ public: btSoftBody* psb = m_softBodySet[i]; for (int j = 0; j < psb->m_nodes.size(); ++j) { - psb->m_nodes[j].m_v += m_dv[counter++]; + psb->m_nodes[j].m_v = m_backupVelocity[counter] + m_dv[counter]; + ++counter; + } + } + } + + void backupVelocity() + { + // serial implementation + int counter = 0; + for (int i = 0; i < m_softBodySet.size(); ++i) + { + btSoftBody* psb = m_softBodySet[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + m_backupVelocity[counter++] = psb->m_nodes[j].m_v; } } } @@ -168,6 +178,7 @@ public: } return false; } + virtual void predictMotion(float solverdt) { for (int i = 0; i < m_softBodySet.size(); ++i) @@ -192,78 +203,11 @@ public: // TODO } - void VSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar dt) + virtual void setWorld(btDeformableRigidDynamicsWorld* world) { - const btScalar mrg = psb->getCollisionShape()->getMargin(); - btMultiBodyJacobianData jacobianData; - for (int i = 0, ni = psb->m_rcontacts.size(); i < ni; ++i) - { - const btSoftBody::RContact& c = psb->m_rcontacts[i]; - const btSoftBody::sCti& cti = c.m_cti; - if (cti.m_colObj->hasContactResponse()) - { - btVector3 va(0, 0, 0); - btRigidBody* rigidCol = 0; - btMultiBodyLinkCollider* multibodyLinkCol = 0; - btScalar* deltaV; - - if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) - { - rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); - va = rigidCol ? rigidCol->getVelocityInLocalPoint(c.m_c1) * dt : btVector3(0, 0, 0); - } - else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) - { - multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); - if (multibodyLinkCol) - { - const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; - jacobianData.m_jacobians.resize(ndof); - jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof); - btScalar* jac = &jacobianData.m_jacobians[0]; - - multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, c.m_node->m_x, cti.m_normal, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m); - deltaV = &jacobianData.m_deltaVelocitiesUnitImpulse[0]; - multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0], deltaV, jacobianData.scratch_r, jacobianData.scratch_v); - - btScalar vel = 0.0; - for (int j = 0; j < ndof; ++j) - { - vel += multibodyLinkCol->m_multiBody->getVelocityVector()[j] * jac[j]; - } - va = cti.m_normal * vel * dt; - } - } - - const btVector3 vb = c.m_node->m_x - c.m_node->m_q; - const btVector3 vr = vb - va; - const btScalar dn = btDot(vr, cti.m_normal); - if (dn <= SIMD_EPSILON) - { - const btScalar dp = btMin((btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg); - const btVector3 fv = vr - (cti.m_normal * dn); - // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient - const btVector3 impulse = c.m_c0 * ((vr - (fv * c.m_c3) + (cti.m_normal * (dp * c.m_c4))) * kst); - c.m_node->m_v -= impulse * c.m_c2 / dt; - - if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) - { - if (rigidCol) - rigidCol->applyImpulse(impulse, c.m_c1); - } - else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) - { - if (multibodyLinkCol) - { - double multiplier = 0.5; - multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV, -impulse.length() * multiplier); - } - } - } - } - } + m_world = world; + m_objective.setWorld(world); } - }; #endif /* btDeformableBodySolver_h */ diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp index 73d4f67f6..1b21ed5b3 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp @@ -18,12 +18,52 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS { btAssert("Solver initialization failed\n"); } + + // from btDiscreteDynamicsWorld singleStepSimulation + if (0 != m_internalPreTickCallback) + { + (*m_internalPreTickCallback)(this, timeStep); + } - btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::internalSingleStepSimulation(timeStep); + ///apply gravity, predict motion + btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep); + + + btDispatcherInfo& dispatchInfo = btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::getDispatchInfo(); + + dispatchInfo.m_timeStep = timeStep; + dispatchInfo.m_stepCount = 0; + dispatchInfo.m_debugDraw = btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::getDebugDrawer(); + + // only used in CCD +// createPredictiveContacts(timeStep); + + ///perform collision detection + btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::performDiscreteCollisionDetection(); + + btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::calculateSimulationIslands(); + + btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::getSolverInfo().m_timeStep = timeStep; + + if (0 != m_internalTickCallback) + { + (*m_internalTickCallback)(this, timeStep); + } + + +// btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::internalSingleStepSimulation(timeStep); ///solve deformable bodies constraints solveDeformableBodiesConstraints(timeStep); + predictUnconstraintMotion(timeStep); + //integrate transforms + btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::integrateTransforms(timeStep); + + ///update vehicle simulation + btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::updateActions(timeStep); + + btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::updateActivationState(timeStep); ///update soft bodies m_deformableBodySolver->updateSoftBodies(); diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h index 55ed41d86..7f70fef56 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h @@ -31,7 +31,6 @@ class btDeformableRigidDynamicsWorld : public btSoftRigidDynamicsWorld ///Solver classes that encapsulate multiple deformable bodies for solving btDeformableBodySolver* m_deformableBodySolver; - protected: virtual void internalSingleStepSimulation(btScalar timeStep); @@ -65,7 +64,7 @@ public: virtual void predictUnconstraintMotion(btScalar timeStep) { - btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep); +// btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep); m_deformableBodySolver->predictMotion(float(timeStep)); } // virtual void internalStepSingleStepSimulation(btScalar timeStep); From b8997c36b2b1a25e2d3085ded367b65352a45e31 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Sat, 6 Jul 2019 20:55:41 -0700 Subject: [PATCH 003/389] update contact projection --- src/BulletSoftBody/btBackwardEulerObjective.h | 1 + src/BulletSoftBody/btContactProjection.cpp | 5 ++-- src/BulletSoftBody/btDeformableBodySolver.h | 27 +++++++++++++++++-- .../btDeformableRigidDynamicsWorld.cpp | 9 +++++-- .../btDeformableRigidDynamicsWorld.h | 2 +- 5 files changed, 37 insertions(+), 7 deletions(-) diff --git a/src/BulletSoftBody/btBackwardEulerObjective.h b/src/BulletSoftBody/btBackwardEulerObjective.h index f8f0596b5..cef07aea1 100644 --- a/src/BulletSoftBody/btBackwardEulerObjective.h +++ b/src/BulletSoftBody/btBackwardEulerObjective.h @@ -101,6 +101,7 @@ public: { // damping force is implicit and elastic force is explicit m_lf[i]->addScaledDampingForceDifferential(-m_dt, x, b); +// m_lf[i]->addScaledElasticForceDifferential(-m_dt*m_dt, x, b); } } diff --git a/src/BulletSoftBody/btContactProjection.cpp b/src/BulletSoftBody/btContactProjection.cpp index b50918af4..2666ff789 100644 --- a/src/BulletSoftBody/btContactProjection.cpp +++ b/src/BulletSoftBody/btContactProjection.cpp @@ -76,7 +76,7 @@ void btContactProjection::update(btScalar dt, const TVStack& dv) if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) { rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); - va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c.m_c1)) * dt : btVector3(0, 0, 0); + va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c.m_c1) + btVector3(0,-10,0)*dt) * dt : btVector3(0, 0, 0); } else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) { @@ -117,7 +117,8 @@ void btContactProjection::update(btScalar dt, const TVStack& dv) //c.m_node->m_v -= impulse * c.m_c2 / dt; // TODO: only contact is considered here, add friction later btVector3 normal = cti.m_normal.normalized(); - btVector3 dv = -impulse * c.m_c2; + btVector3 diff = c.m_node->m_v - m_backupVelocity[m_indices[c.m_node]]; + btVector3 dv = -impulse * c.m_c2/dt + diff; btScalar dvn = dv.dot(normal); m_constrainedDirections[m_indices[c.m_node]].push_back(normal); m_constrainedValues[m_indices[c.m_node]].push_back(dvn); diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index 85441a803..5a0a3a05a 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -8,6 +8,7 @@ #ifndef BT_DEFORMABLE_BODY_SOLVERS_H #define BT_DEFORMABLE_BODY_SOLVERS_H +#include #include "btSoftBodySolvers.h" #include "btBackwardEulerObjective.h" #include "btDeformableRigidDynamicsWorld.h" @@ -87,6 +88,7 @@ public: // only need to advect x here if elastic force is implicit // prepareSolve(solverdt); m_objective.computeResidual(solverdt, m_residual); + moveTempVelocity(solverdt, m_residual); m_objective.computeStep(m_dv, m_residual, solverdt); updateVelocity(); @@ -94,6 +96,20 @@ public: advect(solverdt); } + void moveTempVelocity(btScalar dt, const TVStack& f) + { + size_t counter = 0; + for (int i = 0; i < m_softBodySet.size(); ++i) + { + btSoftBody* psb = m_softBodySet[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + auto& node = psb->m_nodes[j]; + node.m_v += node.m_im * dt * f[counter++]; + } + } + } + void reinitialize(bool nodeUpdated) { if (nodeUpdated) @@ -119,7 +135,7 @@ public: for (int j = 0; j < psb->m_nodes.size(); ++j) { auto& node = psb->m_nodes[j]; - node.m_x = node.m_q + dt * node.m_v * psb->m_dampingCoefficient; + node.m_x = node.m_q + dt * node.m_v; } } } @@ -132,7 +148,13 @@ public: for (int j = 0; j < psb->m_nodes.size(); ++j) { auto& node = psb->m_nodes[j]; - node.m_x += dt * m_dv[counter++]; +// node.m_x += dt * m_dv[counter++]; + node.m_x += dt * node.m_v; + if (j == 4) + { + std::cout << "x " << psb->m_nodes[j].m_x.getY() << std::endl; + std::cout << "v " << psb->m_nodes[j].m_v.getY() << std::endl; + } } } } @@ -147,6 +169,7 @@ public: for (int j = 0; j < psb->m_nodes.size(); ++j) { psb->m_nodes[j].m_v = m_backupVelocity[counter] + m_dv[counter]; + ++counter; } } diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp index 1b21ed5b3..c0afc98d4 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp @@ -26,7 +26,7 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS } ///apply gravity, predict motion - btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep); + predictUnconstraintMotion(timeStep); btDispatcherInfo& dispatchInfo = btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::getDispatchInfo(); @@ -56,7 +56,7 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS ///solve deformable bodies constraints solveDeformableBodiesConstraints(timeStep); - predictUnconstraintMotion(timeStep); +// predictUnconstraintMotion(timeStep); //integrate transforms btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::integrateTransforms(timeStep); @@ -68,6 +68,11 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS ///update soft bodies m_deformableBodySolver->updateSoftBodies(); + for (int i = 0; i < m_nonStaticRigidBodies.size(); i++) + { + btRigidBody* body = m_nonStaticRigidBodies[i]; + std::cout << "rb v = " << body->getLinearVelocity().getY() << std::endl; + } // End solver-wise simulation step // /////////////////////////////// } diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h index 7f70fef56..98dc4602c 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h @@ -64,7 +64,7 @@ public: virtual void predictUnconstraintMotion(btScalar timeStep) { -// btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep); + btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep); m_deformableBodySolver->predictMotion(float(timeStep)); } // virtual void internalStepSingleStepSimulation(btScalar timeStep); From 786b0436ec3eda6fd46066adfa34d35f8a346e9b Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Sun, 7 Jul 2019 14:31:19 -0700 Subject: [PATCH 004/389] fixed gravity issue in rigid body and deformable body contact solve --- examples/DeformableDemo/DeformableDemo.cpp | 125 ++++++++---------- src/BulletSoftBody/btBackwardEulerObjective.h | 2 +- src/BulletSoftBody/btCGProjection.h | 4 +- src/BulletSoftBody/btContactProjection.cpp | 19 +-- src/BulletSoftBody/btContactProjection.h | 4 +- src/BulletSoftBody/btDeformableBodySolver.h | 24 +--- .../btDeformableRigidDynamicsWorld.cpp | 15 ++- 7 files changed, 72 insertions(+), 121 deletions(-) diff --git a/examples/DeformableDemo/DeformableDemo.cpp b/examples/DeformableDemo/DeformableDemo.cpp index 7edc3c4a3..990bdd7b9 100644 --- a/examples/DeformableDemo/DeformableDemo.cpp +++ b/examples/DeformableDemo/DeformableDemo.cpp @@ -59,16 +59,45 @@ public: void resetCamera() { -// float dist = 30; -// float pitch = -14; -// float yaw = 0; -// float targetPos[3] = {0, 0, 0}; - float dist = 45; + float dist = 15; float pitch = -45; float yaw = 100; - float targetPos[3] = {0,0, 0}; + float targetPos[3] = {0, -5, 0}; m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]); } + + + void Ctor_RbUpStack(int count) + { + float mass = 1; + + 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)), + cylinderCompound, + new btSphereShape(0.75) + + }; + 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]); + } + } + virtual const btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() const { ///just make it a btSoftRigidDynamicsWorld please @@ -105,7 +134,6 @@ void DeformableDemo::initPhysics() m_guiHelper->setUpAxis(1); ///collision configuration contains default setup for memory, collision setup -// m_collisionConfiguration = new btDefaultCollisionConfiguration(); m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration(); ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) @@ -119,22 +147,22 @@ void DeformableDemo::initPhysics() m_solver = sol; m_dynamicsWorld = new btDeformableRigidDynamicsWorld(m_dispatcher, m_broadphase, m_solver, 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); m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); { - ///create a few basic rigid bodies -// btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(10.), btScalar(5.), btScalar(25.))); - btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.), btScalar(25.), btScalar(50.))); + ///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, -30, 0)); -// groundTransform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI * 0.03)); + 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.); @@ -151,76 +179,30 @@ void DeformableDemo::initPhysics() btRigidBody* body = new btRigidBody(rbInfo); body->setFriction(.5); - //add the body to the dynamics world + //add the ground to the dynamics world m_dynamicsWorld->addRigidBody(body); } -// -// { -// ///create a few basic rigid bodies -// btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(100.), btScalar(100.), btScalar(50.))); -// -// m_collisionShapes.push_back(groundShape); -// -// btTransform groundTransform; -// groundTransform.setIdentity(); -// groundTransform.setOrigin(btVector3(0, 0, -54)); -// //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(.1); -// //add the body to the dynamics world -// m_dynamicsWorld->addRigidBody(body); -// } -// -// { -// // add a simple deformable body -// const btVector3 s(3,2,1); // side length -// const btVector3 p(0,30,0); // origin; -// const btVector3 h = s * 0.5; -// const btVector3 c[] = {p + h * btVector3(-1, -1, -1), -// p + h * btVector3(+1, -1, -1), -// p + h * btVector3(-1, +1, -1), -// p + h * btVector3(+1, +1, -1), -// p + h * btVector3(-1, -1, +1), -// p + h * btVector3(+1, -1, +1), -// p + h * btVector3(-1, +1, +1), -// p + h * btVector3(+1, +1, +1)}; -// btSoftBody* psb = btSoftBodyHelpers::CreateFromConvexHull(getDeformableDynamicsWorld()->getSoftDynamicsWorld()->getWorldInfo(), c, 8); -// psb->generateBendingConstraints(2); -// psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS; -// psb->setTotalMass(150); -// getDeformableDynamicsWorld()->addSoftBody(psb); -// } + + // create a piece of cloth { - const btScalar s = 8; + const btScalar s = 4; btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getSoftDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s), btVector3(+s, 0, -s), btVector3(-s, 0, +s), btVector3(+s, 0, +s), - 10, 10, - // 31,31, +// 3, 3, + 20,20, 1 + 2 + 4 + 8, true); // 0, true); - psb->getCollisionShape()->setMargin(0.5); -// btSoftBody::Material* pm = psb->appendMaterial(); -// pm->m_kLST = 0.4 * 1000; -// pm->m_flags -= btSoftBody::fMaterial::DebugDraw; + psb->getCollisionShape()->setMargin(0.25); psb->generateBendingConstraints(2); - psb->setTotalMass(1); - psb->setDampingCoefficient(0.01); + psb->setTotalMass(2); + psb->setDampingCoefficient(0.02); getDeformableDynamicsWorld()->addSoftBody(psb); + + // add a few rigid bodies + Ctor_RbUpStack(10); } m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); } @@ -263,7 +245,10 @@ void DeformableDemo::exitPhysics() } + class CommonExampleInterface* DeformableCreateFunc(struct CommonExampleOptions& options) { return new DeformableDemo(options.m_guiHelper); } + + diff --git a/src/BulletSoftBody/btBackwardEulerObjective.h b/src/BulletSoftBody/btBackwardEulerObjective.h index cef07aea1..5e81fc0f2 100644 --- a/src/BulletSoftBody/btBackwardEulerObjective.h +++ b/src/BulletSoftBody/btBackwardEulerObjective.h @@ -40,7 +40,7 @@ public: : cg(20) , m_softBodies(softBodies) , precondition(DefaultPreconditioner()) - , projection(m_softBodies, backup_v) + , projection(m_softBodies) { // TODO: this should really be specified in initialization instead of here btMassSpring* mass_spring = new btMassSpring(m_softBodies); diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index 89743ef27..533e19c7a 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -23,11 +23,9 @@ public: std::unordered_map m_indices; TVArrayStack m_constrainedDirections; TArrayStack m_constrainedValues; - const TVStack& m_backupVelocity; - btCGProjection(btAlignedObjectArray& softBodies, const TVStack& backup_v) + btCGProjection(btAlignedObjectArray& softBodies) : m_softBodies(softBodies) - , m_backupVelocity(backup_v) { } diff --git a/src/BulletSoftBody/btContactProjection.cpp b/src/BulletSoftBody/btContactProjection.cpp index 2666ff789..8f9f9225a 100644 --- a/src/BulletSoftBody/btContactProjection.cpp +++ b/src/BulletSoftBody/btContactProjection.cpp @@ -9,17 +9,6 @@ #include "btDeformableRigidDynamicsWorld.h" void btContactProjection::update(btScalar dt, const TVStack& dv) { - size_t counter = 0; - for (int i = 0; i < m_softBodies.size(); ++i) - { - btSoftBody* psb = m_softBodies[i]; - for (int j = 0; j < psb->m_nodes.size(); ++j) - { - psb->m_nodes[j].m_v = m_backupVelocity[counter] + dv[counter]; - ++counter; - } - } - ///solve rigid body constraints m_world->btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::solveConstraints(m_world->getSolverInfo()); @@ -31,7 +20,7 @@ void btContactProjection::update(btScalar dt, const TVStack& dv) } // Set dirichlet constraints - counter = 0; + size_t counter = 0; for (int i = 0; i < m_softBodies.size(); ++i) { const btSoftBody* psb = m_softBodies[i]; @@ -76,7 +65,7 @@ void btContactProjection::update(btScalar dt, const TVStack& dv) if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) { rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); - va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c.m_c1) + btVector3(0,-10,0)*dt) * dt : btVector3(0, 0, 0); + va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c.m_c1)) * dt : btVector3(0, 0, 0); } else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) { @@ -114,11 +103,9 @@ void btContactProjection::update(btScalar dt, const TVStack& dv) // const btVector3 impulse = c.m_c0 * ((vr - (fv * c.m_c3))); const btVector3 impulse = c.m_c0 * ((vr - (fv * c.m_c3))+ (cti.m_normal * (dp * c.m_c4))); - //c.m_node->m_v -= impulse * c.m_c2 / dt; // TODO: only contact is considered here, add friction later btVector3 normal = cti.m_normal.normalized(); - btVector3 diff = c.m_node->m_v - m_backupVelocity[m_indices[c.m_node]]; - btVector3 dv = -impulse * c.m_c2/dt + diff; + btVector3 dv = -impulse * c.m_c2/dt; btScalar dvn = dv.dot(normal); m_constrainedDirections[m_indices[c.m_node]].push_back(normal); m_constrainedValues[m_indices[c.m_node]].push_back(dvn); diff --git a/src/BulletSoftBody/btContactProjection.h b/src/BulletSoftBody/btContactProjection.h index dc2c8800e..e1c3bc50d 100644 --- a/src/BulletSoftBody/btContactProjection.h +++ b/src/BulletSoftBody/btContactProjection.h @@ -15,8 +15,8 @@ class btContactProjection : public btCGProjection { public: - btContactProjection(btAlignedObjectArray& softBodies, const btAlignedObjectArray& backup_v) - : btCGProjection(softBodies, backup_v) + btContactProjection(btAlignedObjectArray& softBodies) + : btCGProjection(softBodies) { } diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index 5a0a3a05a..9afec42dc 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -82,13 +82,11 @@ public: { bool nodeUpdated = updateNodes(); reinitialize(nodeUpdated); - backupVelocity(); for (int i = 0; i < m_solveIterations; ++i) { // only need to advect x here if elastic force is implicit // prepareSolve(solverdt); m_objective.computeResidual(solverdt, m_residual); - moveTempVelocity(solverdt, m_residual); m_objective.computeStep(m_dv, m_residual, solverdt); updateVelocity(); @@ -116,7 +114,6 @@ public: { m_dv.resize(m_numNodes); m_residual.resize(m_numNodes); - m_backupVelocity.resize(m_numNodes); } for (int i = 0; i < m_dv.size(); ++i) @@ -150,11 +147,6 @@ public: auto& node = psb->m_nodes[j]; // node.m_x += dt * m_dv[counter++]; node.m_x += dt * node.m_v; - if (j == 4) - { - std::cout << "x " << psb->m_nodes[j].m_x.getY() << std::endl; - std::cout << "v " << psb->m_nodes[j].m_v.getY() << std::endl; - } } } } @@ -168,27 +160,13 @@ public: btSoftBody* psb = m_softBodySet[i]; for (int j = 0; j < psb->m_nodes.size(); ++j) { - psb->m_nodes[j].m_v = m_backupVelocity[counter] + m_dv[counter]; + psb->m_nodes[j].m_v += m_dv[counter]; ++counter; } } } - void backupVelocity() - { - // serial implementation - int counter = 0; - for (int i = 0; i < m_softBodySet.size(); ++i) - { - btSoftBody* psb = m_softBodySet[i]; - for (int j = 0; j < psb->m_nodes.size(); ++j) - { - m_backupVelocity[counter++] = psb->m_nodes[j].m_v; - } - } - } - bool updateNodes() { int numNodes = 0; diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp index c0afc98d4..82b24ccb8 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp @@ -53,6 +53,14 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS // btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::internalSingleStepSimulation(timeStep); + // incorporate gravity into velocity and clear force + for (int i = 0; i < m_nonStaticRigidBodies.size(); ++i) + { + btRigidBody* rb = m_nonStaticRigidBodies[i]; + rb->integrateVelocities(timeStep); + } + clearForces(); + ///solve deformable bodies constraints solveDeformableBodiesConstraints(timeStep); @@ -67,12 +75,7 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS ///update soft bodies m_deformableBodySolver->updateSoftBodies(); - - for (int i = 0; i < m_nonStaticRigidBodies.size(); i++) - { - btRigidBody* body = m_nonStaticRigidBodies[i]; - std::cout << "rb v = " << body->getLinearVelocity().getY() << std::endl; - } + // End solver-wise simulation step // /////////////////////////////// } From 13d4e1cc2bb79e28e63990fbf77fb4c1eb8aeb10 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 9 Jul 2019 14:26:04 -0700 Subject: [PATCH 005/389] bug fixes in constraints projections; cpplized various functions --- .../btBackwardEulerObjective.cpp | 88 ++++++++++ src/BulletSoftBody/btBackwardEulerObjective.h | 68 ++------ src/BulletSoftBody/btCGProjection.h | 17 +- src/BulletSoftBody/btConjugateGradient.h | 68 +------- src/BulletSoftBody/btContactProjection.cpp | 151 ++++++++++++----- src/BulletSoftBody/btContactProjection.h | 8 +- src/BulletSoftBody/btDeformableBodySolver.cpp | 157 ++++++++++++++++++ src/BulletSoftBody/btDeformableBodySolver.h | 89 +++------- .../btDeformableRigidDynamicsWorld.cpp | 39 ++++- .../btDeformableRigidDynamicsWorld.h | 19 +-- src/BulletSoftBody/btMassSpring.h | 7 +- src/BulletSoftBody/btSoftBodyInternals.h | 2 +- 12 files changed, 450 insertions(+), 263 deletions(-) create mode 100644 src/BulletSoftBody/btBackwardEulerObjective.cpp create mode 100644 src/BulletSoftBody/btDeformableBodySolver.cpp diff --git a/src/BulletSoftBody/btBackwardEulerObjective.cpp b/src/BulletSoftBody/btBackwardEulerObjective.cpp new file mode 100644 index 000000000..22614c994 --- /dev/null +++ b/src/BulletSoftBody/btBackwardEulerObjective.cpp @@ -0,0 +1,88 @@ +// +// btBackwardEulerObjective.cpp +// BulletSoftBody +// +// Created by Xuchen Han on 7/9/19. +// + +#include "btBackwardEulerObjective.h" + +btBackwardEulerObjective::btBackwardEulerObjective(btAlignedObjectArray& softBodies, const TVStack& backup_v) +: cg(20) +, m_softBodies(softBodies) +, precondition(DefaultPreconditioner()) +, projection(m_softBodies, m_dt) +, m_backupVelocity(backup_v) +{ + // TODO: this should really be specified in initialization instead of here + btMassSpring* mass_spring = new btMassSpring(m_softBodies); + m_lf.push_back(mass_spring); +} + +void btBackwardEulerObjective::reinitialize(bool nodeUpdated) +{ + if(nodeUpdated) + { + projection.setSoftBodies(m_softBodies); + } + for (int i = 0; i < m_lf.size(); ++i) + { + m_lf[i]->reinitialize(nodeUpdated); + projection.reinitialize(nodeUpdated); + } +} + + +void btBackwardEulerObjective::multiply(const TVStack& x, TVStack& b) const +{ + for (int i = 0; i < b.size(); ++i) + b[i].setZero(); + + // add in the mass term + size_t counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + const auto& node = psb->m_nodes[j]; + b[counter] += (node.m_im == 0) ? btVector3(0,0,0) : x[counter] / node.m_im; + ++counter; + } + } + + for (int i = 0; i < m_lf.size(); ++i) + { + // add damping matrix + m_lf[i]->addScaledDampingForceDifferential(-m_dt, x, b); + + // add stiffness matrix when fully implicity + m_lf[i]->addScaledElasticForceDifferential(-m_dt*m_dt, x, b); + } +} + +void btBackwardEulerObjective::computeStep(TVStack& dv, const TVStack& residual, const btScalar& dt) +{ + m_dt = dt; + btScalar tolerance = std::numeric_limits::epsilon()* 16 * computeNorm(residual); + cg.solve(*this, dv, residual, tolerance); + } + +void btBackwardEulerObjective::updateVelocity(const TVStack& dv) +{ + for (int i = 0; i < m_softBodies.size(); ++i) + { + int counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + // only the velocity of the constrained nodes needs to be updated during CG solve + if (projection.m_constrainedDirections.size() > 0) + psb->m_nodes[j].m_v = m_backupVelocity[counter] + dv[counter]; + ++counter; + } + } + } +} diff --git a/src/BulletSoftBody/btBackwardEulerObjective.h b/src/BulletSoftBody/btBackwardEulerObjective.h index 5e81fc0f2..424291700 100644 --- a/src/BulletSoftBody/btBackwardEulerObjective.h +++ b/src/BulletSoftBody/btBackwardEulerObjective.h @@ -35,17 +35,9 @@ public: btAlignedObjectArray& m_softBodies; std::function precondition; btContactProjection projection; + const TVStack& m_backupVelocity; - btBackwardEulerObjective(btAlignedObjectArray& softBodies, const TVStack& backup_v) - : cg(20) - , m_softBodies(softBodies) - , precondition(DefaultPreconditioner()) - , projection(m_softBodies) - { - // TODO: this should really be specified in initialization instead of here - btMassSpring* mass_spring = new btMassSpring(m_softBodies); - m_lf.push_back(mass_spring); - } + btBackwardEulerObjective(btAlignedObjectArray& softBodies, const TVStack& backup_v); virtual ~btBackwardEulerObjective() {} @@ -54,7 +46,6 @@ public: void computeResidual(btScalar dt, TVStack& residual) const { // gravity is treated explicitly in predictUnconstraintMotion - // add force for (int i = 0; i < m_lf.size(); ++i) { @@ -72,62 +63,29 @@ public: return std::sqrt(norm_squared); } - void computeStep(TVStack& dv, const TVStack& residual, const btScalar& dt) - { - m_dt = dt; - btScalar tolerance = std::numeric_limits::epsilon()*16 * computeNorm(residual); - cg.solve(*this, dv, residual, tolerance); - } + void computeStep(TVStack& dv, const TVStack& residual, const btScalar& dt); - void multiply(const TVStack& x, TVStack& b) const - { - for (int i = 0; i < b.size(); ++i) - b[i].setZero(); - - // add in the mass term - size_t counter = 0; - for (int i = 0; i < m_softBodies.size(); ++i) - { - btSoftBody* psb = m_softBodies[i]; - for (int j = 0; j < psb->m_nodes.size(); ++j) - { - const auto& node = psb->m_nodes[j]; - b[counter] += (node.m_im == 0) ? btVector3(0,0,0) : x[counter] / node.m_im; - ++counter; - } - } - - for (int i = 0; i < m_lf.size(); ++i) - { - // damping force is implicit and elastic force is explicit - m_lf[i]->addScaledDampingForceDifferential(-m_dt, x, b); -// m_lf[i]->addScaledElasticForceDifferential(-m_dt*m_dt, x, b); - } - } + void multiply(const TVStack& x, TVStack& b) const; void updateProjection(const TVStack& dv) { - projection.update(m_dt, dv); + projection.update(dv, m_backupVelocity); } - void reinitialize(bool nodeUpdated) - { - if(nodeUpdated) - { - projection.setSoftBodies(m_softBodies); - } - for (int i = 0; i < m_lf.size(); ++i) - { - m_lf[i]->reinitialize(nodeUpdated); - projection.reinitialize(nodeUpdated); - } - } + void reinitialize(bool nodeUpdated); void enforceConstraint(TVStack& x) { projection.enforceConstraint(x); + updateVelocity(x); } + void updateVelocity(const TVStack& dv); + + void setConstraintDirections() + { + projection.setConstraintDirections(); + } void project(TVStack& r, const TVStack& dv) { updateProjection(dv); diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index 533e19c7a..8648e99f8 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -23,30 +23,39 @@ public: std::unordered_map m_indices; TVArrayStack m_constrainedDirections; TArrayStack m_constrainedValues; + const btScalar& m_dt; - btCGProjection(btAlignedObjectArray& softBodies) + btCGProjection(btAlignedObjectArray& softBodies, const btScalar& dt) : m_softBodies(softBodies) + , m_dt(dt) { - } virtual ~btCGProjection() { - } // apply the constraints virtual void operator()(TVStack& x) = 0; + virtual void setConstraintDirections() = 0; + // update the constraints - virtual void update(btScalar dt, const TVStack& dv) = 0; + virtual void update(const TVStack& dv, const TVStack& backup_v) = 0; virtual void reinitialize(bool nodeUpdated) { if (nodeUpdated) updateId(); + + // resize and clear the old constraints m_constrainedValues.resize(m_indices.size()); m_constrainedDirections.resize(m_indices.size()); + for (int i = 0; i < m_constrainedDirections.size(); ++i) + { + m_constrainedDirections[i].clear(); + m_constrainedValues[i].clear(); + } } void updateId() diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h index 2754a208d..0a88e6b94 100644 --- a/src/BulletSoftBody/btConjugateGradient.h +++ b/src/BulletSoftBody/btConjugateGradient.h @@ -8,6 +8,10 @@ #ifndef BT_CONJUGATE_GRADIENT_H #define BT_CONJUGATE_GRADIENT_H #include +#include +#include +#include + template class btConjugateGradient { @@ -25,69 +29,6 @@ public: virtual ~btConjugateGradient(){} -// // return the number of iterations taken -// int solve(const TM& A, TVStack& x, const TVStack& b, btScalar tolerance) -// { -// btAssert(x.size() == b.size()); -// reinitialize(b); -// -// // r = M * (b - A * x) --with assigned dof zeroed out -// A.multiply(x, temp); -// temp = sub(b, temp); -// A.project(temp); -// A.precondition(temp, r); -// -// btScalar r_dot_r = squaredNorm(r), r_dot_r_new; -// btScalar r_norm = std::sqrt(r_dot_r); -// if (r_norm < tolerance) { -// std::cout << "Iteration = 0" << std::endl; -// std::cout << "Two norm of the residual = " << r_norm << std::endl; -// return 0; -// } -// -// p = r; -// // q = M * A * q; -// A.multiply(p, temp); -// A.precondition(temp, q); -// -// // alpha = |r|^2 / (p^T * A * p) -// btScalar alpha = r_dot_r / dot(p, q), beta; -// -// for (int k = 1; k < max_iterations; k++) { -//// x += alpha * p; -//// r -= alpha * q; -// multAndAddTo(alpha, p, x); -// multAndAddTo(-alpha, q, r); -// -// // zero out the dofs of r -// A.project(r); -// -// r_dot_r_new = squaredNorm(r); -// r_norm = std::sqrt(r_dot_r_new); -// -// if (r_norm < tolerance) { -// std::cout << "ConjugateGradient iterations " << k << std::endl; -// return k; -// -// beta = r_dot_r_new / r_dot_r; -// r_dot_r = r_dot_r_new; -//// p = r + beta * p; -// p = multAndAdd(beta, p, r); -// -// // q = M * A * q; -// A.multiply(p, temp); -// A.precondition(temp, q); -// -// alpha = r_dot_r / dot(p, q); -// } -// -// setZero(q); -// setZero(r); -// } -// std::cout << "ConjugateGradient max iterations reached " << max_iterations << std::endl; -// return max_iterations; -// } - // return the number of iterations taken int solve(TM& A, TVStack& x, const TVStack& b, btScalar tolerance) { @@ -109,7 +50,6 @@ public: // z = M^(-1) * r A.precondition(r, z); - // p = z; p = z; // temp = A*p A.multiply(p, temp); diff --git a/src/BulletSoftBody/btContactProjection.cpp b/src/BulletSoftBody/btContactProjection.cpp index 8f9f9225a..4db3e019e 100644 --- a/src/BulletSoftBody/btContactProjection.cpp +++ b/src/BulletSoftBody/btContactProjection.cpp @@ -7,44 +7,16 @@ #include "btContactProjection.h" #include "btDeformableRigidDynamicsWorld.h" -void btContactProjection::update(btScalar dt, const TVStack& dv) +void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocity) { ///solve rigid body constraints m_world->btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::solveConstraints(m_world->getSolverInfo()); - - // clear the old constraints - for (int i = 0; i < m_constrainedDirections.size(); ++i) - { - m_constrainedDirections[i].clear(); - m_constrainedValues[i].clear(); - } - - // Set dirichlet constraints - size_t counter = 0; - for (int i = 0; i < m_softBodies.size(); ++i) - { - const btSoftBody* psb = m_softBodies[i]; - for (int j = 0; j < psb->m_nodes.size(); ++j) - { - if (psb->m_nodes[j].m_im == 0) - { - m_constrainedDirections[counter].push_back(btVector3(1,0,0)); - m_constrainedDirections[counter].push_back(btVector3(0,1,0)); - m_constrainedDirections[counter].push_back(btVector3(0,0,1)); - m_constrainedValues[counter].push_back(0); - m_constrainedValues[counter].push_back(0); - m_constrainedValues[counter].push_back(0); - } - ++counter; - } - } - + // loop through contacts to create contact constraints for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; btMultiBodyJacobianData jacobianData; - const btScalar mrg = psb->getCollisionShape()->getMargin(); for (int i = 0, ni = psb->m_rcontacts.size(); i < ni; ++i) { const btSoftBody::RContact& c = psb->m_rcontacts[i]; @@ -65,7 +37,7 @@ void btContactProjection::update(btScalar dt, const TVStack& dv) if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) { rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); - va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c.m_c1)) * dt : btVector3(0, 0, 0); + va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c.m_c1)) * m_dt : btVector3(0, 0, 0); } else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) { @@ -86,29 +58,25 @@ void btContactProjection::update(btScalar dt, const TVStack& dv) { vel += multibodyLinkCol->m_multiBody->getVelocityVector()[j] * jac[j]; } - va = cti.m_normal * vel * dt; + va = cti.m_normal * vel * m_dt; } } - // TODO: rethink what the velocity of the soft body node should be - // const btVector3 vb = c.m_node->m_x - c.m_node->m_q; - const btVector3 vb = c.m_node->m_v * dt; + const btVector3 vb = c.m_node->m_v * m_dt; const btVector3 vr = vb - va; const btScalar dn = btDot(vr, cti.m_normal); - if (dn <= SIMD_EPSILON) + if (1) // in the same CG solve, the set of constraits doesn't change +// if (dn <= SIMD_EPSILON) { - const btScalar dp = btMin((btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg); - const btVector3 fv = vr - (cti.m_normal * dn); // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient -// const btVector3 impulse = c.m_c0 * ((vr - (fv * c.m_c3))); - const btVector3 impulse = c.m_c0 * ((vr - (fv * c.m_c3))+ (cti.m_normal * (dp * c.m_c4))); - + const btVector3 impulse = c.m_c0 *(cti.m_normal * dn); // TODO: only contact is considered here, add friction later - btVector3 normal = cti.m_normal.normalized(); - btVector3 dv = -impulse * c.m_c2/dt; - btScalar dvn = dv.dot(normal); - m_constrainedDirections[m_indices[c.m_node]].push_back(normal); - m_constrainedValues[m_indices[c.m_node]].push_back(dvn); + + // dv = new_impulse + accumulated velocity change in previous CG iterations + // so we have the invariant node->m_v = backupVelocity + dv; + btVector3 dv = -impulse * c.m_c2/m_dt + c.m_node->m_v - backupVelocity[m_indices[c.m_node]]; + btScalar dvn = dv.dot(cti.m_normal); + m_constrainedValues[m_indices[c.m_node]][0]=(dvn); if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) { @@ -128,3 +96,94 @@ void btContactProjection::update(btScalar dt, const TVStack& dv) } } } + +void btContactProjection::setConstraintDirections() +{ + // set Dirichlet constraint + size_t counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + const btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + if (psb->m_nodes[j].m_im == 0) + { + m_constrainedDirections[counter].push_back(btVector3(1,0,0)); + m_constrainedDirections[counter].push_back(btVector3(0,1,0)); + m_constrainedDirections[counter].push_back(btVector3(0,0,1)); + m_constrainedValues[counter].push_back(0); + m_constrainedValues[counter].push_back(0); + m_constrainedValues[counter].push_back(0); + } + ++counter; + } + } + + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + btMultiBodyJacobianData jacobianData; + + int j = 0; + while (j < psb->m_rcontacts.size()) + { + const btSoftBody::RContact& c = psb->m_rcontacts[j]; + // skip anchor points + if (c.m_node->m_im == 0) + { + psb->m_rcontacts.removeAtIndex(j); + continue; + } + + const btSoftBody::sCti& cti = c.m_cti; + if (cti.m_colObj->hasContactResponse()) + { + btVector3 va(0, 0, 0); + btRigidBody* rigidCol = 0; + btMultiBodyLinkCollider* multibodyLinkCol = 0; + btScalar* deltaV; + + // grab the velocity of the rigid body + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c.m_c1)) * m_dt : btVector3(0, 0, 0); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + jacobianData.m_jacobians.resize(ndof); + jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof); + btScalar* jac = &jacobianData.m_jacobians[0]; + + multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, c.m_node->m_x, cti.m_normal, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m); + deltaV = &jacobianData.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0], deltaV, jacobianData.scratch_r, jacobianData.scratch_v); + + btScalar vel = 0.0; + for (int j = 0; j < ndof; ++j) + { + vel += multibodyLinkCol->m_multiBody->getVelocityVector()[j] * jac[j]; + } + va = cti.m_normal * vel * m_dt; + } + } + + const btVector3 vb = c.m_node->m_v * m_dt; + const btVector3 vr = vb - va; + const btScalar dn = btDot(vr, cti.m_normal); + if (dn < SIMD_EPSILON) + { + ++j; + m_constrainedDirections[m_indices[c.m_node]].push_back(cti.m_normal); + m_constrainedValues[m_indices[c.m_node]].resize(m_constrainedValues[m_indices[c.m_node]].size()+1); + continue; + } + } + psb->m_rcontacts.removeAtIndex(j); + } + } +} diff --git a/src/BulletSoftBody/btContactProjection.h b/src/BulletSoftBody/btContactProjection.h index e1c3bc50d..5598ada0a 100644 --- a/src/BulletSoftBody/btContactProjection.h +++ b/src/BulletSoftBody/btContactProjection.h @@ -15,8 +15,8 @@ class btContactProjection : public btCGProjection { public: - btContactProjection(btAlignedObjectArray& softBodies) - : btCGProjection(softBodies) + btContactProjection(btAlignedObjectArray& softBodies, const btScalar& dt) + : btCGProjection(softBodies, dt) { } @@ -51,6 +51,8 @@ public: } // update the constraints - virtual void update(btScalar dt, const TVStack& dv); + virtual void update(const TVStack& dv, const TVStack& backupVelocity); + + virtual void setConstraintDirections(); }; #endif /* btContactProjection_h */ diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp new file mode 100644 index 000000000..d3d448db0 --- /dev/null +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -0,0 +1,157 @@ +// +// btDeformableBodySolver.cpp +// BulletSoftBody +// +// Created by Xuchen Han on 7/9/19. +// + +#include +#include "btDeformableBodySolver.h" + +void btDeformableBodySolver::postStabilize() +{ + for (int i = 0; i < m_softBodySet.size(); ++i) + { + btSoftBody* psb = m_softBodySet[i]; + btMultiBodyJacobianData jacobianData; + const btScalar mrg = psb->getCollisionShape()->getMargin(); + for (int j = 0; j < psb->m_rcontacts.size(); ++j) + { + const btSoftBody::RContact& c = psb->m_rcontacts[j]; + // skip anchor points + if (c.m_node->m_im == 0) + continue; + + const btSoftBody::sCti& cti = c.m_cti; + if (cti.m_colObj->hasContactResponse()) + { + btVector3 va(0, 0, 0); + btRigidBody* rigidCol = 0; + btMultiBodyLinkCollider* multibodyLinkCol = 0; + btScalar* deltaV; + + // grab the velocity of the rigid body + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c.m_c1)) * m_dt : btVector3(0, 0, 0); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + jacobianData.m_jacobians.resize(ndof); + jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof); + btScalar* jac = &jacobianData.m_jacobians[0]; + + multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, c.m_node->m_x, cti.m_normal, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m); + deltaV = &jacobianData.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0], deltaV, jacobianData.scratch_r, jacobianData.scratch_v); + + btScalar vel = 0.0; + for (int j = 0; j < ndof; ++j) + { + vel += multibodyLinkCol->m_multiBody->getVelocityVector()[j] * jac[j]; + } + va = cti.m_normal * vel * m_dt; + } + } + + const btVector3 vb = c.m_node->m_v * m_dt; + const btVector3 vr = vb - va; + const btScalar dn = btDot(vr, cti.m_normal); + + const btScalar dp = btMin((btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg); + + // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient + + btScalar dvn = dn * c.m_c4; + const btVector3 impulse = c.m_c0 * ((cti.m_normal * (dn * c.m_c4))); + // TODO: only contact is considered here, add friction later + if (dp < 0) + { + c.m_node->m_x -= dp * cti.m_normal * c.m_c4; + + //// + // if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + // { + // if (rigidCol) + // rigidCol->applyImpulse(impulse, c.m_c1); + // } + } + // else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + // { + // if (multibodyLinkCol) + // { + // double multiplier = 0.5; + // multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV, -impulse.length() * multiplier); + // } + // } + } + } + } +} + +void btDeformableBodySolver::solveConstraints(float solverdt) +{ + m_dt = solverdt; + bool nodeUpdated = updateNodes(); + reinitialize(nodeUpdated); + backupVelocity(); + postStabilize(); + for (int i = 0; i < m_solveIterations; ++i) + { + m_objective->computeResidual(solverdt, m_residual); + m_objective->computeStep(m_dv, m_residual, solverdt); + updateVelocity(); + } + advect(solverdt); +} + +void btDeformableBodySolver::reinitialize(bool nodeUpdated) +{ + if (nodeUpdated) + { + m_dv.resize(m_numNodes); + m_residual.resize(m_numNodes); + } + + for (int i = 0; i < m_dv.size(); ++i) + { + m_dv[i].setZero(); + m_residual[i].setZero(); + } + m_objective->reinitialize(nodeUpdated); + + // remove contact constraints with separating velocity + setConstraintDirections(); +} + +void btDeformableBodySolver::setConstraintDirections() +{ + m_objective->setConstraintDirections(); +} + +void btDeformableBodySolver::setWorld(btDeformableRigidDynamicsWorld* world) +{ + m_world = world; + m_objective->setWorld(world); +} + +void btDeformableBodySolver::updateVelocity() +{ + // serial implementation + int counter = 0; + for (int i = 0; i < m_softBodySet.size(); ++i) + { + btSoftBody* psb = m_softBodySet[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { +// psb->m_nodes[j].m_v += m_dv[counter]; + psb->m_nodes[j].m_v = m_backupVelocity[counter]+m_dv[counter]; + ++counter; + } + } +} diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index 9afec42dc..540a2b6cb 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -16,7 +16,7 @@ #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" struct btCollisionObjectWrapper; - +class btBackwardEulerObjective; class btDeformableRigidDynamicsWorld; class btDeformableBodySolver : public btSoftBodySolver @@ -29,25 +29,17 @@ protected: TVStack m_dv; TVStack m_residual; btAlignedObjectArray m_softBodySet; - btBackwardEulerObjective m_objective; + btBackwardEulerObjective* m_objective; int m_solveIterations; int m_impulseIterations; btDeformableRigidDynamicsWorld* m_world; btAlignedObjectArray m_backupVelocity; + btScalar m_dt; public: - btDeformableBodySolver() - : m_numNodes(0) - , m_objective(m_softBodySet, m_backupVelocity) - , m_solveIterations(1) - , m_impulseIterations(1) - , m_world(nullptr) - { - } + btDeformableBodySolver(); - virtual ~btDeformableBodySolver() - { - } + virtual ~btDeformableBodySolver(); virtual SolverTypes getSolverType() const { @@ -78,21 +70,9 @@ public: virtual void copyBackToSoftBodies(bool bMove = true) {} - virtual void solveConstraints(float solverdt) - { - bool nodeUpdated = updateNodes(); - reinitialize(nodeUpdated); - for (int i = 0; i < m_solveIterations; ++i) - { - // only need to advect x here if elastic force is implicit -// prepareSolve(solverdt); - m_objective.computeResidual(solverdt, m_residual); - m_objective.computeStep(m_dv, m_residual, solverdt); - - updateVelocity(); - } - advect(solverdt); - } + virtual void solveConstraints(float solverdt); + + void postStabilize(); void moveTempVelocity(btScalar dt, const TVStack& f) { @@ -108,34 +88,10 @@ public: } } - void reinitialize(bool nodeUpdated) - { - if (nodeUpdated) - { - m_dv.resize(m_numNodes); - m_residual.resize(m_numNodes); - } - - for (int i = 0; i < m_dv.size(); ++i) - { - m_dv[i].setZero(); - m_residual[i].setZero(); - } - m_objective.reinitialize(nodeUpdated); - } + void reinitialize(bool nodeUpdated); + + void setConstraintDirections(); - void prepareSolve(btScalar dt) - { - for (int i = 0; i < m_softBodySet.size(); ++i) - { - btSoftBody* psb = m_softBodySet[i]; - for (int j = 0; j < psb->m_nodes.size(); ++j) - { - auto& node = psb->m_nodes[j]; - node.m_x = node.m_q + dt * node.m_v; - } - } - } void advect(btScalar dt) { size_t counter = 0; @@ -145,13 +101,13 @@ public: for (int j = 0; j < psb->m_nodes.size(); ++j) { auto& node = psb->m_nodes[j]; -// node.m_x += dt * m_dv[counter++]; - node.m_x += dt * node.m_v; + node.m_x += dt * m_dv[counter++]; +// node.m_x = node.m_q + dt * node.m_v; } } } - void updateVelocity() + void backupVelocity() { // serial implementation int counter = 0; @@ -160,13 +116,13 @@ public: btSoftBody* psb = m_softBodySet[i]; for (int j = 0; j < psb->m_nodes.size(); ++j) { - psb->m_nodes[j].m_v += m_dv[counter]; - - ++counter; + m_backupVelocity[counter++] = psb->m_nodes[j].m_v; } } } + void updateVelocity(); + bool updateNodes() { int numNodes = 0; @@ -175,6 +131,7 @@ public: if (numNodes != m_numNodes) { m_numNodes = numNodes; + m_backupVelocity.resize(numNodes); return true; } return false; @@ -200,15 +157,11 @@ public: softBody->defaultCollisionHandler(collisionObjectWrap); } - virtual void processCollision(btSoftBody *, btSoftBody *) { - // TODO + virtual void processCollision(btSoftBody * softBody, btSoftBody * otherSoftBody) { + softBody->defaultCollisionHandler(otherSoftBody); } - virtual void setWorld(btDeformableRigidDynamicsWorld* world) - { - m_world = world; - m_objective.setWorld(world); - } + virtual void setWorld(btDeformableRigidDynamicsWorld* world); }; #endif /* btDeformableBodySolver_h */ diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp index 82b24ccb8..0bbb2e995 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp @@ -9,6 +9,20 @@ #include "btDeformableRigidDynamicsWorld.h" #include "btDeformableBodySolver.h" +btDeformableBodySolver::btDeformableBodySolver() +: m_numNodes(0) +, m_solveIterations(1) +, m_impulseIterations(1) +, m_world(nullptr) +{ + m_objective = new btBackwardEulerObjective(m_softBodySet, m_backupVelocity); +} + +btDeformableBodySolver::~btDeformableBodySolver() +{ + delete m_objective; +} + void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) { // Let the solver grab the soft bodies and if necessary optimize for it @@ -50,9 +64,6 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS (*m_internalTickCallback)(this, timeStep); } - -// btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::internalSingleStepSimulation(timeStep); - // incorporate gravity into velocity and clear force for (int i = 0; i < m_nonStaticRigidBodies.size(); ++i) { @@ -64,7 +75,6 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS ///solve deformable bodies constraints solveDeformableBodiesConstraints(timeStep); -// predictUnconstraintMotion(timeStep); //integrate transforms btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::integrateTransforms(timeStep); @@ -76,6 +86,7 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS ///update soft bodies m_deformableBodySolver->updateSoftBodies(); + clearForces(); // End solver-wise simulation step // /////////////////////////////// } @@ -85,3 +96,23 @@ void btDeformableRigidDynamicsWorld::solveDeformableBodiesConstraints(btScalar t m_deformableBodySolver->solveConstraints(timeStep); } +void btDeformableRigidDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask) +{ + getSoftDynamicsWorld()->getSoftBodyArray().push_back(body); + + // Set the soft body solver that will deal with this body + // to be the world's solver + body->setSoftBodySolver(m_deformableBodySolver); + + btCollisionWorld::addCollisionObject(body, + collisionFilterGroup, + collisionFilterMask); +} + +void btDeformableRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) +{ + btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep); + m_deformableBodySolver->predictMotion(float(timeStep)); +} + + diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h index 98dc4602c..11ad969a2 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h @@ -62,27 +62,12 @@ public: return BT_DEFORMABLE_RIGID_DYNAMICS_WORLD; } - virtual void predictUnconstraintMotion(btScalar timeStep) - { - btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep); - m_deformableBodySolver->predictMotion(float(timeStep)); - } + virtual void predictUnconstraintMotion(btScalar timeStep); // virtual void internalStepSingleStepSimulation(btScalar timeStep); // virtual void solveDeformableBodiesConstraints(btScalar timeStep); - virtual void addSoftBody(btSoftBody* body, int collisionFilterGroup = btBroadphaseProxy::DefaultFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter) - { - getSoftDynamicsWorld()->getSoftBodyArray().push_back(body); - - // Set the soft body solver that will deal with this body - // to be the world's solver - body->setSoftBodySolver(m_deformableBodySolver); - - btCollisionWorld::addCollisionObject(body, - collisionFilterGroup, - collisionFilterMask); - } + virtual void addSoftBody(btSoftBody* body, int collisionFilterGroup = btBroadphaseProxy::DefaultFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter); }; #endif //BT_DEFORMABLE_RIGID_DYNAMICS_WORLD_H diff --git a/src/BulletSoftBody/btMassSpring.h b/src/BulletSoftBody/btMassSpring.h index ffe21c801..9fd3c405a 100644 --- a/src/BulletSoftBody/btMassSpring.h +++ b/src/BulletSoftBody/btMassSpring.h @@ -37,7 +37,12 @@ public: size_t id2 = m_indices[node2]; // elastic force + + // fully implicit btVector3 dir = (node2->m_x - node1->m_x); + + // explicit elastic force +// btVector3 dir = (node2->m_q - node1->m_q); btVector3 dir_normalized = dir.normalized(); btVector3 scaled_force = scale * kLST * (dir - dir_normalized * r); force[id1] += scaled_force; @@ -89,7 +94,7 @@ public: const auto& link = psb->m_links[j]; const auto node1 = link.m_n[0]; const auto node2 = link.m_n[1]; - btScalar k_damp = psb->m_dampingCoefficient; // TODO: FIX THIS HACK and set k_damp properly + btScalar k_damp = psb->m_dampingCoefficient; size_t id1 = m_indices[node1]; size_t id2 = m_indices[node2]; btVector3 local_scaled_df = scale * k_damp * (dv[id2] - dv[id1]); diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index 7efe514f3..41911b2bc 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -880,7 +880,7 @@ struct btSoftColliders const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform(); static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0); const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic; - const btVector3 ra = n.m_x - wtr.getOrigin(); + const btVector3 ra = n.m_q - wtr.getOrigin(); const btVector3 va = m_rigidBody ? m_rigidBody->getVelocityInLocalPoint(ra) * psb->m_sst.sdt : btVector3(0, 0, 0); const btVector3 vb = n.m_x - n.m_q; const btVector3 vr = vb - va; From c4e316f005f98ec8007a9278b4af93662a0631c7 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 9 Jul 2019 15:27:17 -0700 Subject: [PATCH 006/389] btDeformableRigidWorld now inherits from btMultiBodyDynamicsWorld instead of btSoftRigidDynamicsWorld --- src/BulletDynamics/Dynamics/btDynamicsWorld.h | 2 +- .../Featherstone/btMultiBodyDynamicsWorld.h | 5 +- src/BulletSoftBody/btContactProjection.cpp | 2 +- src/BulletSoftBody/btDeformableBodySolver.cpp | 14 ++++ .../btDeformableRigidDynamicsWorld.cpp | 34 +++------- .../btDeformableRigidDynamicsWorld.h | 67 ++++++++++++++++--- 6 files changed, 86 insertions(+), 38 deletions(-) diff --git a/src/BulletDynamics/Dynamics/btDynamicsWorld.h b/src/BulletDynamics/Dynamics/btDynamicsWorld.h index 10853b761..3c55234a8 100644 --- a/src/BulletDynamics/Dynamics/btDynamicsWorld.h +++ b/src/BulletDynamics/Dynamics/btDynamicsWorld.h @@ -35,7 +35,7 @@ enum btDynamicsWorldType BT_SOFT_RIGID_DYNAMICS_WORLD = 4, BT_GPU_DYNAMICS_WORLD = 5, BT_SOFT_MULTIBODY_DYNAMICS_WORLD = 6, - BT_DEFORMABLE_RIGID_DYNAMICS_WORLD = 7 + BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD = 7 }; ///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc. diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h index e36c2f7aa..23641a37b 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h @@ -47,7 +47,7 @@ protected: virtual void calculateSimulationIslands(); virtual void updateActivationState(btScalar timeStep); - virtual void solveConstraints(btContactSolverInfo& solverInfo); + virtual void serializeMultiBodies(btSerializer* serializer); @@ -55,7 +55,8 @@ public: btMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration); virtual ~btMultiBodyDynamicsWorld(); - + + virtual void solveConstraints(btContactSolverInfo& solverInfo); virtual void addMultiBody(btMultiBody* body, int group = btBroadphaseProxy::DefaultFilter, int mask = btBroadphaseProxy::AllFilter); virtual void removeMultiBody(btMultiBody* body); diff --git a/src/BulletSoftBody/btContactProjection.cpp b/src/BulletSoftBody/btContactProjection.cpp index 4db3e019e..c7a947fbe 100644 --- a/src/BulletSoftBody/btContactProjection.cpp +++ b/src/BulletSoftBody/btContactProjection.cpp @@ -10,7 +10,7 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocity) { ///solve rigid body constraints - m_world->btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::solveConstraints(m_world->getSolverInfo()); + m_world->btMultiBodyDynamicsWorld::solveConstraints(m_world->getSolverInfo()); // loop through contacts to create contact constraints for (int i = 0; i < m_softBodies.size(); ++i) diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index d3d448db0..9f94e9f6b 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -8,6 +8,20 @@ #include #include "btDeformableBodySolver.h" +btDeformableBodySolver::btDeformableBodySolver() +: m_numNodes(0) +, m_solveIterations(1) +, m_impulseIterations(1) +, m_world(nullptr) +{ + m_objective = new btBackwardEulerObjective(m_softBodySet, m_backupVelocity); +} + +btDeformableBodySolver::~btDeformableBodySolver() +{ + delete m_objective; +} + void btDeformableBodySolver::postStabilize() { for (int i = 0; i < m_softBodySet.size(); ++i) diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp index 0bbb2e995..ded4762e0 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp @@ -9,24 +9,11 @@ #include "btDeformableRigidDynamicsWorld.h" #include "btDeformableBodySolver.h" -btDeformableBodySolver::btDeformableBodySolver() -: m_numNodes(0) -, m_solveIterations(1) -, m_impulseIterations(1) -, m_world(nullptr) -{ - m_objective = new btBackwardEulerObjective(m_softBodySet, m_backupVelocity); -} - -btDeformableBodySolver::~btDeformableBodySolver() -{ - delete m_objective; -} void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) { // Let the solver grab the soft bodies and if necessary optimize for it - m_deformableBodySolver->optimize(getSoftDynamicsWorld()->getSoftBodyArray()); + m_deformableBodySolver->optimize(m_softBodies); if (!m_deformableBodySolver->checkInitialized()) { @@ -42,22 +29,21 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS ///apply gravity, predict motion predictUnconstraintMotion(timeStep); - - btDispatcherInfo& dispatchInfo = btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::getDispatchInfo(); + btDispatcherInfo& dispatchInfo = btMultiBodyDynamicsWorld::getDispatchInfo(); dispatchInfo.m_timeStep = timeStep; dispatchInfo.m_stepCount = 0; - dispatchInfo.m_debugDraw = btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::getDebugDrawer(); + dispatchInfo.m_debugDraw = btMultiBodyDynamicsWorld::getDebugDrawer(); // only used in CCD // createPredictiveContacts(timeStep); ///perform collision detection - btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::performDiscreteCollisionDetection(); + btMultiBodyDynamicsWorld::performDiscreteCollisionDetection(); - btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::calculateSimulationIslands(); + btMultiBodyDynamicsWorld::calculateSimulationIslands(); - btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::getSolverInfo().m_timeStep = timeStep; + btMultiBodyDynamicsWorld::getSolverInfo().m_timeStep = timeStep; if (0 != m_internalTickCallback) { @@ -76,12 +62,12 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS solveDeformableBodiesConstraints(timeStep); //integrate transforms - btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::integrateTransforms(timeStep); + btMultiBodyDynamicsWorld::integrateTransforms(timeStep); ///update vehicle simulation - btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::updateActions(timeStep); + btMultiBodyDynamicsWorld::updateActions(timeStep); - btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::updateActivationState(timeStep); + btMultiBodyDynamicsWorld::updateActivationState(timeStep); ///update soft bodies m_deformableBodySolver->updateSoftBodies(); @@ -98,7 +84,7 @@ void btDeformableRigidDynamicsWorld::solveDeformableBodiesConstraints(btScalar t void btDeformableRigidDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask) { - getSoftDynamicsWorld()->getSoftBodyArray().push_back(body); + m_softBodies.push_back(body); // Set the soft body solver that will deal with this body // to be the world's solver diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h index 11ad969a2..ca1fff885 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h @@ -16,50 +16,76 @@ #ifndef BT_DEFORMABLE_RIGID_DYNAMICS_WORLD_H #define BT_DEFORMABLE_RIGID_DYNAMICS_WORLD_H -#include "btSoftRigidDynamicsWorld.h" +#include "btSoftMultiBodyDynamicsWorld.h" #include "btLagrangianForce.h" #include "btMassSpring.h" #include "btDeformableBodySolver.h" +#include "btSoftBodyHelpers.h" + typedef btAlignedObjectArray btSoftBodyArray; class btDeformableBodySolver; class btLagrangianForce; +typedef btAlignedObjectArray btSoftBodyArray; -class btDeformableRigidDynamicsWorld : public btSoftRigidDynamicsWorld +class btDeformableRigidDynamicsWorld : public btMultiBodyDynamicsWorld { using TVStack = btAlignedObjectArray; ///Solver classes that encapsulate multiple deformable bodies for solving btDeformableBodySolver* m_deformableBodySolver; - + btSoftBodyArray m_softBodies; + int m_drawFlags; + bool m_drawNodeTree; + bool m_drawFaceTree; + bool m_drawClusterTree; + btSoftBodyWorldInfo m_sbi; + bool m_ownsSolver; + protected: virtual void internalSingleStepSimulation(btScalar timeStep); void solveDeformableBodiesConstraints(btScalar timeStep); public: - btDeformableRigidDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0) - : btSoftRigidDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration, 0), + btDeformableRigidDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0) + : btMultiBodyDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration), m_deformableBodySolver(deformableBodySolver) { + m_drawFlags = fDrawFlags::Std; + m_drawNodeTree = true; + m_drawFaceTree = false; + m_drawClusterTree = false; + m_sbi.m_broadphase = pairCache; + m_sbi.m_dispatcher = dispatcher; + m_sbi.m_sparsesdf.Initialize(); + m_sbi.m_sparsesdf.Reset(); + + m_sbi.air_density = (btScalar)1.2; + m_sbi.water_density = 0; + m_sbi.water_offset = 0; + m_sbi.water_normal = btVector3(0, 0, 0); + m_sbi.m_gravity.setValue(0, -10, 0); + + m_sbi.m_sparsesdf.Initialize(); } virtual ~btDeformableRigidDynamicsWorld() { } - virtual btSoftRigidDynamicsWorld* getSoftDynamicsWorld() + virtual btMultiBodyDynamicsWorld* getMultiBodyDynamicsWorld() { - return (btSoftRigidDynamicsWorld*)(this); + return (btMultiBodyDynamicsWorld*)(this); } - virtual const btSoftRigidDynamicsWorld* getSoftDynamicsWorld() const + virtual const btMultiBodyDynamicsWorld* getMultiBodyDynamicsWorld() const { - return (const btSoftRigidDynamicsWorld*)(this); + return (const btMultiBodyDynamicsWorld*)(this); } virtual btDynamicsWorldType getWorldType() const { - return BT_DEFORMABLE_RIGID_DYNAMICS_WORLD; + return BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD; } virtual void predictUnconstraintMotion(btScalar timeStep); @@ -68,6 +94,27 @@ public: // virtual void solveDeformableBodiesConstraints(btScalar timeStep); virtual void addSoftBody(btSoftBody* body, int collisionFilterGroup = btBroadphaseProxy::DefaultFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter); + + btSoftBodyArray& getSoftBodyArray() + { + return m_softBodies; + } + + const btSoftBodyArray& getSoftBodyArray() const + { + return m_softBodies; + } + + btSoftBodyWorldInfo& getWorldInfo() + { + return m_sbi; + } + const btSoftBodyWorldInfo& getWorldInfo() const + { + return m_sbi; + } + int getDrawFlags() const { return (m_drawFlags); } + void setDrawFlags(int f) { m_drawFlags = f; } }; #endif //BT_DEFORMABLE_RIGID_DYNAMICS_WORLD_H From 77d670ae416d77d078e09099e57f743afd239acb Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 10 Jul 2019 16:08:46 -0700 Subject: [PATCH 007/389] separate external force solve from constraint solve and eliminate damping in external force solve --- .../Featherstone/btMultiBodyDynamicsWorld.cpp | 575 +++++++++--------- .../Featherstone/btMultiBodyDynamicsWorld.h | 2 + 2 files changed, 295 insertions(+), 282 deletions(-) diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp index 1131e5378..718106e77 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp @@ -421,288 +421,7 @@ void btMultiBodyDynamicsWorld::forwardKinematics() } void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) { - forwardKinematics(); - - BT_PROFILE("solveConstraints"); - - clearMultiBodyConstraintForces(); - - m_sortedConstraints.resize(m_constraints.size()); - int i; - for (i = 0; i < getNumConstraints(); i++) - { - m_sortedConstraints[i] = m_constraints[i]; - } - m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate2()); - btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0; - - m_sortedMultiBodyConstraints.resize(m_multiBodyConstraints.size()); - for (i = 0; i < m_multiBodyConstraints.size(); i++) - { - m_sortedMultiBodyConstraints[i] = m_multiBodyConstraints[i]; - } - m_sortedMultiBodyConstraints.quickSort(btSortMultiBodyConstraintOnIslandPredicate()); - - btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0; - - m_solverMultiBodyIslandCallback->setup(&solverInfo, constraintsPtr, m_sortedConstraints.size(), sortedMultiBodyConstraints, m_sortedMultiBodyConstraints.size(), getDebugDrawer()); - m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); - -#ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY - { - BT_PROFILE("btMultiBody addForce"); - for (int i = 0; i < this->m_multiBodies.size(); i++) - { - btMultiBody* bod = m_multiBodies[i]; - - bool isSleeping = false; - - if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) - { - isSleeping = true; - } - for (int b = 0; b < bod->getNumLinks(); b++) - { - if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) - isSleeping = true; - } - - if (!isSleeping) - { - //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) - m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) - m_scratch_v.resize(bod->getNumLinks() + 1); - m_scratch_m.resize(bod->getNumLinks() + 1); - - bod->addBaseForce(m_gravity * bod->getBaseMass()); - - for (int j = 0; j < bod->getNumLinks(); ++j) - { - bod->addLinkForce(j, m_gravity * bod->getLinkMass(j)); - } - } //if (!isSleeping) - } - } -#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY - - { - BT_PROFILE("btMultiBody stepVelocities"); - for (int i = 0; i < this->m_multiBodies.size(); i++) - { - btMultiBody* bod = m_multiBodies[i]; - - bool isSleeping = false; - - if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) - { - isSleeping = true; - } - for (int b = 0; b < bod->getNumLinks(); b++) - { - if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) - isSleeping = true; - } - - if (!isSleeping) - { - //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) - m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) - m_scratch_v.resize(bod->getNumLinks() + 1); - m_scratch_m.resize(bod->getNumLinks() + 1); - bool doNotUpdatePos = false; - bool isConstraintPass = false; - { - if (!bod->isUsingRK4Integration()) - { - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, - m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass, - getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - } - else - { - // - int numDofs = bod->getNumDofs() + 6; - int numPosVars = bod->getNumPosVars() + 7; - btAlignedObjectArray scratch_r2; - scratch_r2.resize(2 * numPosVars + 8 * numDofs); - //convenience - btScalar* pMem = &scratch_r2[0]; - btScalar* scratch_q0 = pMem; - pMem += numPosVars; - btScalar* scratch_qx = pMem; - pMem += numPosVars; - btScalar* scratch_qd0 = pMem; - pMem += numDofs; - btScalar* scratch_qd1 = pMem; - pMem += numDofs; - btScalar* scratch_qd2 = pMem; - pMem += numDofs; - btScalar* scratch_qd3 = pMem; - pMem += numDofs; - btScalar* scratch_qdd0 = pMem; - pMem += numDofs; - btScalar* scratch_qdd1 = pMem; - pMem += numDofs; - btScalar* scratch_qdd2 = pMem; - pMem += numDofs; - btScalar* scratch_qdd3 = pMem; - pMem += numDofs; - btAssert((pMem - (2 * numPosVars + 8 * numDofs)) == &scratch_r2[0]); - - ///// - //copy q0 to scratch_q0 and qd0 to scratch_qd0 - scratch_q0[0] = bod->getWorldToBaseRot().x(); - scratch_q0[1] = bod->getWorldToBaseRot().y(); - scratch_q0[2] = bod->getWorldToBaseRot().z(); - scratch_q0[3] = bod->getWorldToBaseRot().w(); - scratch_q0[4] = bod->getBasePos().x(); - scratch_q0[5] = bod->getBasePos().y(); - scratch_q0[6] = bod->getBasePos().z(); - // - for (int link = 0; link < bod->getNumLinks(); ++link) - { - for (int dof = 0; dof < bod->getLink(link).m_posVarCount; ++dof) - scratch_q0[7 + bod->getLink(link).m_cfgOffset + dof] = bod->getLink(link).m_jointPos[dof]; - } - // - for (int dof = 0; dof < numDofs; ++dof) - scratch_qd0[dof] = bod->getVelocityVector()[dof]; - //// - struct - { - btMultiBody* bod; - btScalar *scratch_qx, *scratch_q0; - - void operator()() - { - for (int dof = 0; dof < bod->getNumPosVars() + 7; ++dof) - scratch_qx[dof] = scratch_q0[dof]; - } - } pResetQx = {bod, scratch_qx, scratch_q0}; - // - struct - { - void operator()(btScalar dt, const btScalar* pDer, const btScalar* pCurVal, btScalar* pVal, int size) - { - for (int i = 0; i < size; ++i) - pVal[i] = pCurVal[i] + dt * pDer[i]; - } - - } pEulerIntegrate; - // - struct - { - void operator()(btMultiBody* pBody, const btScalar* pData) - { - btScalar* pVel = const_cast(pBody->getVelocityVector()); - - for (int i = 0; i < pBody->getNumDofs() + 6; ++i) - pVel[i] = pData[i]; - } - } pCopyToVelocityVector; - // - struct - { - void operator()(const btScalar* pSrc, btScalar* pDst, int start, int size) - { - for (int i = 0; i < size; ++i) - pDst[i] = pSrc[start + i]; - } - } pCopy; - // - - btScalar h = solverInfo.m_timeStep; -#define output &m_scratch_r[bod->getNumDofs()] - //calc qdd0 from: q0 & qd0 - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, - isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - pCopy(output, scratch_qdd0, 0, numDofs); - //calc q1 = q0 + h/2 * qd0 - pResetQx(); - bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd0); - //calc qd1 = qd0 + h/2 * qdd0 - pEulerIntegrate(btScalar(.5) * h, scratch_qdd0, scratch_qd0, scratch_qd1, numDofs); - // - //calc qdd1 from: q1 & qd1 - pCopyToVelocityVector(bod, scratch_qd1); - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, - isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - pCopy(output, scratch_qdd1, 0, numDofs); - //calc q2 = q0 + h/2 * qd1 - pResetQx(); - bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd1); - //calc qd2 = qd0 + h/2 * qdd1 - pEulerIntegrate(btScalar(.5) * h, scratch_qdd1, scratch_qd0, scratch_qd2, numDofs); - // - //calc qdd2 from: q2 & qd2 - pCopyToVelocityVector(bod, scratch_qd2); - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, - isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - pCopy(output, scratch_qdd2, 0, numDofs); - //calc q3 = q0 + h * qd2 - pResetQx(); - bod->stepPositionsMultiDof(h, scratch_qx, scratch_qd2); - //calc qd3 = qd0 + h * qdd2 - pEulerIntegrate(h, scratch_qdd2, scratch_qd0, scratch_qd3, numDofs); - // - //calc qdd3 from: q3 & qd3 - pCopyToVelocityVector(bod, scratch_qd3); - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, - isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - pCopy(output, scratch_qdd3, 0, numDofs); - - // - //calc q = q0 + h/6(qd0 + 2*(qd1 + qd2) + qd3) - //calc qd = qd0 + h/6(qdd0 + 2*(qdd1 + qdd2) + qdd3) - btAlignedObjectArray delta_q; - delta_q.resize(numDofs); - btAlignedObjectArray delta_qd; - delta_qd.resize(numDofs); - for (int i = 0; i < numDofs; ++i) - { - delta_q[i] = h / btScalar(6.) * (scratch_qd0[i] + 2 * scratch_qd1[i] + 2 * scratch_qd2[i] + scratch_qd3[i]); - delta_qd[i] = h / btScalar(6.) * (scratch_qdd0[i] + 2 * scratch_qdd1[i] + 2 * scratch_qdd2[i] + scratch_qdd3[i]); - //delta_q[i] = h*scratch_qd0[i]; - //delta_qd[i] = h*scratch_qdd0[i]; - } - // - pCopyToVelocityVector(bod, scratch_qd0); - bod->applyDeltaVeeMultiDof(&delta_qd[0], 1); - // - if (!doNotUpdatePos) - { - btScalar* pRealBuf = const_cast(bod->getVelocityVector()); - pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs(); - - for (int i = 0; i < numDofs; ++i) - pRealBuf[i] = delta_q[i]; - - //bod->stepPositionsMultiDof(1, 0, &delta_q[0]); - bod->setPosUpdated(true); - } - - //ugly hack which resets the cached data to t0 (needed for constraint solver) - { - for (int link = 0; link < bod->getNumLinks(); ++link) - bod->getLink(link).updateCacheMultiDof(); - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0, m_scratch_r, m_scratch_v, m_scratch_m, - isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - } - } - } - -#ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY - bod->clearForcesAndTorques(); -#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY - } //if (!isSleeping) - } - } + solveExternalForces(solverInfo); /// solve all the constraints for this island m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback); @@ -760,6 +479,298 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) } } +void btMultiBodyDynamicsWorld::solveExternalForces(btContactSolverInfo& solverInfo) +{ + forwardKinematics(); + + BT_PROFILE("solveConstraints"); + + clearMultiBodyConstraintForces(); + + m_sortedConstraints.resize(m_constraints.size()); + int i; + for (i = 0; i < getNumConstraints(); i++) + { + m_sortedConstraints[i] = m_constraints[i]; + } + m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate2()); + btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0; + + m_sortedMultiBodyConstraints.resize(m_multiBodyConstraints.size()); + for (i = 0; i < m_multiBodyConstraints.size(); i++) + { + m_sortedMultiBodyConstraints[i] = m_multiBodyConstraints[i]; + } + m_sortedMultiBodyConstraints.quickSort(btSortMultiBodyConstraintOnIslandPredicate()); + + btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0; + + m_solverMultiBodyIslandCallback->setup(&solverInfo, constraintsPtr, m_sortedConstraints.size(), sortedMultiBodyConstraints, m_sortedMultiBodyConstraints.size(), getDebugDrawer()); + m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); + +#ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY + { + BT_PROFILE("btMultiBody addForce"); + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) + m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) + m_scratch_v.resize(bod->getNumLinks() + 1); + m_scratch_m.resize(bod->getNumLinks() + 1); + + bod->addBaseForce(m_gravity * bod->getBaseMass()); + + for (int j = 0; j < bod->getNumLinks(); ++j) + { + bod->addLinkForce(j, m_gravity * bod->getLinkMass(j)); + } + } //if (!isSleeping) + } + } +#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY + + { + BT_PROFILE("btMultiBody stepVelocities"); + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) + m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) + m_scratch_v.resize(bod->getNumLinks() + 1); + m_scratch_m.resize(bod->getNumLinks() + 1); + bool doNotUpdatePos = false; + bool isConstraintPass = false; + { + if (!bod->isUsingRK4Integration()) + { + const btScalar linearDamp = bod->getLinearDamping(); +// const btScalar angularDamp = bod->getAngularDamping(); + bod->setLinearDamping(0); + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, + m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass, + getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + bod->setLinearDamping(linearDamp); +// bod->setAngularDamping(angularDamp); + } + else + { + // + int numDofs = bod->getNumDofs() + 6; + int numPosVars = bod->getNumPosVars() + 7; + btAlignedObjectArray scratch_r2; + scratch_r2.resize(2 * numPosVars + 8 * numDofs); + //convenience + btScalar* pMem = &scratch_r2[0]; + btScalar* scratch_q0 = pMem; + pMem += numPosVars; + btScalar* scratch_qx = pMem; + pMem += numPosVars; + btScalar* scratch_qd0 = pMem; + pMem += numDofs; + btScalar* scratch_qd1 = pMem; + pMem += numDofs; + btScalar* scratch_qd2 = pMem; + pMem += numDofs; + btScalar* scratch_qd3 = pMem; + pMem += numDofs; + btScalar* scratch_qdd0 = pMem; + pMem += numDofs; + btScalar* scratch_qdd1 = pMem; + pMem += numDofs; + btScalar* scratch_qdd2 = pMem; + pMem += numDofs; + btScalar* scratch_qdd3 = pMem; + pMem += numDofs; + btAssert((pMem - (2 * numPosVars + 8 * numDofs)) == &scratch_r2[0]); + + ///// + //copy q0 to scratch_q0 and qd0 to scratch_qd0 + scratch_q0[0] = bod->getWorldToBaseRot().x(); + scratch_q0[1] = bod->getWorldToBaseRot().y(); + scratch_q0[2] = bod->getWorldToBaseRot().z(); + scratch_q0[3] = bod->getWorldToBaseRot().w(); + scratch_q0[4] = bod->getBasePos().x(); + scratch_q0[5] = bod->getBasePos().y(); + scratch_q0[6] = bod->getBasePos().z(); + // + for (int link = 0; link < bod->getNumLinks(); ++link) + { + for (int dof = 0; dof < bod->getLink(link).m_posVarCount; ++dof) + scratch_q0[7 + bod->getLink(link).m_cfgOffset + dof] = bod->getLink(link).m_jointPos[dof]; + } + // + for (int dof = 0; dof < numDofs; ++dof) + scratch_qd0[dof] = bod->getVelocityVector()[dof]; + //// + struct + { + btMultiBody* bod; + btScalar *scratch_qx, *scratch_q0; + + void operator()() + { + for (int dof = 0; dof < bod->getNumPosVars() + 7; ++dof) + scratch_qx[dof] = scratch_q0[dof]; + } + } pResetQx = {bod, scratch_qx, scratch_q0}; + // + struct + { + void operator()(btScalar dt, const btScalar* pDer, const btScalar* pCurVal, btScalar* pVal, int size) + { + for (int i = 0; i < size; ++i) + pVal[i] = pCurVal[i] + dt * pDer[i]; + } + + } pEulerIntegrate; + // + struct + { + void operator()(btMultiBody* pBody, const btScalar* pData) + { + btScalar* pVel = const_cast(pBody->getVelocityVector()); + + for (int i = 0; i < pBody->getNumDofs() + 6; ++i) + pVel[i] = pData[i]; + } + } pCopyToVelocityVector; + // + struct + { + void operator()(const btScalar* pSrc, btScalar* pDst, int start, int size) + { + for (int i = 0; i < size; ++i) + pDst[i] = pSrc[start + i]; + } + } pCopy; + // + + btScalar h = solverInfo.m_timeStep; +#define output &m_scratch_r[bod->getNumDofs()] + //calc qdd0 from: q0 & qd0 + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + pCopy(output, scratch_qdd0, 0, numDofs); + //calc q1 = q0 + h/2 * qd0 + pResetQx(); + bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd0); + //calc qd1 = qd0 + h/2 * qdd0 + pEulerIntegrate(btScalar(.5) * h, scratch_qdd0, scratch_qd0, scratch_qd1, numDofs); + // + //calc qdd1 from: q1 & qd1 + pCopyToVelocityVector(bod, scratch_qd1); + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + pCopy(output, scratch_qdd1, 0, numDofs); + //calc q2 = q0 + h/2 * qd1 + pResetQx(); + bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd1); + //calc qd2 = qd0 + h/2 * qdd1 + pEulerIntegrate(btScalar(.5) * h, scratch_qdd1, scratch_qd0, scratch_qd2, numDofs); + // + //calc qdd2 from: q2 & qd2 + pCopyToVelocityVector(bod, scratch_qd2); + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + pCopy(output, scratch_qdd2, 0, numDofs); + //calc q3 = q0 + h * qd2 + pResetQx(); + bod->stepPositionsMultiDof(h, scratch_qx, scratch_qd2); + //calc qd3 = qd0 + h * qdd2 + pEulerIntegrate(h, scratch_qdd2, scratch_qd0, scratch_qd3, numDofs); + // + //calc qdd3 from: q3 & qd3 + pCopyToVelocityVector(bod, scratch_qd3); + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + pCopy(output, scratch_qdd3, 0, numDofs); + + // + //calc q = q0 + h/6(qd0 + 2*(qd1 + qd2) + qd3) + //calc qd = qd0 + h/6(qdd0 + 2*(qdd1 + qdd2) + qdd3) + btAlignedObjectArray delta_q; + delta_q.resize(numDofs); + btAlignedObjectArray delta_qd; + delta_qd.resize(numDofs); + for (int i = 0; i < numDofs; ++i) + { + delta_q[i] = h / btScalar(6.) * (scratch_qd0[i] + 2 * scratch_qd1[i] + 2 * scratch_qd2[i] + scratch_qd3[i]); + delta_qd[i] = h / btScalar(6.) * (scratch_qdd0[i] + 2 * scratch_qdd1[i] + 2 * scratch_qdd2[i] + scratch_qdd3[i]); + //delta_q[i] = h*scratch_qd0[i]; + //delta_qd[i] = h*scratch_qdd0[i]; + } + // + pCopyToVelocityVector(bod, scratch_qd0); + bod->applyDeltaVeeMultiDof(&delta_qd[0], 1); + // + if (!doNotUpdatePos) + { + btScalar* pRealBuf = const_cast(bod->getVelocityVector()); + pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs(); + + for (int i = 0; i < numDofs; ++i) + pRealBuf[i] = delta_q[i]; + + //bod->stepPositionsMultiDof(1, 0, &delta_q[0]); + bod->setPosUpdated(true); + } + + //ugly hack which resets the cached data to t0 (needed for constraint solver) + { + for (int link = 0; link < bod->getNumLinks(); ++link) + bod->getLink(link).updateCacheMultiDof(); + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0, m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + } + } + } + +#ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY + bod->clearForcesAndTorques(); +#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY + } //if (!isSleeping) + } + } +} + + void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) { btDiscreteDynamicsWorld::integrateTransforms(timeStep); diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h index 23641a37b..019d1bd87 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h @@ -111,6 +111,8 @@ public: virtual void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver); virtual void setConstraintSolver(btConstraintSolver* solver); virtual void getAnalyticsData(btAlignedObjectArray& m_islandAnalyticsData) const; + + virtual void solveExternalForces(btContactSolverInfo& solverInfo); }; #endif //BT_MULTIBODY_DYNAMICS_WORLD_H From b7e512a5f9e099c3aefaf5a5ffb79a37ababde29 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 10 Jul 2019 16:09:38 -0700 Subject: [PATCH 008/389] sync gravity with substeps --- .../btDeformableRigidDynamicsWorld.cpp | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp index ded4762e0..5fdf01a18 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp @@ -50,13 +50,24 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS (*m_internalTickCallback)(this, timeStep); } - // incorporate gravity into velocity and clear force + // TODO: This is an ugly hack to get the desired gravity behavior. + // gravity is applied in stepSimulation and then cleared here and then applied here and then cleared here again + // so that 1) gravity is applied to velocity before constraint solve and 2) gravity is applied in each substep + // when there are multiple substeps + + clearForces(); + clearMultiBodyForces(); + btMultiBodyDynamicsWorld::applyGravity(); + // integrate rigid body gravity for (int i = 0; i < m_nonStaticRigidBodies.size(); ++i) { btRigidBody* rb = m_nonStaticRigidBodies[i]; rb->integrateVelocities(timeStep); } + // integrate multibody gravity + btMultiBodyDynamicsWorld::solveExternalForces(btMultiBodyDynamicsWorld::getSolverInfo()); clearForces(); + clearMultiBodyForces(); ///solve deformable bodies constraints solveDeformableBodiesConstraints(timeStep); From b28f1fdac3d38171d37d1f938df8a0dff3afd8af Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 11 Jul 2019 10:14:58 -0700 Subject: [PATCH 009/389] add support for more than one constraint for a single deformable node --- .../btBackwardEulerObjective.cpp | 4 +- src/BulletSoftBody/btCGProjection.h | 3 + src/BulletSoftBody/btContactProjection.cpp | 56 +++++++++++++++++++ src/BulletSoftBody/btContactProjection.h | 42 +++++++++++--- 4 files changed, 96 insertions(+), 9 deletions(-) diff --git a/src/BulletSoftBody/btBackwardEulerObjective.cpp b/src/BulletSoftBody/btBackwardEulerObjective.cpp index 22614c994..69f5cd6ac 100644 --- a/src/BulletSoftBody/btBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btBackwardEulerObjective.cpp @@ -8,7 +8,7 @@ #include "btBackwardEulerObjective.h" btBackwardEulerObjective::btBackwardEulerObjective(btAlignedObjectArray& softBodies, const TVStack& backup_v) -: cg(20) +: cg(50) , m_softBodies(softBodies) , precondition(DefaultPreconditioner()) , projection(m_softBodies, m_dt) @@ -66,7 +66,7 @@ void btBackwardEulerObjective::computeStep(TVStack& dv, const TVStack& residual, m_dt = dt; btScalar tolerance = std::numeric_limits::epsilon()* 16 * computeNorm(residual); cg.solve(*this, dv, residual, tolerance); - } +} void btBackwardEulerObjective::updateVelocity(const TVStack& dv) { diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index 8648e99f8..ff1d6cbdd 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -23,6 +23,8 @@ public: std::unordered_map m_indices; TVArrayStack m_constrainedDirections; TArrayStack m_constrainedValues; + btAlignedObjectArray m_constrainedId; + const btScalar& m_dt; btCGProjection(btAlignedObjectArray& softBodies, const btScalar& dt) @@ -56,6 +58,7 @@ public: m_constrainedDirections[i].clear(); m_constrainedValues[i].clear(); } + m_constrainedId.clear(); } void updateId() diff --git a/src/BulletSoftBody/btContactProjection.cpp b/src/BulletSoftBody/btContactProjection.cpp index c7a947fbe..c45cccf5d 100644 --- a/src/BulletSoftBody/btContactProjection.cpp +++ b/src/BulletSoftBody/btContactProjection.cpp @@ -114,6 +114,7 @@ void btContactProjection::setConstraintDirections() m_constrainedValues[counter].push_back(0); m_constrainedValues[counter].push_back(0); m_constrainedValues[counter].push_back(0); + m_constrainedId.push_back(counter); } ++counter; } @@ -180,10 +181,65 @@ void btContactProjection::setConstraintDirections() ++j; m_constrainedDirections[m_indices[c.m_node]].push_back(cti.m_normal); m_constrainedValues[m_indices[c.m_node]].resize(m_constrainedValues[m_indices[c.m_node]].size()+1); + m_constrainedId.push_back(m_indices[c.m_node]); continue; } } psb->m_rcontacts.removeAtIndex(j); } } + + // for particles with more than three constrained directions, prune constrained directions so that there are at most three constrained directions + counter = 0; + const int dim = 3; + for (int i = 0; i < m_softBodies.size(); ++i) + { + const btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + if (m_constrainedDirections[counter].size() > dim) + { + btAlignedObjectArray prunedConstraints; + // always keep the first constrained direction + prunedConstraints.push_back(m_constrainedDirections[counter][0]); + // find the direction most orthogonal to the first direction and keep it + size_t selected = 1; + btScalar min_dotProductAbs = std::abs(prunedConstraints[0].dot(m_constrainedDirections[counter][selected])); + for (int j = 2; j < m_constrainedDirections[counter].size(); ++j) + { + btScalar dotProductAbs =std::abs(prunedConstraints[0].dot(m_constrainedDirections[counter][j])); + if (dotProductAbs < min_dotProductAbs) + { + selected = j; + min_dotProductAbs = dotProductAbs; + } + } + if (std::abs(min_dotProductAbs-1) < SIMD_EPSILON) + { + m_constrainedDirections[counter++] = prunedConstraints; + continue; + } + prunedConstraints.push_back(m_constrainedDirections[counter][selected]); + + // find the direction most orthogonal to the previous two directions and keep it + size_t selected2 = (selected == 1) ? 2 : 1; + btVector3 normal = btCross(prunedConstraints[0], prunedConstraints[1]); + normal.normalize(); + btScalar max_dotProductAbs = std::abs(normal.dot(m_constrainedDirections[counter][selected2])); + for (int j = 3; j < m_constrainedDirections[counter].size(); ++j) + { + btScalar dotProductAbs = std::abs(normal.dot(m_constrainedDirections[counter][j])); + if (dotProductAbs > min_dotProductAbs) + { + selected2 = j; + max_dotProductAbs = dotProductAbs; + } + } + prunedConstraints.push_back(m_constrainedDirections[counter][selected2]); + m_constrainedDirections[counter] = prunedConstraints; + m_constrainedValues[counter].resize(dim); + } + ++counter; + } + } } diff --git a/src/BulletSoftBody/btContactProjection.h b/src/BulletSoftBody/btContactProjection.h index 5598ada0a..c0897e9bf 100644 --- a/src/BulletSoftBody/btContactProjection.h +++ b/src/BulletSoftBody/btContactProjection.h @@ -29,24 +29,52 @@ public: // apply the constraints virtual void operator()(TVStack& x) { - for (int i = 0; i < x.size(); ++i) + const int dim = 3; + for (int j = 0; j < m_constrainedId.size(); ++j) { - for (int j = 0; j < m_constrainedDirections[i].size(); ++j) + int i = m_constrainedId[j]; + btAssert(m_constrainedDirections[i].size() <= dim); + if (m_constrainedDirections[i].size() <= 1) { - x[i] -= x[i].dot(m_constrainedDirections[i][j]) * m_constrainedDirections[i][j]; + for (int j = 0; j < m_constrainedDirections[i].size(); ++j) + { + x[i] -= x[i].dot(m_constrainedDirections[i][j]) * m_constrainedDirections[i][j]; + } } + else if (m_constrainedDirections[i].size() == 2) + { + btVector3 free_dir = btCross(m_constrainedDirections[i][0], m_constrainedDirections[i][1]); + free_dir.normalize(); + x[i] = x[i].dot(free_dir) * free_dir; + } + else + x[i].setZero(); } } virtual void enforceConstraint(TVStack& x) { - for (int i = 0; i < x.size(); ++i) + const int dim = 3; + for (int j = 0; j < m_constrainedId.size(); ++j) { - for (int j = 0; j < m_constrainedDirections[i].size(); ++j) + int i = m_constrainedId[j]; + btAssert(m_constrainedDirections[i].size() <= dim); + if (m_constrainedDirections[i].size() <= 1) { - x[i] -= x[i].dot(m_constrainedDirections[i][j]) * m_constrainedDirections[i][j]; - x[i] += m_constrainedValues[i][j] * m_constrainedDirections[i][j]; + for (int j = 0; j < m_constrainedDirections[i].size(); ++j) + { + x[i] -= x[i].dot(m_constrainedDirections[i][j]) * m_constrainedDirections[i][j]; + x[i] += m_constrainedValues[i][j] * m_constrainedDirections[i][j]; + } } + else if (m_constrainedDirections[i].size() == 2) + { + btVector3 free_dir = btCross(m_constrainedDirections[i][0], m_constrainedDirections[i][1]); + free_dir.normalize(); + x[i] = x[i].dot(free_dir) * free_dir + m_constrainedDirections[i][0] * m_constrainedValues[i][0] + m_constrainedDirections[i][1] * m_constrainedValues[i][1]; + } + else + x[i] = m_constrainedDirections[i][0] * m_constrainedValues[i][0] + m_constrainedDirections[i][1] * m_constrainedValues[i][1] + m_constrainedDirections[i][2] * m_constrainedValues[i][2]; } } From 4e5f4b9fe98ac7631f9ca4cce8a713e23f0cc892 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 11 Jul 2019 11:26:30 -0700 Subject: [PATCH 010/389] reformulate how constraints are managed in the projection class --- .../btBackwardEulerObjective.cpp | 34 ++-- src/BulletSoftBody/btCGProjection.h | 53 ++++-- src/BulletSoftBody/btContactProjection.cpp | 153 +++++++++--------- src/BulletSoftBody/btContactProjection.h | 45 +++--- src/BulletSoftBody/btDeformableBodySolver.cpp | 26 +-- 5 files changed, 173 insertions(+), 138 deletions(-) diff --git a/src/BulletSoftBody/btBackwardEulerObjective.cpp b/src/BulletSoftBody/btBackwardEulerObjective.cpp index 69f5cd6ac..bdb781897 100644 --- a/src/BulletSoftBody/btBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btBackwardEulerObjective.cpp @@ -70,19 +70,27 @@ void btBackwardEulerObjective::computeStep(TVStack& dv, const TVStack& residual, void btBackwardEulerObjective::updateVelocity(const TVStack& dv) { - for (int i = 0; i < m_softBodies.size(); ++i) + // only the velocity of the constrained nodes needs to be updated during CG solve + for (auto it : projection.m_constraints) { - int counter = 0; - for (int i = 0; i < m_softBodies.size(); ++i) - { - btSoftBody* psb = m_softBodies[i]; - for (int j = 0; j < psb->m_nodes.size(); ++j) - { - // only the velocity of the constrained nodes needs to be updated during CG solve - if (projection.m_constrainedDirections.size() > 0) - psb->m_nodes[j].m_v = m_backupVelocity[counter] + dv[counter]; - ++counter; - } - } + int i = projection.m_indices[it.first]; + it.first->m_v = m_backupVelocity[i] + dv[i]; } } + +// for (int i = 0; i < m_softBodies.size(); ++i) +// { +// int counter = 0; +// for (int i = 0; i < m_softBodies.size(); ++i) +// { +// btSoftBody* psb = m_softBodies[i]; +// for (int j = 0; j < psb->m_nodes.size(); ++j) +// { +// // only the velocity of the constrained nodes needs to be updated during CG solve +// if (projection.m_constraints[&(psb->m_nodes[j])].size() > 0) +// psb->m_nodes[j].m_v = m_backupVelocity[counter] + dv[counter]; +// ++counter; +// } +// } +// } + diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index ff1d6cbdd..a238e998b 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -11,6 +11,34 @@ #include class btDeformableRigidDynamicsWorld; + +struct Constraint +{ + const btSoftBody::RContact* m_contact; + const btVector3 m_direction; + btScalar m_value; + + Constraint(const btSoftBody::RContact& rcontact) + : m_contact(&rcontact) + , m_direction(rcontact.m_cti.m_normal) + , m_value(0) + { + } + + Constraint(const btVector3 dir) + : m_contact(nullptr) + , m_direction(dir) + , m_value(0) + {} + + Constraint() + : m_contact(nullptr) + { + + } + +}; + class btCGProjection { public: @@ -21,11 +49,11 @@ public: btAlignedObjectArray m_softBodies; btDeformableRigidDynamicsWorld* m_world; std::unordered_map m_indices; - TVArrayStack m_constrainedDirections; - TArrayStack m_constrainedValues; - btAlignedObjectArray m_constrainedId; - +// TVArrayStack m_constrainedDirections; +// TArrayStack m_constrainedValues; +// btAlignedObjectArray m_constrainedId; const btScalar& m_dt; + std::unordered_map > m_constraints; btCGProjection(btAlignedObjectArray& softBodies, const btScalar& dt) : m_softBodies(softBodies) @@ -51,14 +79,15 @@ public: updateId(); // resize and clear the old constraints - m_constrainedValues.resize(m_indices.size()); - m_constrainedDirections.resize(m_indices.size()); - for (int i = 0; i < m_constrainedDirections.size(); ++i) - { - m_constrainedDirections[i].clear(); - m_constrainedValues[i].clear(); - } - m_constrainedId.clear(); +// m_constrainedValues.resize(m_indices.size()); +// m_constrainedDirections.resize(m_indices.size()); +// for (int i = 0; i < m_constrainedDirections.size(); ++i) +// { +// m_constrainedDirections[i].clear(); +// m_constrainedValues[i].clear(); +// } +// m_constrainedId.clear(); + m_constraints.clear(); } void updateId() diff --git a/src/BulletSoftBody/btContactProjection.cpp b/src/BulletSoftBody/btContactProjection.cpp index c45cccf5d..3016a9e85 100644 --- a/src/BulletSoftBody/btContactProjection.cpp +++ b/src/BulletSoftBody/btContactProjection.cpp @@ -12,20 +12,21 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit ///solve rigid body constraints m_world->btMultiBodyDynamicsWorld::solveConstraints(m_world->getSolverInfo()); - // loop through contacts to create contact constraints - for (int i = 0; i < m_softBodies.size(); ++i) + // loop through constraints to set constrained values + for (auto it : m_constraints) { - btSoftBody* psb = m_softBodies[i]; - btMultiBodyJacobianData jacobianData; - for (int i = 0, ni = psb->m_rcontacts.size(); i < ni; ++i) + btAlignedObjectArray& constraints = it.second; + for (int i = 0; i < constraints.size(); ++i) { - const btSoftBody::RContact& c = psb->m_rcontacts[i]; - - // skip anchor points - if (c.m_node->m_im == 0) + Constraint& constraint = constraints[i]; + if (constraint.m_contact == nullptr) + { + // nothing needs to be done for dirichelet constraints continue; - - const btSoftBody::sCti& cti = c.m_cti; + } + const btSoftBody::RContact* c = constraint.m_contact; + const btSoftBody::sCti& cti = c->m_cti; + btMultiBodyJacobianData jacobianData; if (cti.m_colObj->hasContactResponse()) { btVector3 va(0, 0, 0); @@ -37,7 +38,7 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) { rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); - va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c.m_c1)) * m_dt : btVector3(0, 0, 0); + va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c->m_c1)) * m_dt : btVector3(0, 0, 0); } else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) { @@ -49,7 +50,7 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof); btScalar* jac = &jacobianData.m_jacobians[0]; - multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, c.m_node->m_x, cti.m_normal, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m); + multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, c->m_node->m_x, cti.m_normal, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m); deltaV = &jacobianData.m_deltaVelocitiesUnitImpulse[0]; multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0], deltaV, jacobianData.scratch_r, jacobianData.scratch_v); @@ -62,26 +63,26 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit } } - const btVector3 vb = c.m_node->m_v * m_dt; + const btVector3 vb = c->m_node->m_v * m_dt; const btVector3 vr = vb - va; const btScalar dn = btDot(vr, cti.m_normal); if (1) // in the same CG solve, the set of constraits doesn't change -// if (dn <= SIMD_EPSILON) + // if (dn <= SIMD_EPSILON) { // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient - const btVector3 impulse = c.m_c0 *(cti.m_normal * dn); + const btVector3 impulse = c->m_c0 *(cti.m_normal * dn); // TODO: only contact is considered here, add friction later // dv = new_impulse + accumulated velocity change in previous CG iterations // so we have the invariant node->m_v = backupVelocity + dv; - btVector3 dv = -impulse * c.m_c2/m_dt + c.m_node->m_v - backupVelocity[m_indices[c.m_node]]; + btVector3 dv = -impulse * c->m_c2/m_dt + c->m_node->m_v - backupVelocity[m_indices[c->m_node]]; btScalar dvn = dv.dot(cti.m_normal); - m_constrainedValues[m_indices[c.m_node]][0]=(dvn); + constraint.m_value = dvn; if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) { if (rigidCol) - rigidCol->applyImpulse(impulse, c.m_c1); + rigidCol->applyImpulse(impulse, c->m_c1); } else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) { @@ -97,24 +98,23 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit } } + void btContactProjection::setConstraintDirections() { // set Dirichlet constraint size_t counter = 0; for (int i = 0; i < m_softBodies.size(); ++i) { - const btSoftBody* psb = m_softBodies[i]; + btSoftBody* psb = m_softBodies[i]; for (int j = 0; j < psb->m_nodes.size(); ++j) { if (psb->m_nodes[j].m_im == 0) { - m_constrainedDirections[counter].push_back(btVector3(1,0,0)); - m_constrainedDirections[counter].push_back(btVector3(0,1,0)); - m_constrainedDirections[counter].push_back(btVector3(0,0,1)); - m_constrainedValues[counter].push_back(0); - m_constrainedValues[counter].push_back(0); - m_constrainedValues[counter].push_back(0); - m_constrainedId.push_back(counter); + btAlignedObjectArray c; + c.push_back(Constraint(btVector3(1,0,0))); + c.push_back(Constraint(btVector3(0,1,0))); + c.push_back(Constraint(btVector3(0,0,1))); + m_constraints[&(psb->m_nodes[j])] = c; } ++counter; } @@ -125,14 +125,12 @@ void btContactProjection::setConstraintDirections() btSoftBody* psb = m_softBodies[i]; btMultiBodyJacobianData jacobianData; - int j = 0; - while (j < psb->m_rcontacts.size()) + for (int j = 0; j < psb->m_rcontacts.size(); ++j) { const btSoftBody::RContact& c = psb->m_rcontacts[j]; // skip anchor points if (c.m_node->m_im == 0) { - psb->m_rcontacts.removeAtIndex(j); continue; } @@ -178,68 +176,69 @@ void btContactProjection::setConstraintDirections() const btScalar dn = btDot(vr, cti.m_normal); if (dn < SIMD_EPSILON) { - ++j; - m_constrainedDirections[m_indices[c.m_node]].push_back(cti.m_normal); - m_constrainedValues[m_indices[c.m_node]].resize(m_constrainedValues[m_indices[c.m_node]].size()+1); - m_constrainedId.push_back(m_indices[c.m_node]); + if (m_constraints.find(c.m_node) == m_constraints.end()) + { + btAlignedObjectArray constraints; + constraints.push_back(Constraint(c)); + m_constraints[c.m_node] = constraints; + } + else + { + m_constraints[c.m_node].push_back(Constraint(c)); + } continue; } } - psb->m_rcontacts.removeAtIndex(j); } } // for particles with more than three constrained directions, prune constrained directions so that there are at most three constrained directions counter = 0; const int dim = 3; - for (int i = 0; i < m_softBodies.size(); ++i) + for (auto it : m_constraints) { - const btSoftBody* psb = m_softBodies[i]; - for (int j = 0; j < psb->m_nodes.size(); ++j) + const btAlignedObjectArray& c = it.second; + if (c.size() > dim) { - if (m_constrainedDirections[counter].size() > dim) + btAlignedObjectArray prunedConstraints; + // always keep the first constrained direction + prunedConstraints.push_back(c[0]); + + // find the direction most orthogonal to the first direction and keep it + size_t selected = 1; + btScalar min_dotProductAbs = std::abs(prunedConstraints[0].m_direction.dot(c[selected].m_direction)); + for (int j = 2; j < c.size(); ++j) { - btAlignedObjectArray prunedConstraints; - // always keep the first constrained direction - prunedConstraints.push_back(m_constrainedDirections[counter][0]); - // find the direction most orthogonal to the first direction and keep it - size_t selected = 1; - btScalar min_dotProductAbs = std::abs(prunedConstraints[0].dot(m_constrainedDirections[counter][selected])); - for (int j = 2; j < m_constrainedDirections[counter].size(); ++j) + btScalar dotProductAbs =std::abs(prunedConstraints[0].m_direction.dot(c[j].m_direction)); + if (dotProductAbs < min_dotProductAbs) { - btScalar dotProductAbs =std::abs(prunedConstraints[0].dot(m_constrainedDirections[counter][j])); - if (dotProductAbs < min_dotProductAbs) - { - selected = j; - min_dotProductAbs = dotProductAbs; - } + selected = j; + min_dotProductAbs = dotProductAbs; } - if (std::abs(min_dotProductAbs-1) < SIMD_EPSILON) - { - m_constrainedDirections[counter++] = prunedConstraints; - continue; - } - prunedConstraints.push_back(m_constrainedDirections[counter][selected]); - - // find the direction most orthogonal to the previous two directions and keep it - size_t selected2 = (selected == 1) ? 2 : 1; - btVector3 normal = btCross(prunedConstraints[0], prunedConstraints[1]); - normal.normalize(); - btScalar max_dotProductAbs = std::abs(normal.dot(m_constrainedDirections[counter][selected2])); - for (int j = 3; j < m_constrainedDirections[counter].size(); ++j) - { - btScalar dotProductAbs = std::abs(normal.dot(m_constrainedDirections[counter][j])); - if (dotProductAbs > min_dotProductAbs) - { - selected2 = j; - max_dotProductAbs = dotProductAbs; - } - } - prunedConstraints.push_back(m_constrainedDirections[counter][selected2]); - m_constrainedDirections[counter] = prunedConstraints; - m_constrainedValues[counter].resize(dim); } - ++counter; + if (std::abs(min_dotProductAbs-1) < SIMD_EPSILON) + { + it.second = prunedConstraints; + continue; + } + prunedConstraints.push_back(c[selected]); + + // find the direction most orthogonal to the previous two directions and keep it + size_t selected2 = (selected == 1) ? 2 : 1; + btVector3 normal = btCross(prunedConstraints[0].m_direction, prunedConstraints[1].m_direction); + normal.normalize(); + btScalar max_dotProductAbs = std::abs(normal.dot(c[selected2].m_direction)); + for (int j = 3; j < c.size(); ++j) + { + btScalar dotProductAbs = std::abs(normal.dot(c[j].m_direction)); + if (dotProductAbs > min_dotProductAbs) + { + selected2 = j; + max_dotProductAbs = dotProductAbs; + } + } + prunedConstraints.push_back(c[selected2]); + it.second = prunedConstraints; } } } diff --git a/src/BulletSoftBody/btContactProjection.h b/src/BulletSoftBody/btContactProjection.h index c0897e9bf..a497c933c 100644 --- a/src/BulletSoftBody/btContactProjection.h +++ b/src/BulletSoftBody/btContactProjection.h @@ -30,20 +30,19 @@ public: virtual void operator()(TVStack& x) { const int dim = 3; - for (int j = 0; j < m_constrainedId.size(); ++j) + for (auto it : m_constraints) { - int i = m_constrainedId[j]; - btAssert(m_constrainedDirections[i].size() <= dim); - if (m_constrainedDirections[i].size() <= 1) + const btAlignedObjectArray& constraints = it.second; + size_t i = m_indices[it.first]; + btAssert(constraints.size() <= dim); + btAssert(constraints.size() > 0); + if (constraints.size() == 1) { - for (int j = 0; j < m_constrainedDirections[i].size(); ++j) - { - x[i] -= x[i].dot(m_constrainedDirections[i][j]) * m_constrainedDirections[i][j]; - } + x[i] -= x[i].dot(constraints[0].m_direction) * constraints[0].m_direction; } - else if (m_constrainedDirections[i].size() == 2) + else if (constraints.size() == 2) { - btVector3 free_dir = btCross(m_constrainedDirections[i][0], m_constrainedDirections[i][1]); + btVector3 free_dir = btCross(constraints[0].m_direction, constraints[1].m_direction); free_dir.normalize(); x[i] = x[i].dot(free_dir) * free_dir; } @@ -51,30 +50,30 @@ public: x[i].setZero(); } } + virtual void enforceConstraint(TVStack& x) { const int dim = 3; - for (int j = 0; j < m_constrainedId.size(); ++j) + for (auto it : m_constraints) { - int i = m_constrainedId[j]; - btAssert(m_constrainedDirections[i].size() <= dim); - if (m_constrainedDirections[i].size() <= 1) + const btAlignedObjectArray& constraints = it.second; + size_t i = m_indices[it.first]; + btAssert(constraints.size() <= dim); + btAssert(constraints.size() > 0); + if (constraints.size() == 1) { - for (int j = 0; j < m_constrainedDirections[i].size(); ++j) - { - x[i] -= x[i].dot(m_constrainedDirections[i][j]) * m_constrainedDirections[i][j]; - x[i] += m_constrainedValues[i][j] * m_constrainedDirections[i][j]; - } + x[i] -= x[i].dot(constraints[0].m_direction) * constraints[0].m_direction; + x[i] += constraints[0].m_value * constraints[0].m_direction; } - else if (m_constrainedDirections[i].size() == 2) + else if (constraints.size() == 2) { - btVector3 free_dir = btCross(m_constrainedDirections[i][0], m_constrainedDirections[i][1]); + btVector3 free_dir = btCross(constraints[0].m_direction, constraints[1].m_direction); free_dir.normalize(); - x[i] = x[i].dot(free_dir) * free_dir + m_constrainedDirections[i][0] * m_constrainedValues[i][0] + m_constrainedDirections[i][1] * m_constrainedValues[i][1]; + x[i] = x[i].dot(free_dir) * free_dir + constraints[0].m_direction * constraints[0].m_value + constraints[1].m_direction * constraints[1].m_value; } else - x[i] = m_constrainedDirections[i][0] * m_constrainedValues[i][0] + m_constrainedDirections[i][1] * m_constrainedValues[i][1] + m_constrainedDirections[i][2] * m_constrainedValues[i][2]; + x[i] = constraints[0].m_value * constraints[0].m_direction + constraints[1].m_value * constraints[1].m_direction + constraints[2].m_value * constraints[2].m_direction; } } diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 9f94e9f6b..b457a262f 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -89,20 +89,20 @@ void btDeformableBodySolver::postStabilize() c.m_node->m_x -= dp * cti.m_normal * c.m_c4; //// - // if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) - // { - // if (rigidCol) - // rigidCol->applyImpulse(impulse, c.m_c1); - // } +// if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) +// { +// if (rigidCol) +// rigidCol->applyImpulse(impulse, c.m_c1); +// } +// else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) +// { +// if (multibodyLinkCol) +// { +// double multiplier = 0.5; +// multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV, -impulse.length() * multiplier); +// } +// } } - // else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) - // { - // if (multibodyLinkCol) - // { - // double multiplier = 0.5; - // multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV, -impulse.length() * multiplier); - // } - // } } } } From 696c96f392f41ee41045d345082032d6bfcebcd8 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 12 Jul 2019 10:03:38 -0700 Subject: [PATCH 011/389] bug fix in projection; start friction --- .../btBackwardEulerObjective.cpp | 2 +- src/BulletSoftBody/btCGProjection.h | 29 +++++----- src/BulletSoftBody/btContactProjection.cpp | 56 +++++++++++++++---- src/BulletSoftBody/btContactProjection.h | 14 ++++- src/BulletSoftBody/btDeformableBodySolver.cpp | 1 + src/BulletSoftBody/btSoftBodyInternals.h | 3 +- 6 files changed, 75 insertions(+), 30 deletions(-) diff --git a/src/BulletSoftBody/btBackwardEulerObjective.cpp b/src/BulletSoftBody/btBackwardEulerObjective.cpp index bdb781897..8801e68df 100644 --- a/src/BulletSoftBody/btBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btBackwardEulerObjective.cpp @@ -8,7 +8,7 @@ #include "btBackwardEulerObjective.h" btBackwardEulerObjective::btBackwardEulerObjective(btAlignedObjectArray& softBodies, const TVStack& backup_v) -: cg(50) +: cg(20) , m_softBodies(softBodies) , precondition(DefaultPreconditioner()) , projection(m_softBodies, m_dt) diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index a238e998b..6c104ef2f 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -15,7 +15,7 @@ class btDeformableRigidDynamicsWorld; struct Constraint { const btSoftBody::RContact* m_contact; - const btVector3 m_direction; + btVector3 m_direction; btScalar m_value; Constraint(const btSoftBody::RContact& rcontact) @@ -36,7 +36,17 @@ struct Constraint { } - +}; + +struct Friction +{ + btVector3 m_dv; + btVector3 m_direction; + Friction() + { + m_dv.setZero(); + m_direction.setZero(); + } }; class btCGProjection @@ -49,11 +59,9 @@ public: btAlignedObjectArray m_softBodies; btDeformableRigidDynamicsWorld* m_world; std::unordered_map m_indices; -// TVArrayStack m_constrainedDirections; -// TArrayStack m_constrainedValues; -// btAlignedObjectArray m_constrainedId; const btScalar& m_dt; std::unordered_map > m_constraints; + std::unordered_map m_frictions; btCGProjection(btAlignedObjectArray& softBodies, const btScalar& dt) : m_softBodies(softBodies) @@ -77,17 +85,8 @@ public: { if (nodeUpdated) updateId(); - - // resize and clear the old constraints -// m_constrainedValues.resize(m_indices.size()); -// m_constrainedDirections.resize(m_indices.size()); -// for (int i = 0; i < m_constrainedDirections.size(); ++i) -// { -// m_constrainedDirections[i].clear(); -// m_constrainedValues[i].clear(); -// } -// m_constrainedId.clear(); m_constraints.clear(); + m_frictions.clear(); } void updateId() diff --git a/src/BulletSoftBody/btContactProjection.cpp b/src/BulletSoftBody/btContactProjection.cpp index 3016a9e85..b90c749f3 100644 --- a/src/BulletSoftBody/btContactProjection.cpp +++ b/src/BulletSoftBody/btContactProjection.cpp @@ -7,14 +7,16 @@ #include "btContactProjection.h" #include "btDeformableRigidDynamicsWorld.h" +#include void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocity) { ///solve rigid body constraints m_world->btMultiBodyDynamicsWorld::solveConstraints(m_world->getSolverInfo()); // loop through constraints to set constrained values - for (auto it : m_constraints) + for (auto& it : m_constraints) { + Friction& friction = m_frictions[it.first]; btAlignedObjectArray& constraints = it.second; for (int i = 0; i < constraints.size(); ++i) { @@ -66,11 +68,27 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit const btVector3 vb = c->m_node->m_v * m_dt; const btVector3 vr = vb - va; const btScalar dn = btDot(vr, cti.m_normal); - if (1) // in the same CG solve, the set of constraits doesn't change - // if (dn <= SIMD_EPSILON) + btVector3 impulse = c->m_c0 * vr; + const btVector3 impulse_normal = c->m_c0 *(cti.m_normal * dn); + btVector3 impulse_tangent = impulse - impulse_normal; + + if (dn < 0 && impulse_tangent.norm() > SIMD_EPSILON) + { + btScalar impulse_tangent_magnitude = std::min(impulse_normal.norm()*c->m_c3, impulse_tangent.norm()); + + impulse_tangent_magnitude = 0; + + const btVector3 tangent_dir = impulse_tangent.normalized(); + impulse_tangent = impulse_tangent_magnitude * tangent_dir; + friction.m_direction = impulse_tangent; + friction.m_dv = -impulse_tangent * c->m_c2/m_dt + (c->m_node->m_v - backupVelocity[m_indices[c->m_node]]).dot(tangent_dir)*tangent_dir; + } + impulse = impulse_normal + impulse_tangent; +// if (1) // in the same CG solve, the set of constraits doesn't change + if (dn <= SIMD_EPSILON) { // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient - const btVector3 impulse = c->m_c0 *(cti.m_normal * dn); + // TODO: only contact is considered here, add friction later // dv = new_impulse + accumulated velocity change in previous CG iterations @@ -82,7 +100,7 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) { if (rigidCol) - rigidCol->applyImpulse(impulse, c->m_c1); + rigidCol->applyImpulse(impulse_normal, c->m_c1); } else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) { @@ -102,7 +120,6 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit void btContactProjection::setConstraintDirections() { // set Dirichlet constraint - size_t counter = 0; for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; @@ -116,7 +133,6 @@ void btContactProjection::setConstraintDirections() c.push_back(Constraint(btVector3(0,0,1))); m_constraints[&(psb->m_nodes[j])] = c; } - ++counter; } } @@ -181,6 +197,7 @@ void btContactProjection::setConstraintDirections() btAlignedObjectArray constraints; constraints.push_back(Constraint(c)); m_constraints[c.m_node] = constraints; + m_frictions[c.m_node] = Friction(); } else { @@ -193,11 +210,10 @@ void btContactProjection::setConstraintDirections() } // for particles with more than three constrained directions, prune constrained directions so that there are at most three constrained directions - counter = 0; const int dim = 3; - for (auto it : m_constraints) + for (auto& it : m_constraints) { - const btAlignedObjectArray& c = it.second; + btAlignedObjectArray& c = it.second; if (c.size() > dim) { btAlignedObjectArray prunedConstraints; @@ -216,7 +232,7 @@ void btContactProjection::setConstraintDirections() min_dotProductAbs = dotProductAbs; } } - if (std::abs(min_dotProductAbs-1) < SIMD_EPSILON) + if (std::abs(std::abs(min_dotProductAbs)-1) < SIMD_EPSILON) { it.second = prunedConstraints; continue; @@ -240,5 +256,23 @@ void btContactProjection::setConstraintDirections() prunedConstraints.push_back(c[selected2]); it.second = prunedConstraints; } + else + { + // prune out collinear constraints + const btVector3& first_dir = c[0].m_direction; + int i = 1; + while (i < c.size()) + { + if (std::abs(std::abs(first_dir.dot(c[i].m_direction)) - 1) < 4*SIMD_EPSILON) + c.removeAtIndex(i); + else + ++i; + } + if (c.size() == 3) + { + if (std::abs(std::abs(c[1].m_direction.dot(c[2].m_direction)) - 1) < 4*SIMD_EPSILON) + c.removeAtIndex(2); + } + } } } diff --git a/src/BulletSoftBody/btContactProjection.h b/src/BulletSoftBody/btContactProjection.h index a497c933c..29d0e6632 100644 --- a/src/BulletSoftBody/btContactProjection.h +++ b/src/BulletSoftBody/btContactProjection.h @@ -30,18 +30,22 @@ public: virtual void operator()(TVStack& x) { const int dim = 3; - for (auto it : m_constraints) + for (auto& it : m_constraints) { const btAlignedObjectArray& constraints = it.second; size_t i = m_indices[it.first]; + const Friction& friction = m_frictions[it.first]; btAssert(constraints.size() <= dim); btAssert(constraints.size() > 0); if (constraints.size() == 1) { x[i] -= x[i].dot(constraints[0].m_direction) * constraints[0].m_direction; + if (friction.m_direction.norm() > SIMD_EPSILON) + x[i] -= x[i].dot(friction.m_direction) * friction.m_direction; } else if (constraints.size() == 2) { + // TODO : friction btVector3 free_dir = btCross(constraints[0].m_direction, constraints[1].m_direction); free_dir.normalize(); x[i] = x[i].dot(free_dir) * free_dir; @@ -55,16 +59,22 @@ public: virtual void enforceConstraint(TVStack& x) { const int dim = 3; - for (auto it : m_constraints) + for (auto& it : m_constraints) { const btAlignedObjectArray& constraints = it.second; size_t i = m_indices[it.first]; + const Friction& friction = m_frictions[it.first]; btAssert(constraints.size() <= dim); btAssert(constraints.size() > 0); if (constraints.size() == 1) { x[i] -= x[i].dot(constraints[0].m_direction) * constraints[0].m_direction; x[i] += constraints[0].m_value * constraints[0].m_direction; + if (friction.m_direction.norm() > SIMD_EPSILON) + { + x[i] -= x[i].dot(friction.m_direction) * friction.m_direction; + x[i] += friction.m_dv; + } } else if (constraints.size() == 2) { diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index b457a262f..b7c531385 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -122,6 +122,7 @@ void btDeformableBodySolver::solveConstraints(float solverdt) updateVelocity(); } advect(solverdt); +// postStabilize(); } void btDeformableBodySolver::reinitialize(bool nodeUpdated) diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index 41911b2bc..12d96171f 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -891,7 +891,8 @@ struct btSoftColliders c.m_c0 = ImpulseMatrix(psb->m_sst.sdt, ima, imb, iwi, ra); c.m_c1 = ra; c.m_c2 = ima * psb->m_sst.sdt; - c.m_c3 = fv.length2() < (dn * fc * dn * fc) ? 0 : 1 - fc; +// c.m_c3 = fv.length2() < (dn * fc * dn * fc) ? 0 : 1 - fc; + c.m_c3 = fc; c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR; psb->m_rcontacts.push_back(c); if (m_rigidBody) From 98cd9a85e4416686e099969332691c91b60a3468 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 12 Jul 2019 10:35:50 -0700 Subject: [PATCH 012/389] generalize preconditioner, now supports mass preconditioning --- .../btBackwardEulerObjective.cpp | 10 ++- src/BulletSoftBody/btBackwardEulerObjective.h | 82 ++++++++++++++++--- 2 files changed, 75 insertions(+), 17 deletions(-) diff --git a/src/BulletSoftBody/btBackwardEulerObjective.cpp b/src/BulletSoftBody/btBackwardEulerObjective.cpp index 8801e68df..12c7a7add 100644 --- a/src/BulletSoftBody/btBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btBackwardEulerObjective.cpp @@ -8,14 +8,15 @@ #include "btBackwardEulerObjective.h" btBackwardEulerObjective::btBackwardEulerObjective(btAlignedObjectArray& softBodies, const TVStack& backup_v) -: cg(20) +: cg(50) , m_softBodies(softBodies) -, precondition(DefaultPreconditioner()) , projection(m_softBodies, m_dt) , m_backupVelocity(backup_v) { // TODO: this should really be specified in initialization instead of here btMassSpring* mass_spring = new btMassSpring(m_softBodies); +// m_preconditioner = new MassPreconditioner(m_softBodies); + m_preconditioner = new DefaultPreconditioner(); m_lf.push_back(mass_spring); } @@ -28,8 +29,9 @@ void btBackwardEulerObjective::reinitialize(bool nodeUpdated) for (int i = 0; i < m_lf.size(); ++i) { m_lf[i]->reinitialize(nodeUpdated); - projection.reinitialize(nodeUpdated); } + projection.reinitialize(nodeUpdated); + m_preconditioner->reinitialize(nodeUpdated); } @@ -64,7 +66,7 @@ void btBackwardEulerObjective::multiply(const TVStack& x, TVStack& b) const void btBackwardEulerObjective::computeStep(TVStack& dv, const TVStack& residual, const btScalar& dt) { m_dt = dt; - btScalar tolerance = std::numeric_limits::epsilon()* 16 * computeNorm(residual); + btScalar tolerance = std::numeric_limits::epsilon()* 1024 * computeNorm(residual); cg.solve(*this, dv, residual, tolerance); } diff --git a/src/BulletSoftBody/btBackwardEulerObjective.h b/src/BulletSoftBody/btBackwardEulerObjective.h index 424291700..9b94341b7 100644 --- a/src/BulletSoftBody/btBackwardEulerObjective.h +++ b/src/BulletSoftBody/btBackwardEulerObjective.h @@ -15,25 +15,82 @@ #include "btDeformableRigidDynamicsWorld.h" class btDeformableRigidDynamicsWorld; + +class Preconditioner +{ +public: + using TVStack = btAlignedObjectArray; + virtual void operator()(const TVStack& x, TVStack& b) = 0; + virtual void reinitialize(bool nodeUpdated) = 0; +}; + +class DefaultPreconditioner : public Preconditioner +{ +public: + virtual void operator()(const TVStack& x, TVStack& b) + { + btAssert(b.size() == x.size()); + for (int i = 0; i < b.size(); ++i) + b[i] = x[i]; + } + virtual void reinitialize(bool nodeUpdated) + { + + } +}; + +class MassPreconditioner : public Preconditioner +{ + btAlignedObjectArray m_inv_mass; + const btAlignedObjectArray& m_softBodies; +public: + MassPreconditioner(const btAlignedObjectArray& softBodies) + : m_softBodies(softBodies) + { + } + + virtual void reinitialize(bool nodeUpdated) + { + if (nodeUpdated) + { + m_inv_mass.clear(); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + m_inv_mass.push_back(psb->m_nodes[j].m_im); + } + } + } + + virtual void operator()(const TVStack& x, TVStack& b) + { + btAssert(b.size() == x.size()); + btAssert(m_inv_mass.size() == x.size()); + for (int i = 0; i < b.size(); ++i) + b[i] = x[i] * m_inv_mass[i]; + } +}; + class btBackwardEulerObjective { public: using TVStack = btAlignedObjectArray; - struct DefaultPreconditioner - { - void operator()(const TVStack& x, TVStack& b) - { - btAssert(b.size() == x.size()); - for (int i = 0; i < b.size(); ++i) - b[i] = x[i]; - } - }; +// struct DefaultPreconditioner +// { +// void operator()(const TVStack& x, TVStack& b) +// { +// btAssert(b.size() == x.size()); +// for (int i = 0; i < b.size(); ++i) +// b[i] = x[i]; +// } +// }; btScalar m_dt; btConjugateGradient cg; btDeformableRigidDynamicsWorld* m_world; btAlignedObjectArray m_lf; btAlignedObjectArray& m_softBodies; - std::function precondition; + Preconditioner* m_preconditioner; btContactProjection projection; const TVStack& m_backupVelocity; @@ -92,10 +149,9 @@ public: projection(r); } - template - void setPreconditioner(Func preconditioner_func) + void precondition(const TVStack& x, TVStack& b) { - precondition = preconditioner_func; + m_preconditioner->operator()(x,b); } virtual void setWorld(btDeformableRigidDynamicsWorld* world) From ac628f4d394f39d10cd178e005b63ad7dda0e1f0 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 12 Jul 2019 13:26:58 -0700 Subject: [PATCH 013/389] add two way coupled penetration resolution; not momentum conserving, but seem to work fine --- src/BulletSoftBody/btDeformableBodySolver.cpp | 27 ++++++++++--------- 1 file changed, 14 insertions(+), 13 deletions(-) diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index b7c531385..41a5df70d 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -87,21 +87,22 @@ void btDeformableBodySolver::postStabilize() if (dp < 0) { c.m_node->m_x -= dp * cti.m_normal * c.m_c4; +// c.m_node->m_x -= impulse * c.m_c2; //// -// if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) -// { -// if (rigidCol) -// rigidCol->applyImpulse(impulse, c.m_c1); -// } -// else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) -// { -// if (multibodyLinkCol) -// { -// double multiplier = 0.5; -// multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV, -impulse.length() * multiplier); -// } -// } + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + if (rigidCol) + rigidCol->applyImpulse(impulse, c.m_c1); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + if (multibodyLinkCol) + { + double multiplier = 0.5; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV, -impulse.length() * multiplier); + } + } } } } From bac7d461c5a9d318a04b9741cccf7f1759132bf3 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 15 Jul 2019 10:48:20 -0700 Subject: [PATCH 014/389] fix bugs in poststablize and projection of colinear constraints --- src/BulletSoftBody/btContactProjection.cpp | 31 +++++----- src/BulletSoftBody/btContactProjection.h | 25 ++++++-- src/BulletSoftBody/btDeformableBodySolver.cpp | 37 ++++++------ src/BulletSoftBody/btDeformableBodySolver.h | 5 +- src/BulletSoftBody/btSoftBodyInternals.h | 60 ++++++++++--------- 5 files changed, 89 insertions(+), 69 deletions(-) diff --git a/src/BulletSoftBody/btContactProjection.cpp b/src/BulletSoftBody/btContactProjection.cpp index b90c749f3..6082f4dad 100644 --- a/src/BulletSoftBody/btContactProjection.cpp +++ b/src/BulletSoftBody/btContactProjection.cpp @@ -11,6 +11,7 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocity) { ///solve rigid body constraints + m_world->getSolverInfo().m_numIterations = 5; m_world->btMultiBodyDynamicsWorld::solveConstraints(m_world->getSolverInfo()); // loop through constraints to set constrained values @@ -258,21 +259,21 @@ void btContactProjection::setConstraintDirections() } else { - // prune out collinear constraints - const btVector3& first_dir = c[0].m_direction; - int i = 1; - while (i < c.size()) - { - if (std::abs(std::abs(first_dir.dot(c[i].m_direction)) - 1) < 4*SIMD_EPSILON) - c.removeAtIndex(i); - else - ++i; - } - if (c.size() == 3) - { - if (std::abs(std::abs(c[1].m_direction.dot(c[2].m_direction)) - 1) < 4*SIMD_EPSILON) - c.removeAtIndex(2); - } +// // prune out collinear constraints +// const btVector3& first_dir = c[0].m_direction; +// int i = 1; +// while (i < c.size()) +// { +// if (std::abs(std::abs(first_dir.dot(c[i].m_direction)) - 1) < 4*SIMD_EPSILON) +// c.removeAtIndex(i); +// else +// ++i; +// } +// if (c.size() == 3) +// { +// if (std::abs(std::abs(c[1].m_direction.dot(c[2].m_direction)) - 1) < 4*SIMD_EPSILON) +// c.removeAtIndex(2); +// } } } } diff --git a/src/BulletSoftBody/btContactProjection.h b/src/BulletSoftBody/btContactProjection.h index 29d0e6632..8ce3cb578 100644 --- a/src/BulletSoftBody/btContactProjection.h +++ b/src/BulletSoftBody/btContactProjection.h @@ -47,8 +47,13 @@ public: { // TODO : friction btVector3 free_dir = btCross(constraints[0].m_direction, constraints[1].m_direction); - free_dir.normalize(); - x[i] = x[i].dot(free_dir) * free_dir; + if (free_dir.norm() < SIMD_EPSILON) + x[i] -= x[i].dot(constraints[0].m_direction) * constraints[0].m_direction; + else + { + free_dir.normalize(); + x[i] = x[i].dot(free_dir) * free_dir; + } } else x[i].setZero(); @@ -69,7 +74,8 @@ public: if (constraints.size() == 1) { x[i] -= x[i].dot(constraints[0].m_direction) * constraints[0].m_direction; - x[i] += constraints[0].m_value * constraints[0].m_direction; + btVector3 diff = constraints[0].m_value * constraints[0].m_direction; + x[i] += diff; if (friction.m_direction.norm() > SIMD_EPSILON) { x[i] -= x[i].dot(friction.m_direction) * friction.m_direction; @@ -79,8 +85,17 @@ public: else if (constraints.size() == 2) { btVector3 free_dir = btCross(constraints[0].m_direction, constraints[1].m_direction); - free_dir.normalize(); - x[i] = x[i].dot(free_dir) * free_dir + constraints[0].m_direction * constraints[0].m_value + constraints[1].m_direction * constraints[1].m_value; + if (free_dir.norm() < SIMD_EPSILON) + { + x[i] -= x[i].dot(constraints[0].m_direction) * constraints[0].m_direction; + btVector3 diff = constraints[0].m_value * constraints[0].m_direction + constraints[1].m_value * constraints[1].m_direction; + x[i] += diff; + } + else + { + free_dir.normalize(); + x[i] = x[i].dot(free_dir) * free_dir + constraints[0].m_direction * constraints[0].m_value + constraints[1].m_direction * constraints[1].m_value; + } } else x[i] = constraints[0].m_value * constraints[0].m_direction + constraints[1].m_value * constraints[1].m_direction + constraints[2].m_value * constraints[2].m_direction; diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 41a5df70d..e9bcf226a 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -77,8 +77,8 @@ void btDeformableBodySolver::postStabilize() const btVector3 vr = vb - va; const btScalar dn = btDot(vr, cti.m_normal); - const btScalar dp = btMin((btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg); - + btScalar dp = btMin((btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg); +// dp += mrg; // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient btScalar dvn = dn * c.m_c4; @@ -86,23 +86,27 @@ void btDeformableBodySolver::postStabilize() // TODO: only contact is considered here, add friction later if (dp < 0) { - c.m_node->m_x -= dp * cti.m_normal * c.m_c4; -// c.m_node->m_x -= impulse * c.m_c2; - - //// - if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + bool two_way = false; + if (two_way) { - if (rigidCol) - rigidCol->applyImpulse(impulse, c.m_c1); - } - else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) - { - if (multibodyLinkCol) + c.m_node->m_x -= impulse * c.m_c2; + + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) { - double multiplier = 0.5; - multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV, -impulse.length() * multiplier); + if (rigidCol) + rigidCol->applyImpulse(impulse, c.m_c1); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + if (multibodyLinkCol) + { + double multiplier = 0.5; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV, -impulse.length() * multiplier); + } } } + else + c.m_node->m_x -= dp * cti.m_normal * c.m_c4; } } } @@ -115,7 +119,6 @@ void btDeformableBodySolver::solveConstraints(float solverdt) bool nodeUpdated = updateNodes(); reinitialize(nodeUpdated); backupVelocity(); - postStabilize(); for (int i = 0; i < m_solveIterations; ++i) { m_objective->computeResidual(solverdt, m_residual); @@ -123,7 +126,7 @@ void btDeformableBodySolver::solveConstraints(float solverdt) updateVelocity(); } advect(solverdt); -// postStabilize(); + postStabilize(); } void btDeformableBodySolver::reinitialize(bool nodeUpdated) diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index 540a2b6cb..3fac0743d 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -2,7 +2,7 @@ // btDeformableBodySolver.h // BulletSoftBody // -// Created by Chuyuan Fu on 7/1/19. +// Created by Xuchen Han on 7/1/19. // #ifndef BT_DEFORMABLE_BODY_SOLVERS_H @@ -101,8 +101,7 @@ public: for (int j = 0; j < psb->m_nodes.size(); ++j) { auto& node = psb->m_nodes[j]; - node.m_x += dt * m_dv[counter++]; -// node.m_x = node.m_q + dt * node.m_v; + node.m_x = node.m_q + dt * node.m_v; } } } diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index 12d96171f..b892498ea 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -869,35 +869,37 @@ struct btSoftColliders const btScalar m = n.m_im > 0 ? dynmargin : stamargin; btSoftBody::RContact c; - if ((!n.m_battach) && - psb->checkContact(m_colObj1Wrap, n.m_x, m, c.m_cti)) - { - const btScalar ima = n.m_im; - const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; - const btScalar ms = ima + imb; - if (ms > 0) - { - const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform(); - static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0); - const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic; - const btVector3 ra = n.m_q - wtr.getOrigin(); - const btVector3 va = m_rigidBody ? m_rigidBody->getVelocityInLocalPoint(ra) * psb->m_sst.sdt : btVector3(0, 0, 0); - const btVector3 vb = n.m_x - n.m_q; - const btVector3 vr = vb - va; - const btScalar dn = btDot(vr, c.m_cti.m_normal); - const btVector3 fv = vr - c.m_cti.m_normal * dn; - const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); - c.m_node = &n; - c.m_c0 = ImpulseMatrix(psb->m_sst.sdt, ima, imb, iwi, ra); - c.m_c1 = ra; - c.m_c2 = ima * psb->m_sst.sdt; -// c.m_c3 = fv.length2() < (dn * fc * dn * fc) ? 0 : 1 - fc; - c.m_c3 = fc; - c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR; - psb->m_rcontacts.push_back(c); - if (m_rigidBody) - m_rigidBody->activate(); - } + if (!n.m_battach) + { + if (psb->checkContact(m_colObj1Wrap, n.m_x, m, c.m_cti)) + { + const btScalar ima = n.m_im; + const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; + const btScalar ms = ima + imb; + if (ms > 0) + { + const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform(); + static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0); + const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic; + const btVector3 ra = n.m_x - wtr.getOrigin(); + const btVector3 va = m_rigidBody ? m_rigidBody->getVelocityInLocalPoint(ra) * psb->m_sst.sdt : btVector3(0, 0, 0); + const btVector3 vb = n.m_x - n.m_q; + const btVector3 vr = vb - va; + const btScalar dn = btDot(vr, c.m_cti.m_normal); + const btVector3 fv = vr - c.m_cti.m_normal * dn; + const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); + c.m_node = &n; + c.m_c0 = ImpulseMatrix(psb->m_sst.sdt, ima, imb, iwi, ra); + c.m_c1 = ra; + c.m_c2 = ima * psb->m_sst.sdt; + // c.m_c3 = fv.length2() < (dn * fc * dn * fc) ? 0 : 1 - fc; + c.m_c3 = fc; + c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR; + psb->m_rcontacts.push_back(c); + if (m_rigidBody) + m_rigidBody->activate(); + } + } } } btSoftBody* psb; From befab4eab6ac8ef8aea141d8e89a463648e9de41 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 15 Jul 2019 14:52:24 -0700 Subject: [PATCH 015/389] reorganize the contact constraints --- src/BulletSoftBody/btCGProjection.h | 32 +-- src/BulletSoftBody/btContactProjection.cpp | 244 +++++++++------------ src/BulletSoftBody/btContactProjection.h | 58 ++--- 3 files changed, 151 insertions(+), 183 deletions(-) diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index 6c104ef2f..91621e49b 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -14,37 +14,41 @@ class btDeformableRigidDynamicsWorld; struct Constraint { - const btSoftBody::RContact* m_contact; - btVector3 m_direction; - btScalar m_value; + btAlignedObjectArray m_contact; + btAlignedObjectArray m_direction; + btAlignedObjectArray m_value; Constraint(const btSoftBody::RContact& rcontact) - : m_contact(&rcontact) - , m_direction(rcontact.m_cti.m_normal) - , m_value(0) { + m_contact.push_back(&rcontact); + m_direction.push_back(rcontact.m_cti.m_normal); + m_value.push_back(0); } Constraint(const btVector3 dir) - : m_contact(nullptr) - , m_direction(dir) - , m_value(0) - {} + { + m_contact.push_back(nullptr); + m_direction.push_back(dir); + m_value.push_back(0); + } Constraint() - : m_contact(nullptr) { - } }; struct Friction { - btVector3 m_dv; + bool m_static; + btScalar m_value; btVector3 m_direction; + + bool m_static_prev; + btScalar m_value_prev; + btVector3 m_direction_prev; Friction() { - m_dv.setZero(); + m_direction_prev.setZero(); m_direction.setZero(); } }; diff --git a/src/BulletSoftBody/btContactProjection.cpp b/src/BulletSoftBody/btContactProjection.cpp index 6082f4dad..9388ac7e4 100644 --- a/src/BulletSoftBody/btContactProjection.cpp +++ b/src/BulletSoftBody/btContactProjection.cpp @@ -22,93 +22,97 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit for (int i = 0; i < constraints.size(); ++i) { Constraint& constraint = constraints[i]; - if (constraint.m_contact == nullptr) + for (int j = 0; j < constraint.m_contact.size(); ++j) { - // nothing needs to be done for dirichelet constraints - continue; - } - const btSoftBody::RContact* c = constraint.m_contact; - const btSoftBody::sCti& cti = c->m_cti; - btMultiBodyJacobianData jacobianData; - if (cti.m_colObj->hasContactResponse()) - { - btVector3 va(0, 0, 0); - btRigidBody* rigidCol = 0; - btMultiBodyLinkCollider* multibodyLinkCol = 0; - btScalar* deltaV; - - // grab the velocity of the rigid body - if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + if (constraint.m_contact[j] == nullptr) { - rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); - va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c->m_c1)) * m_dt : btVector3(0, 0, 0); + // nothing needs to be done for dirichelet constraints + continue; } - else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + const btSoftBody::RContact* c = constraint.m_contact[j]; + const btSoftBody::sCti& cti = c->m_cti; + btMultiBodyJacobianData jacobianData; + if (cti.m_colObj->hasContactResponse()) { - multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); - if (multibodyLinkCol) - { - const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; - jacobianData.m_jacobians.resize(ndof); - jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof); - btScalar* jac = &jacobianData.m_jacobians[0]; - - multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, c->m_node->m_x, cti.m_normal, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m); - deltaV = &jacobianData.m_deltaVelocitiesUnitImpulse[0]; - multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0], deltaV, jacobianData.scratch_r, jacobianData.scratch_v); - - btScalar vel = 0.0; - for (int j = 0; j < ndof; ++j) - { - vel += multibodyLinkCol->m_multiBody->getVelocityVector()[j] * jac[j]; - } - va = cti.m_normal * vel * m_dt; - } - } - - const btVector3 vb = c->m_node->m_v * m_dt; - const btVector3 vr = vb - va; - const btScalar dn = btDot(vr, cti.m_normal); - btVector3 impulse = c->m_c0 * vr; - const btVector3 impulse_normal = c->m_c0 *(cti.m_normal * dn); - btVector3 impulse_tangent = impulse - impulse_normal; - - if (dn < 0 && impulse_tangent.norm() > SIMD_EPSILON) - { - btScalar impulse_tangent_magnitude = std::min(impulse_normal.norm()*c->m_c3, impulse_tangent.norm()); - - impulse_tangent_magnitude = 0; - - const btVector3 tangent_dir = impulse_tangent.normalized(); - impulse_tangent = impulse_tangent_magnitude * tangent_dir; - friction.m_direction = impulse_tangent; - friction.m_dv = -impulse_tangent * c->m_c2/m_dt + (c->m_node->m_v - backupVelocity[m_indices[c->m_node]]).dot(tangent_dir)*tangent_dir; - } - impulse = impulse_normal + impulse_tangent; -// if (1) // in the same CG solve, the set of constraits doesn't change - if (dn <= SIMD_EPSILON) - { - // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient - - // TODO: only contact is considered here, add friction later - - // dv = new_impulse + accumulated velocity change in previous CG iterations - // so we have the invariant node->m_v = backupVelocity + dv; - btVector3 dv = -impulse * c->m_c2/m_dt + c->m_node->m_v - backupVelocity[m_indices[c->m_node]]; - btScalar dvn = dv.dot(cti.m_normal); - constraint.m_value = dvn; + btVector3 va(0, 0, 0); + btRigidBody* rigidCol = 0; + btMultiBodyLinkCollider* multibodyLinkCol = 0; + btScalar* deltaV; + // grab the velocity of the rigid body if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) { - if (rigidCol) - rigidCol->applyImpulse(impulse_normal, c->m_c1); + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c->m_c1)) * m_dt : btVector3(0, 0, 0); } else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) { + multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); if (multibodyLinkCol) { - double multiplier = 0.5; - multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV, -impulse.length() * multiplier); + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + jacobianData.m_jacobians.resize(ndof); + jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof); + btScalar* jac = &jacobianData.m_jacobians[0]; + + multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, c->m_node->m_x, cti.m_normal, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m); + deltaV = &jacobianData.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0], deltaV, jacobianData.scratch_r, jacobianData.scratch_v); + + btScalar vel = 0.0; + for (int j = 0; j < ndof; ++j) + { + vel += multibodyLinkCol->m_multiBody->getVelocityVector()[j] * jac[j]; + } + va = cti.m_normal * vel * m_dt; + } + } + + const btVector3 vb = c->m_node->m_v * m_dt; + const btVector3 vr = vb - va; + const btScalar dn = btDot(vr, cti.m_normal); + btVector3 impulse = c->m_c0 * vr; + const btVector3 impulse_normal = c->m_c0 *(cti.m_normal * dn); + btVector3 impulse_tangent = impulse - impulse_normal; + + if (dn < 0 && impulse_tangent.norm() > SIMD_EPSILON) + { + btScalar impulse_tangent_magnitude = std::min(impulse_normal.norm()*c->m_c3*1000, impulse_tangent.norm()); + +// impulse_tangent_magnitude = 0; + + const btVector3 tangent_dir = impulse_tangent.normalized(); + impulse_tangent = impulse_tangent_magnitude * tangent_dir; + friction.m_direction = impulse_tangent; + friction.m_dv = -impulse_tangent * c->m_c2/m_dt + (c->m_node->m_v - backupVelocity[m_indices[c->m_node]]); + } + impulse = impulse_normal + impulse_tangent; + + // if (1) // in the same CG solve, the set of constraits doesn't change + if (dn <= SIMD_EPSILON) + { + // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient + + // TODO: only contact is considered here, add friction later + + // dv = new_impulse + accumulated velocity change in previous CG iterations + // so we have the invariant node->m_v = backupVelocity + dv; + btVector3 dv = -impulse * c->m_c2/m_dt + c->m_node->m_v - backupVelocity[m_indices[c->m_node]]; + btScalar dvn = dv.dot(cti.m_normal); + constraint.m_value[j] = dvn; + + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + if (rigidCol) + rigidCol->applyImpulse(impulse_normal, c->m_c1); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + if (multibodyLinkCol) + { + double multiplier = 0.5; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV, -impulse.length() * multiplier); + } } } } @@ -202,78 +206,30 @@ void btContactProjection::setConstraintDirections() } else { - m_constraints[c.m_node].push_back(Constraint(c)); + // group colinear constraints into one + const btScalar angle_epsilon = 0.015192247; // less than 10 degree + bool merged = false; + btAlignedObjectArray& constraints = m_constraints[c.m_node]; + for (int j = 0; j < constraints.size(); ++j) + { + const btAlignedObjectArray& dirs = constraints[j].m_direction; + btScalar dot_prod = dirs[0].dot(cti.m_normal); + if (std::abs(std::abs(dot_prod) - 1) < angle_epsilon) + { + constraints[j].m_contact.push_back(&c); + constraints[j].m_direction.push_back(cti.m_normal); + constraints[j].m_value.push_back(0); + merged = true; + break; + } + } + const int dim = 3; + // hard coded no more than 3 constraint directions + if (!merged && constraints.size() < dim) + constraints.push_back(Constraint(c)); } - continue; } } } } - - // for particles with more than three constrained directions, prune constrained directions so that there are at most three constrained directions - const int dim = 3; - for (auto& it : m_constraints) - { - btAlignedObjectArray& c = it.second; - if (c.size() > dim) - { - btAlignedObjectArray prunedConstraints; - // always keep the first constrained direction - prunedConstraints.push_back(c[0]); - - // find the direction most orthogonal to the first direction and keep it - size_t selected = 1; - btScalar min_dotProductAbs = std::abs(prunedConstraints[0].m_direction.dot(c[selected].m_direction)); - for (int j = 2; j < c.size(); ++j) - { - btScalar dotProductAbs =std::abs(prunedConstraints[0].m_direction.dot(c[j].m_direction)); - if (dotProductAbs < min_dotProductAbs) - { - selected = j; - min_dotProductAbs = dotProductAbs; - } - } - if (std::abs(std::abs(min_dotProductAbs)-1) < SIMD_EPSILON) - { - it.second = prunedConstraints; - continue; - } - prunedConstraints.push_back(c[selected]); - - // find the direction most orthogonal to the previous two directions and keep it - size_t selected2 = (selected == 1) ? 2 : 1; - btVector3 normal = btCross(prunedConstraints[0].m_direction, prunedConstraints[1].m_direction); - normal.normalize(); - btScalar max_dotProductAbs = std::abs(normal.dot(c[selected2].m_direction)); - for (int j = 3; j < c.size(); ++j) - { - btScalar dotProductAbs = std::abs(normal.dot(c[j].m_direction)); - if (dotProductAbs > min_dotProductAbs) - { - selected2 = j; - max_dotProductAbs = dotProductAbs; - } - } - prunedConstraints.push_back(c[selected2]); - it.second = prunedConstraints; - } - else - { -// // prune out collinear constraints -// const btVector3& first_dir = c[0].m_direction; -// int i = 1; -// while (i < c.size()) -// { -// if (std::abs(std::abs(first_dir.dot(c[i].m_direction)) - 1) < 4*SIMD_EPSILON) -// c.removeAtIndex(i); -// else -// ++i; -// } -// if (c.size() == 3) -// { -// if (std::abs(std::abs(c[1].m_direction.dot(c[2].m_direction)) - 1) < 4*SIMD_EPSILON) -// c.removeAtIndex(2); -// } - } - } } diff --git a/src/BulletSoftBody/btContactProjection.h b/src/BulletSoftBody/btContactProjection.h index 8ce3cb578..1e5c52a60 100644 --- a/src/BulletSoftBody/btContactProjection.h +++ b/src/BulletSoftBody/btContactProjection.h @@ -39,21 +39,20 @@ public: btAssert(constraints.size() > 0); if (constraints.size() == 1) { - x[i] -= x[i].dot(constraints[0].m_direction) * constraints[0].m_direction; + x[i] -= x[i].dot(constraints[0].m_direction[0]) * constraints[0].m_direction[0]; if (friction.m_direction.norm() > SIMD_EPSILON) - x[i] -= x[i].dot(friction.m_direction) * friction.m_direction; + { + btVector3 dir = friction.m_direction.normalized(); + x[i] -= x[i].dot(dir) * dir; + } } else if (constraints.size() == 2) { // TODO : friction - btVector3 free_dir = btCross(constraints[0].m_direction, constraints[1].m_direction); - if (free_dir.norm() < SIMD_EPSILON) - x[i] -= x[i].dot(constraints[0].m_direction) * constraints[0].m_direction; - else - { - free_dir.normalize(); - x[i] = x[i].dot(free_dir) * free_dir; - } + btVector3 free_dir = btCross(constraints[0].m_direction[0], constraints[1].m_direction[0]); + btAssert(free_dir.norm() > SIMD_EPSILON) + free_dir.normalize(); + x[i] = x[i].dot(free_dir) * free_dir; } else x[i].setZero(); @@ -73,32 +72,41 @@ public: btAssert(constraints.size() > 0); if (constraints.size() == 1) { - x[i] -= x[i].dot(constraints[0].m_direction) * constraints[0].m_direction; - btVector3 diff = constraints[0].m_value * constraints[0].m_direction; - x[i] += diff; + x[i] -= x[i].dot(constraints[0].m_direction[0]) * constraints[0].m_direction[0]; + for (int j = 0; j < constraints[0].m_direction.size(); ++j) + x[i] += constraints[0].m_value[j] * constraints[0].m_direction[j]; if (friction.m_direction.norm() > SIMD_EPSILON) { - x[i] -= x[i].dot(friction.m_direction) * friction.m_direction; + btVector3 dir = friction.m_direction.normalized(); + x[i] -= x[i].dot(dir) * dir; x[i] += friction.m_dv; } } else if (constraints.size() == 2) { - btVector3 free_dir = btCross(constraints[0].m_direction, constraints[1].m_direction); - if (free_dir.norm() < SIMD_EPSILON) + btVector3 free_dir = btCross(constraints[0].m_direction[0], constraints[1].m_direction[0]); + btAssert(free_dir.norm() > SIMD_EPSILON) + free_dir.normalize(); + x[i] = x[i].dot(free_dir) * free_dir; + for (int j = 0; j < constraints.size(); ++j) { - x[i] -= x[i].dot(constraints[0].m_direction) * constraints[0].m_direction; - btVector3 diff = constraints[0].m_value * constraints[0].m_direction + constraints[1].m_value * constraints[1].m_direction; - x[i] += diff; - } - else - { - free_dir.normalize(); - x[i] = x[i].dot(free_dir) * free_dir + constraints[0].m_direction * constraints[0].m_value + constraints[1].m_direction * constraints[1].m_value; + for (int k = 0; k < constraints[j].m_direction.size(); ++k) + { + x[i] += constraints[j].m_value[k] * constraints[j].m_direction[k]; + } } } else - x[i] = constraints[0].m_value * constraints[0].m_direction + constraints[1].m_value * constraints[1].m_direction + constraints[2].m_value * constraints[2].m_direction; + { + x[i].setZero(); + for (int j = 0; j < constraints.size(); ++j) + { + for (int k = 0; k < constraints[j].m_direction.size(); ++k) + { + x[i] += constraints[j].m_value[k] * constraints[j].m_direction[k]; + } + } + } } } From 2fc376e8f58fbf983b79c73da8ea2fd86cc9a170 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 16 Jul 2019 15:28:33 -0700 Subject: [PATCH 016/389] bug fix in friction; accumulate friction impulses in cg; forbid switching from static to dynamic friction --- .../btBackwardEulerObjective.cpp | 18 +--- src/BulletSoftBody/btCGProjection.h | 28 ++++-- src/BulletSoftBody/btConjugateGradient.h | 2 - src/BulletSoftBody/btContactProjection.cpp | 89 +++++++++++++++---- src/BulletSoftBody/btContactProjection.h | 43 +++++++-- 5 files changed, 124 insertions(+), 56 deletions(-) diff --git a/src/BulletSoftBody/btBackwardEulerObjective.cpp b/src/BulletSoftBody/btBackwardEulerObjective.cpp index 12c7a7add..e8c4c3edc 100644 --- a/src/BulletSoftBody/btBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btBackwardEulerObjective.cpp @@ -8,7 +8,7 @@ #include "btBackwardEulerObjective.h" btBackwardEulerObjective::btBackwardEulerObjective(btAlignedObjectArray& softBodies, const TVStack& backup_v) -: cg(50) +: cg(20) , m_softBodies(softBodies) , projection(m_softBodies, m_dt) , m_backupVelocity(backup_v) @@ -79,20 +79,4 @@ void btBackwardEulerObjective::updateVelocity(const TVStack& dv) it.first->m_v = m_backupVelocity[i] + dv[i]; } } - -// for (int i = 0; i < m_softBodies.size(); ++i) -// { -// int counter = 0; -// for (int i = 0; i < m_softBodies.size(); ++i) -// { -// btSoftBody* psb = m_softBodies[i]; -// for (int j = 0; j < psb->m_nodes.size(); ++j) -// { -// // only the velocity of the constrained nodes needs to be updated during CG solve -// if (projection.m_constraints[&(psb->m_nodes[j])].size() > 0) -// psb->m_nodes[j].m_v = m_backupVelocity[counter] + dv[counter]; -// ++counter; -// } -// } -// } diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index 91621e49b..b0f798dad 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -39,17 +39,27 @@ struct Constraint struct Friction { - bool m_static; - btScalar m_value; - btVector3 m_direction; + btAlignedObjectArray m_static; + btAlignedObjectArray m_value; + btAlignedObjectArray m_direction; - bool m_static_prev; - btScalar m_value_prev; - btVector3 m_direction_prev; + btAlignedObjectArray m_static_prev; + btAlignedObjectArray m_value_prev; + btAlignedObjectArray m_direction_prev; + + btAlignedObjectArray m_accumulated_impulse; Friction() { - m_direction_prev.setZero(); - m_direction.setZero(); + m_static.push_back(false); + m_static_prev.push_back(false); + + m_direction.push_back(btVector3(0,0,0)); + m_direction_prev.push_back(btVector3(0,0,0)); + + m_value.push_back(0); + m_value_prev.push_back(0); + + m_accumulated_impulse.push_back(btVector3(0,0,0)); } }; @@ -65,7 +75,7 @@ public: std::unordered_map m_indices; const btScalar& m_dt; std::unordered_map > m_constraints; - std::unordered_map m_frictions; + std::unordered_map > m_frictions; btCGProjection(btAlignedObjectArray& softBodies, const btScalar& dt) : m_softBodies(softBodies) diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h index 0a88e6b94..a2b69f48d 100644 --- a/src/BulletSoftBody/btConjugateGradient.h +++ b/src/BulletSoftBody/btConjugateGradient.h @@ -63,11 +63,9 @@ public: // r -= alpha * temp; multAndAddTo(alpha, p, x); multAndAddTo(-alpha, temp, r); - // zero out the dofs of r A.project(r,x); A.enforceConstraint(x); - r_norm = std::sqrt(squaredNorm(r)); if (r_norm < tolerance) { diff --git a/src/BulletSoftBody/btContactProjection.cpp b/src/BulletSoftBody/btContactProjection.cpp index 9388ac7e4..e356da264 100644 --- a/src/BulletSoftBody/btContactProjection.cpp +++ b/src/BulletSoftBody/btContactProjection.cpp @@ -17,11 +17,12 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit // loop through constraints to set constrained values for (auto& it : m_constraints) { - Friction& friction = m_frictions[it.first]; + btAlignedObjectArray& frictions = m_frictions[it.first]; btAlignedObjectArray& constraints = it.second; for (int i = 0; i < constraints.size(); ++i) { Constraint& constraint = constraints[i]; + Friction& friction = frictions[i]; for (int j = 0; j < constraint.m_contact.size(); ++j) { if (constraint.m_contact[j] == nullptr) @@ -75,36 +76,64 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit const btVector3 impulse_normal = c->m_c0 *(cti.m_normal * dn); btVector3 impulse_tangent = impulse - impulse_normal; - if (dn < 0 && impulse_tangent.norm() > SIMD_EPSILON) - { - btScalar impulse_tangent_magnitude = std::min(impulse_normal.norm()*c->m_c3*1000, impulse_tangent.norm()); - -// impulse_tangent_magnitude = 0; - - const btVector3 tangent_dir = impulse_tangent.normalized(); - impulse_tangent = impulse_tangent_magnitude * tangent_dir; - friction.m_direction = impulse_tangent; - friction.m_dv = -impulse_tangent * c->m_c2/m_dt + (c->m_node->m_v - backupVelocity[m_indices[c->m_node]]); - } - impulse = impulse_normal + impulse_tangent; + + // accumulated impulse on the rb in this and all prev cg iterations + friction.m_accumulated_impulse[j] += impulse; + btScalar accumulated_normal = friction.m_accumulated_impulse[j].dot(cti.m_normal); + btVector3 accumulated_tangent = friction.m_accumulated_impulse[j] - accumulated_normal * cti.m_normal; - // if (1) // in the same CG solve, the set of constraits doesn't change - if (dn <= SIMD_EPSILON) + // start friction handling + // copy old data + friction.m_direction_prev[j] = friction.m_direction[j]; + friction.m_value_prev[j] = friction.m_value[j]; + friction.m_static_prev[j] = friction.m_static[j]; + if (accumulated_normal < 0 && accumulated_tangent.norm() > SIMD_EPSILON) + { + // do not allow switching from static friction to dynamic friction + // it causes cg to explode + if (-accumulated_normal*c->m_c3 < accumulated_tangent.norm() && friction.m_static_prev[j] == false) + { + friction.m_static[j] = false; + friction.m_value[j] = -accumulated_normal*c->m_c3; + } + else + { + friction.m_static[j] = true; + friction.m_value[j] = accumulated_tangent.norm(); + } + + const btVector3 tangent_dir = accumulated_tangent.normalized(); + impulse_tangent = friction.m_value[j] * tangent_dir; + friction.m_direction[j] = -tangent_dir; + } + else + { + friction.m_static[j] = false; + friction.m_value[j] = 0; + impulse_tangent.setZero(); + } + + + if (1) // in the same CG solve, the set of constraits doesn't change +// if (dn <= SIMD_EPSILON) { // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient - // TODO: only contact is considered here, add friction later - // dv = new_impulse + accumulated velocity change in previous CG iterations // so we have the invariant node->m_v = backupVelocity + dv; btVector3 dv = -impulse * c->m_c2/m_dt + c->m_node->m_v - backupVelocity[m_indices[c->m_node]]; btScalar dvn = dv.dot(cti.m_normal); constraint.m_value[j] = dvn; + // the incremental impulse: + // in the normal direction it's the normal component of "impulse" + // in the tangent direction it's the difference between the frictional impulse in the iteration and the previous iteration + impulse = impulse_normal + (friction.m_value_prev[j] * friction.m_direction_prev[j]) - (friction.m_value[j] * friction.m_direction[j]); + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) { if (rigidCol) - rigidCol->applyImpulse(impulse_normal, c->m_c1); + rigidCol->applyImpulse(impulse, c->m_c1); } else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) { @@ -137,6 +166,13 @@ void btContactProjection::setConstraintDirections() c.push_back(Constraint(btVector3(0,1,0))); c.push_back(Constraint(btVector3(0,0,1))); m_constraints[&(psb->m_nodes[j])] = c; + + btAlignedObjectArray f; + f.push_back(Friction()); + f.push_back(Friction()); + f.push_back(Friction()); + m_frictions[&(psb->m_nodes[j])] = f; + // no friction constraints for dirichlet } } } @@ -202,7 +238,9 @@ void btContactProjection::setConstraintDirections() btAlignedObjectArray constraints; constraints.push_back(Constraint(c)); m_constraints[c.m_node] = constraints; - m_frictions[c.m_node] = Friction(); + btAlignedObjectArray frictions; + frictions.push_back(Friction()); + m_frictions[c.m_node] = frictions; } else { @@ -210,6 +248,7 @@ void btContactProjection::setConstraintDirections() const btScalar angle_epsilon = 0.015192247; // less than 10 degree bool merged = false; btAlignedObjectArray& constraints = m_constraints[c.m_node]; + btAlignedObjectArray& frictions = m_frictions[c.m_node]; for (int j = 0; j < constraints.size(); ++j) { const btAlignedObjectArray& dirs = constraints[j].m_direction; @@ -219,6 +258,15 @@ void btContactProjection::setConstraintDirections() constraints[j].m_contact.push_back(&c); constraints[j].m_direction.push_back(cti.m_normal); constraints[j].m_value.push_back(0); + + // push in an empty friction + frictions[j].m_direction.push_back(btVector3(0,0,0)); + frictions[j].m_direction_prev.push_back(btVector3(0,0,0)); + frictions[j].m_value.push_back(0); + frictions[j].m_value_prev.push_back(0); + frictions[j].m_static.push_back(false); + frictions[j].m_static_prev.push_back(false); + frictions[j].m_accumulated_impulse.push_back(btVector3(0,0,0)); merged = true; break; } @@ -226,7 +274,10 @@ void btContactProjection::setConstraintDirections() const int dim = 3; // hard coded no more than 3 constraint directions if (!merged && constraints.size() < dim) + { constraints.push_back(Constraint(c)); + frictions.push_back(Friction()); + } } } } diff --git a/src/BulletSoftBody/btContactProjection.h b/src/BulletSoftBody/btContactProjection.h index 1e5c52a60..b52bb2d72 100644 --- a/src/BulletSoftBody/btContactProjection.h +++ b/src/BulletSoftBody/btContactProjection.h @@ -34,16 +34,31 @@ public: { const btAlignedObjectArray& constraints = it.second; size_t i = m_indices[it.first]; - const Friction& friction = m_frictions[it.first]; + btAlignedObjectArray& frictions = m_frictions[it.first]; btAssert(constraints.size() <= dim); btAssert(constraints.size() > 0); if (constraints.size() == 1) { x[i] -= x[i].dot(constraints[0].m_direction[0]) * constraints[0].m_direction[0]; - if (friction.m_direction.norm() > SIMD_EPSILON) + Friction& friction= frictions[0]; + + bool has_static_constraint = false; + for (int j = 0; j < friction.m_static.size(); ++j) + has_static_constraint = has_static_constraint || friction.m_static[j]; + + for (int j = 0; j < friction.m_direction.size(); ++j) { - btVector3 dir = friction.m_direction.normalized(); - x[i] -= x[i].dot(dir) * dir; + // clear the old friction force + if (friction.m_static_prev[j] == false) + { + x[i] -= friction.m_direction_prev[j] * friction.m_value_prev[j]; + } + + // only add to the rhs if there is no static friction constraint on the node + if (friction.m_static[j] == false && !has_static_constraint) + { + x[i] += friction.m_direction[j] * friction.m_value[j]; + } } } else if (constraints.size() == 2) @@ -67,7 +82,7 @@ public: { const btAlignedObjectArray& constraints = it.second; size_t i = m_indices[it.first]; - const Friction& friction = m_frictions[it.first]; + const btAlignedObjectArray& frictions = m_frictions[it.first]; btAssert(constraints.size() <= dim); btAssert(constraints.size() > 0); if (constraints.size() == 1) @@ -75,15 +90,25 @@ public: x[i] -= x[i].dot(constraints[0].m_direction[0]) * constraints[0].m_direction[0]; for (int j = 0; j < constraints[0].m_direction.size(); ++j) x[i] += constraints[0].m_value[j] * constraints[0].m_direction[j]; - if (friction.m_direction.norm() > SIMD_EPSILON) + + const Friction& friction= frictions[0]; + for (int j = 0; j < friction.m_direction.size(); ++j) { - btVector3 dir = friction.m_direction.normalized(); - x[i] -= x[i].dot(dir) * dir; - x[i] += friction.m_dv; + // clear the old constraint + if (friction.m_static_prev[j] == true) + { + x[i] -= friction.m_direction_prev[j] * friction.m_value_prev[j]; + } + // add the new constraint + if (friction.m_static[j] == true) + { + x[i] += friction.m_direction[j] * friction.m_value[j]; + } } } else if (constraints.size() == 2) { + // TODO: friction btVector3 free_dir = btCross(constraints[0].m_direction[0], constraints[1].m_direction[0]); btAssert(free_dir.norm() > SIMD_EPSILON) free_dir.normalize(); From 7846dd38dd5172d3b2876a95fa4a515755195668 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 17 Jul 2019 15:58:55 -0700 Subject: [PATCH 017/389] switch explicit elastic force --- .../btBackwardEulerObjective.cpp | 16 +++++- src/BulletSoftBody/btBackwardEulerObjective.h | 36 +++++++----- src/BulletSoftBody/btCGProjection.h | 16 ++++-- src/BulletSoftBody/btContactProjection.cpp | 34 +++++++----- src/BulletSoftBody/btContactProjection.h | 53 ++++++++++++++++-- src/BulletSoftBody/btDeformableBodySolver.cpp | 11 +++- src/BulletSoftBody/btDeformableBodySolver.h | 14 ----- .../btDeformableRigidDynamicsWorld.cpp | 7 ++- .../btDeformableRigidDynamicsWorld.h | 9 ++- src/BulletSoftBody/btLagrangianForce.h | 4 +- src/BulletSoftBody/btMassSpring.h | 55 ++++++++++++++----- src/BulletSoftBody/btSoftBody.cpp | 12 +++- src/BulletSoftBody/btSoftBody.h | 3 +- 13 files changed, 193 insertions(+), 77 deletions(-) diff --git a/src/BulletSoftBody/btBackwardEulerObjective.cpp b/src/BulletSoftBody/btBackwardEulerObjective.cpp index e8c4c3edc..3f27df5a9 100644 --- a/src/BulletSoftBody/btBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btBackwardEulerObjective.cpp @@ -57,9 +57,6 @@ void btBackwardEulerObjective::multiply(const TVStack& x, TVStack& b) const { // add damping matrix m_lf[i]->addScaledDampingForceDifferential(-m_dt, x, b); - - // add stiffness matrix when fully implicity - m_lf[i]->addScaledElasticForceDifferential(-m_dt*m_dt, x, b); } } @@ -80,3 +77,16 @@ void btBackwardEulerObjective::updateVelocity(const TVStack& dv) } } +void btBackwardEulerObjective::initialGuess(TVStack& dv, const TVStack& residual) +{ + size_t counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + dv[counter] = psb->m_nodes[j].m_im * residual[counter] * 1; + ++counter; + } + } +} diff --git a/src/BulletSoftBody/btBackwardEulerObjective.h b/src/BulletSoftBody/btBackwardEulerObjective.h index 9b94341b7..e9642f6ae 100644 --- a/src/BulletSoftBody/btBackwardEulerObjective.h +++ b/src/BulletSoftBody/btBackwardEulerObjective.h @@ -76,15 +76,6 @@ class btBackwardEulerObjective { public: using TVStack = btAlignedObjectArray; -// struct DefaultPreconditioner -// { -// void operator()(const TVStack& x, TVStack& b) -// { -// btAssert(b.size() == x.size()); -// for (int i = 0; i < b.size(); ++i) -// b[i] = x[i]; -// } -// }; btScalar m_dt; btConjugateGradient cg; btDeformableRigidDynamicsWorld* m_world; @@ -102,11 +93,29 @@ public: void computeResidual(btScalar dt, TVStack& residual) const { - // gravity is treated explicitly in predictUnconstraintMotion - // add force + // add implicit force for (int i = 0; i < m_lf.size(); ++i) { - m_lf[i]->addScaledForce(dt, residual); + m_lf[i]->addScaledImplicitForce(dt, residual); + } + } + + void applyExplicitForce(TVStack& force) + { + for (int i = 0; i < m_lf.size(); ++i) + m_lf[i]->addScaledExplicitForce(m_dt, force); + + size_t counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + btScalar one_over_mass = (psb->m_nodes[j].m_im == 0) ? 0 : psb->m_nodes[j].m_im; + psb->m_nodes[j].m_v += one_over_mass * force[counter]; + force[counter].setZero(); + counter++; + } } } @@ -117,7 +126,7 @@ public: { norm_squared += residual[i].length2(); } - return std::sqrt(norm_squared); + return std::sqrt(norm_squared+SIMD_EPSILON); } void computeStep(TVStack& dv, const TVStack& residual, const btScalar& dt); @@ -128,6 +137,7 @@ public: { projection.update(dv, m_backupVelocity); } + void initialGuess(TVStack& dv, const TVStack& residual); void reinitialize(bool nodeUpdated); diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index b0f798dad..a00fe384b 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -40,13 +40,17 @@ struct Constraint struct Friction { btAlignedObjectArray m_static; - btAlignedObjectArray m_value; + btAlignedObjectArray m_impulse; + btAlignedObjectArray m_dv; btAlignedObjectArray m_direction; btAlignedObjectArray m_static_prev; - btAlignedObjectArray m_value_prev; + btAlignedObjectArray m_impulse_prev; + btAlignedObjectArray m_dv_prev; btAlignedObjectArray m_direction_prev; + btAlignedObjectArray m_released; + btAlignedObjectArray m_accumulated_impulse; Friction() { @@ -56,10 +60,14 @@ struct Friction m_direction.push_back(btVector3(0,0,0)); m_direction_prev.push_back(btVector3(0,0,0)); - m_value.push_back(0); - m_value_prev.push_back(0); + m_impulse.push_back(0); + m_impulse_prev.push_back(0); + + m_dv.push_back(0); + m_dv_prev.push_back(0); m_accumulated_impulse.push_back(btVector3(0,0,0)); + m_released.push_back(false); } }; diff --git a/src/BulletSoftBody/btContactProjection.cpp b/src/BulletSoftBody/btContactProjection.cpp index e356da264..3250e010b 100644 --- a/src/BulletSoftBody/btContactProjection.cpp +++ b/src/BulletSoftBody/btContactProjection.cpp @@ -85,35 +85,41 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit // start friction handling // copy old data friction.m_direction_prev[j] = friction.m_direction[j]; - friction.m_value_prev[j] = friction.m_value[j]; + friction.m_impulse_prev[j] = friction.m_impulse[j]; + friction.m_dv_prev[j] = friction.m_dv[j]; friction.m_static_prev[j] = friction.m_static[j]; if (accumulated_normal < 0 && accumulated_tangent.norm() > SIMD_EPSILON) { + + btScalar compare1 = -accumulated_normal*c->m_c3; + btScalar compare2 = accumulated_tangent.norm(); // do not allow switching from static friction to dynamic friction // it causes cg to explode - if (-accumulated_normal*c->m_c3 < accumulated_tangent.norm() && friction.m_static_prev[j] == false) + if (-accumulated_normal*c->m_c3 < accumulated_tangent.norm() && friction.m_static_prev[j] == false && friction.m_released[j] == false) { friction.m_static[j] = false; - friction.m_value[j] = -accumulated_normal*c->m_c3; + friction.m_impulse[j] = -accumulated_normal*c->m_c3; + friction.m_dv[j] = -accumulated_normal*c->m_c3 *c->m_c2/m_dt ; } else { friction.m_static[j] = true; - friction.m_value[j] = accumulated_tangent.norm(); + friction.m_impulse[j] = accumulated_tangent.norm(); + friction.m_dv[j] = accumulated_tangent.norm() * c->m_c2/m_dt; } const btVector3 tangent_dir = accumulated_tangent.normalized(); - impulse_tangent = friction.m_value[j] * tangent_dir; friction.m_direction[j] = -tangent_dir; } else { + friction.m_released[j] = true; friction.m_static[j] = false; - friction.m_value[j] = 0; - impulse_tangent.setZero(); + friction.m_impulse[j] = 0; + friction.m_dv[j] = 0; } - + friction.m_accumulated_impulse[j] = accumulated_normal * cti.m_normal - friction.m_impulse[j] * friction.m_direction[j]; if (1) // in the same CG solve, the set of constraits doesn't change // if (dn <= SIMD_EPSILON) { @@ -128,8 +134,8 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit // the incremental impulse: // in the normal direction it's the normal component of "impulse" // in the tangent direction it's the difference between the frictional impulse in the iteration and the previous iteration - impulse = impulse_normal + (friction.m_value_prev[j] * friction.m_direction_prev[j]) - (friction.m_value[j] * friction.m_direction[j]); - + impulse = impulse_normal + (friction.m_impulse_prev[j] * friction.m_direction_prev[j]) - (friction.m_impulse[j] * friction.m_direction[j]); +// impulse = impulse_normal; if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) { if (rigidCol) @@ -172,7 +178,6 @@ void btContactProjection::setConstraintDirections() f.push_back(Friction()); f.push_back(Friction()); m_frictions[&(psb->m_nodes[j])] = f; - // no friction constraints for dirichlet } } } @@ -262,11 +267,14 @@ void btContactProjection::setConstraintDirections() // push in an empty friction frictions[j].m_direction.push_back(btVector3(0,0,0)); frictions[j].m_direction_prev.push_back(btVector3(0,0,0)); - frictions[j].m_value.push_back(0); - frictions[j].m_value_prev.push_back(0); + frictions[j].m_impulse.push_back(0); + frictions[j].m_impulse_prev.push_back(0); + frictions[j].m_dv.push_back(0); + frictions[j].m_dv_prev.push_back(0); frictions[j].m_static.push_back(false); frictions[j].m_static_prev.push_back(false); frictions[j].m_accumulated_impulse.push_back(btVector3(0,0,0)); + frictions[j].m_released.push_back(false); merged = true; break; } diff --git a/src/BulletSoftBody/btContactProjection.h b/src/BulletSoftBody/btContactProjection.h index b52bb2d72..969745d93 100644 --- a/src/BulletSoftBody/btContactProjection.h +++ b/src/BulletSoftBody/btContactProjection.h @@ -51,13 +51,13 @@ public: // clear the old friction force if (friction.m_static_prev[j] == false) { - x[i] -= friction.m_direction_prev[j] * friction.m_value_prev[j]; + x[i] -= friction.m_direction_prev[j] * friction.m_impulse_prev[j]; } // only add to the rhs if there is no static friction constraint on the node if (friction.m_static[j] == false && !has_static_constraint) { - x[i] += friction.m_direction[j] * friction.m_value[j]; + x[i] += friction.m_direction[j] * friction.m_impulse[j]; } } } @@ -68,6 +68,33 @@ public: btAssert(free_dir.norm() > SIMD_EPSILON) free_dir.normalize(); x[i] = x[i].dot(free_dir) * free_dir; + + bool has_static_constraint = false; + for (int f = 0; f < 2; ++f) + { + Friction& friction= frictions[f]; + for (int j = 0; j < friction.m_static.size(); ++j) + has_static_constraint = has_static_constraint || friction.m_static[j]; + } + + for (int f = 0; f < 2; ++f) + { + Friction& friction= frictions[f]; + for (int j = 0; j < friction.m_direction.size(); ++j) + { + // clear the old friction force + if (friction.m_static_prev[j] == false) + { + x[i] -= friction.m_direction_prev[j] * friction.m_impulse_prev[j]; + } + + // only add to the rhs if there is no static friction constraint on the node + if (friction.m_static[j] == false && !has_static_constraint) + { + x[i] += friction.m_direction[j] * friction.m_impulse[j]; + } + } + } } else x[i].setZero(); @@ -97,12 +124,12 @@ public: // clear the old constraint if (friction.m_static_prev[j] == true) { - x[i] -= friction.m_direction_prev[j] * friction.m_value_prev[j]; + x[i] -= friction.m_direction_prev[j] * friction.m_dv_prev[j]; } // add the new constraint if (friction.m_static[j] == true) { - x[i] += friction.m_direction[j] * friction.m_value[j]; + x[i] += friction.m_direction[j] * friction.m_dv[j]; } } } @@ -120,6 +147,24 @@ public: x[i] += constraints[j].m_value[k] * constraints[j].m_direction[k]; } } + + for (int f = 0; f < 2; ++f) + { + const Friction& friction= frictions[f]; + for (int j = 0; j < friction.m_direction.size(); ++j) + { + // clear the old constraint + if (friction.m_static_prev[j] == true) + { + x[i] -= friction.m_direction_prev[j] * friction.m_dv_prev[j]; + } + // add the new constraint + if (friction.m_static[j] == true) + { + x[i] += friction.m_direction[j] * friction.m_dv[j]; + } + } + } } else { diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index e9bcf226a..a8e1e5cd5 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -118,7 +118,15 @@ void btDeformableBodySolver::solveConstraints(float solverdt) m_dt = solverdt; bool nodeUpdated = updateNodes(); reinitialize(nodeUpdated); + + // apply explicit force + m_objective->applyExplicitForce(m_residual); + + // remove contact constraints with separating velocity + setConstraintDirections(); + backupVelocity(); + for (int i = 0; i < m_solveIterations; ++i) { m_objective->computeResidual(solverdt, m_residual); @@ -143,9 +151,6 @@ void btDeformableBodySolver::reinitialize(bool nodeUpdated) m_residual[i].setZero(); } m_objective->reinitialize(nodeUpdated); - - // remove contact constraints with separating velocity - setConstraintDirections(); } void btDeformableBodySolver::setConstraintDirections() diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index 3fac0743d..17f088c72 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -74,20 +74,6 @@ public: void postStabilize(); - void moveTempVelocity(btScalar dt, const TVStack& f) - { - size_t counter = 0; - for (int i = 0; i < m_softBodySet.size(); ++i) - { - btSoftBody* psb = m_softBodySet[i]; - for (int j = 0; j < psb->m_nodes.size(); ++j) - { - auto& node = psb->m_nodes[j]; - node.m_v += node.m_im * dt * f[counter++]; - } - } - } - void reinitialize(bool nodeUpdated); void setConstraintDirections(); diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp index 5fdf01a18..173f71206 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp @@ -12,6 +12,7 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) { + m_internalTime += timeStep; // Let the solver grab the soft bodies and if necessary optimize for it m_deformableBodySolver->optimize(m_softBodies); @@ -54,7 +55,6 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS // gravity is applied in stepSimulation and then cleared here and then applied here and then cleared here again // so that 1) gravity is applied to velocity before constraint solve and 2) gravity is applied in each substep // when there are multiple substeps - clearForces(); clearMultiBodyForces(); btMultiBodyDynamicsWorld::applyGravity(); @@ -69,9 +69,14 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS clearForces(); clearMultiBodyForces(); + + for (int i = 0; i < before_solver_callbacks.size(); ++i) + before_solver_callbacks[i](m_internalTime, this); ///solve deformable bodies constraints solveDeformableBodiesConstraints(timeStep); + + //integrate transforms btMultiBodyDynamicsWorld::integrateTransforms(timeStep); diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h index ca1fff885..5bbebeda3 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h @@ -21,7 +21,7 @@ #include "btMassSpring.h" #include "btDeformableBodySolver.h" #include "btSoftBodyHelpers.h" - +#include typedef btAlignedObjectArray btSoftBodyArray; class btDeformableBodySolver; @@ -40,6 +40,7 @@ class btDeformableRigidDynamicsWorld : public btMultiBodyDynamicsWorld bool m_drawClusterTree; btSoftBodyWorldInfo m_sbi; bool m_ownsSolver; + btScalar m_internalTime; protected: virtual void internalSingleStepSimulation(btScalar timeStep); @@ -67,8 +68,9 @@ public: m_sbi.m_gravity.setValue(0, -10, 0); m_sbi.m_sparsesdf.Initialize(); + m_internalTime = 0.0; } - + btAlignedObjectArray > before_solver_callbacks; virtual ~btDeformableRigidDynamicsWorld() { } @@ -89,9 +91,6 @@ public: } virtual void predictUnconstraintMotion(btScalar timeStep); - // virtual void internalStepSingleStepSimulation(btScalar timeStep); - - // virtual void solveDeformableBodiesConstraints(btScalar timeStep); virtual void addSoftBody(btSoftBody* body, int collisionFilterGroup = btBroadphaseProxy::DefaultFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter); diff --git a/src/BulletSoftBody/btLagrangianForce.h b/src/BulletSoftBody/btLagrangianForce.h index 40e63207e..b95a30ce9 100644 --- a/src/BulletSoftBody/btLagrangianForce.h +++ b/src/BulletSoftBody/btLagrangianForce.h @@ -25,12 +25,14 @@ public: virtual ~btLagrangianForce(){} - virtual void addScaledForce(btScalar scale, TVStack& force) = 0; + virtual void addScaledImplicitForce(btScalar scale, TVStack& force) = 0; virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) = 0; virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) = 0; + virtual void addScaledExplicitForce(btScalar scale, TVStack& force) = 0; + virtual void reinitialize(bool nodeUpdated) { if (nodeUpdated) diff --git a/src/BulletSoftBody/btMassSpring.h b/src/BulletSoftBody/btMassSpring.h index 9fd3c405a..78cdcf7e6 100644 --- a/src/BulletSoftBody/btMassSpring.h +++ b/src/BulletSoftBody/btMassSpring.h @@ -19,7 +19,17 @@ public: } - virtual void addScaledForce(btScalar scale, TVStack& force) + virtual void addScaledImplicitForce(btScalar scale, TVStack& force) + { + addScaledDampingForce(scale, force); + } + + virtual void addScaledExplicitForce(btScalar scale, TVStack& force) + { + addScaledElasticForce(scale, force); + } + + virtual void addScaledDampingForce(btScalar scale, TVStack& force) { int numNodes = getNumNodes(); btAssert(numNodes == force.size()) @@ -31,7 +41,32 @@ public: const auto& link = psb->m_links[j]; const auto node1 = link.m_n[0]; const auto node2 = link.m_n[1]; - btScalar kLST = link.Feature::m_material->m_kLST; // this is probly wrong, TODO: figure out how to get stiffness + size_t id1 = m_indices[node1]; + size_t id2 = m_indices[node2]; + + // damping force + btVector3 v_diff = (node2->m_v - node1->m_v); + btScalar k_damp = psb->m_dampingCoefficient; + btVector3 scaled_force = scale * v_diff * k_damp; + force[id1] += scaled_force; + force[id2] -= scaled_force; + } + } + } + + virtual void addScaledElasticForce(btScalar scale, TVStack& force) + { + int numNodes = getNumNodes(); + btAssert(numNodes == force.size()) + for (int i = 0; i < m_softBodies.size(); ++i) + { + const btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_links.size(); ++j) + { + const auto& link = psb->m_links[j]; + const auto node1 = link.m_n[0]; + const auto node2 = link.m_n[1]; + btScalar kLST = link.Feature::m_material->m_kLST; btScalar r = link.m_rl; size_t id1 = m_indices[node1]; size_t id2 = m_indices[node2]; @@ -39,21 +74,14 @@ public: // elastic force // fully implicit - btVector3 dir = (node2->m_x - node1->m_x); +// btVector3 dir = (node2->m_x - node1->m_x); // explicit elastic force -// btVector3 dir = (node2->m_q - node1->m_q); + btVector3 dir = (node2->m_q - node1->m_q); btVector3 dir_normalized = dir.normalized(); btVector3 scaled_force = scale * kLST * (dir - dir_normalized * r); force[id1] += scaled_force; force[id2] -= scaled_force; - - // damping force - btVector3 v_diff = (node2->m_v - node1->m_v); - btScalar k_damp = psb->m_dampingCoefficient; // TODO: FIX THIS HACK and set k_damp properly - scaled_force = scale * v_diff * k_damp; - force[id1] += scaled_force; - force[id2] -= scaled_force; } } } @@ -64,7 +92,7 @@ public: btAssert(numNodes == dx.size()); btAssert(numNodes == df.size()); - // implicit elastic force + // implicit elastic force differential for (int i = 0; i < m_softBodies.size(); ++i) { const btSoftBody* psb = m_softBodies[i]; @@ -83,9 +111,10 @@ public: } } + virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) { - // implicity damping force + // implicit damping force differential for (int i = 0; i < m_softBodies.size(); ++i) { const btSoftBody* psb = m_softBodies[i]; diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 066072426..974246448 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -1782,7 +1782,7 @@ void btSoftBody::predictMotion(btScalar dt) m_sst.radmrg = getCollisionShape()->getMargin(); m_sst.updmrg = m_sst.radmrg * (btScalar)0.25; /* Forces */ - addVelocity(m_worldInfo->m_gravity * m_sst.sdt); + addVelocity(m_worldInfo->m_gravity * m_sst.sdt); applyForces(); /* Integrate */ for (i = 0, ni = m_nodes.size(); i < ni; ++i) @@ -1805,7 +1805,7 @@ void btSoftBody::predictMotion(btScalar dt) } } } - n.m_v += deltaV; + n.m_v += deltaV; n.m_x += n.m_v * m_sst.sdt; n.m_f = btVector3(0, 0, 0); } @@ -2775,6 +2775,14 @@ void btSoftBody::dampClusters() } } +void btSoftBody::setSpringStiffness(btScalar k) +{ + for (int i = 0; i < m_links.size(); ++i) + { + m_links[i].Feature::m_material->m_kLST = k; + } +} + // void btSoftBody::Joint::Prepare(btScalar dt, int) { diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index 01cde89e3..e8fd3da39 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -1011,6 +1011,7 @@ public: void solveClusters(btScalar sor); void applyClusters(bool drift); void dampClusters(); + void setSpringStiffness(btScalar k); void applyForces(); static void PSolve_Anchors(btSoftBody* psb, btScalar kst, btScalar ti); static void PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti); @@ -1021,7 +1022,7 @@ public: static vsolver_t getSolver(eVSolver::_ solver); virtual int calculateSerializeBufferSize() const; - + ///fills the dataBuffer and returns the struct name (and 0 on failure) virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const; From 3430192db798c773036d247a460da520d0c26762 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 18 Jul 2019 09:16:01 -0700 Subject: [PATCH 018/389] reformulate friction --- .../btBackwardEulerObjective.cpp | 2 +- src/BulletSoftBody/btCGProjection.h | 10 ++-- src/BulletSoftBody/btContactProjection.cpp | 51 ++++++++++--------- src/BulletSoftBody/btContactProjection.h | 4 +- 4 files changed, 36 insertions(+), 31 deletions(-) diff --git a/src/BulletSoftBody/btBackwardEulerObjective.cpp b/src/BulletSoftBody/btBackwardEulerObjective.cpp index 3f27df5a9..9174107ba 100644 --- a/src/BulletSoftBody/btBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btBackwardEulerObjective.cpp @@ -8,7 +8,7 @@ #include "btBackwardEulerObjective.h" btBackwardEulerObjective::btBackwardEulerObjective(btAlignedObjectArray& softBodies, const TVStack& backup_v) -: cg(20) +: cg(10) , m_softBodies(softBodies) , projection(m_softBodies, m_dt) , m_backupVelocity(backup_v) diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index a00fe384b..46979c8f0 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -43,22 +43,23 @@ struct Friction btAlignedObjectArray m_impulse; btAlignedObjectArray m_dv; btAlignedObjectArray m_direction; + btAlignedObjectArray m_direction_prev; btAlignedObjectArray m_static_prev; btAlignedObjectArray m_impulse_prev; btAlignedObjectArray m_dv_prev; - btAlignedObjectArray m_direction_prev; btAlignedObjectArray m_released; - btAlignedObjectArray m_accumulated_impulse; + btAlignedObjectArray m_accumulated_normal_impulse; + btAlignedObjectArray m_accumulated_tangent_impulse; Friction() { m_static.push_back(false); m_static_prev.push_back(false); - m_direction.push_back(btVector3(0,0,0)); m_direction_prev.push_back(btVector3(0,0,0)); + m_direction.push_back(btVector3(0,0,0)); m_impulse.push_back(0); m_impulse_prev.push_back(0); @@ -66,7 +67,8 @@ struct Friction m_dv.push_back(0); m_dv_prev.push_back(0); - m_accumulated_impulse.push_back(btVector3(0,0,0)); + m_accumulated_normal_impulse.push_back(0); + m_accumulated_tangent_impulse.push_back(btVector3(0,0,0)); m_released.push_back(false); } }; diff --git a/src/BulletSoftBody/btContactProjection.cpp b/src/BulletSoftBody/btContactProjection.cpp index 3250e010b..041792d08 100644 --- a/src/BulletSoftBody/btContactProjection.cpp +++ b/src/BulletSoftBody/btContactProjection.cpp @@ -11,7 +11,7 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocity) { ///solve rigid body constraints - m_world->getSolverInfo().m_numIterations = 5; + m_world->getSolverInfo().m_numIterations = 10; m_world->btMultiBodyDynamicsWorld::solveConstraints(m_world->getSolverInfo()); // loop through constraints to set constrained values @@ -73,43 +73,44 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit const btVector3 vr = vb - va; const btScalar dn = btDot(vr, cti.m_normal); btVector3 impulse = c->m_c0 * vr; - const btVector3 impulse_normal = c->m_c0 *(cti.m_normal * dn); - btVector3 impulse_tangent = impulse - impulse_normal; - + const btVector3 impulse_normal = c->m_c0 * (cti.m_normal * dn); + const btVector3 impulse_tangent = impulse - impulse_normal; + btScalar local_tangent_norm = impulse_tangent.norm(); + btVector3 local_tangent_dir = btVector3(0,0,0); + if (local_tangent_norm > SIMD_EPSILON) + local_tangent_dir = impulse_tangent.normalized(); // accumulated impulse on the rb in this and all prev cg iterations - friction.m_accumulated_impulse[j] += impulse; - btScalar accumulated_normal = friction.m_accumulated_impulse[j].dot(cti.m_normal); - btVector3 accumulated_tangent = friction.m_accumulated_impulse[j] - accumulated_normal * cti.m_normal; - + friction.m_accumulated_normal_impulse[j] += impulse_normal.dot(cti.m_normal); + btScalar accumulated_normal = friction.m_accumulated_normal_impulse[j]; + btVector3 tangent = friction.m_accumulated_tangent_impulse[j] + impulse_tangent; + btScalar tangent_norm = tangent.norm(); // start friction handling // copy old data - friction.m_direction_prev[j] = friction.m_direction[j]; friction.m_impulse_prev[j] = friction.m_impulse[j]; friction.m_dv_prev[j] = friction.m_dv[j]; friction.m_static_prev[j] = friction.m_static[j]; - if (accumulated_normal < 0 && accumulated_tangent.norm() > SIMD_EPSILON) + if (accumulated_normal < 0 && tangent_norm > SIMD_EPSILON) { - + friction.m_direction[j] = -local_tangent_dir; btScalar compare1 = -accumulated_normal*c->m_c3; - btScalar compare2 = accumulated_tangent.norm(); + btScalar compare2 = tangent_norm; // do not allow switching from static friction to dynamic friction // it causes cg to explode - if (-accumulated_normal*c->m_c3 < accumulated_tangent.norm() && friction.m_static_prev[j] == false && friction.m_released[j] == false) + if (-accumulated_normal*c->m_c3 < tangent_norm && friction.m_static_prev[j] == false && friction.m_released[j] == false) { friction.m_static[j] = false; friction.m_impulse[j] = -accumulated_normal*c->m_c3; - friction.m_dv[j] = -accumulated_normal*c->m_c3 *c->m_c2/m_dt ; + friction.m_dv[j] = 0; + impulse = impulse_normal + (friction.m_impulse_prev[j] * friction.m_direction_prev[j])-(friction.m_impulse[j] * friction.m_direction[j]); } else { friction.m_static[j] = true; - friction.m_impulse[j] = accumulated_tangent.norm(); - friction.m_dv[j] = accumulated_tangent.norm() * c->m_c2/m_dt; + friction.m_impulse[j] = 0; + friction.m_dv[j] = local_tangent_norm * c->m_c2/m_dt; + impulse = impulse_normal + impulse_tangent; } - - const btVector3 tangent_dir = accumulated_tangent.normalized(); - friction.m_direction[j] = -tangent_dir; } else { @@ -117,9 +118,10 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit friction.m_static[j] = false; friction.m_impulse[j] = 0; friction.m_dv[j] = 0; + friction.m_direction[j] = btVector3(0,0,0); + impulse = impulse_normal; } - - friction.m_accumulated_impulse[j] = accumulated_normal * cti.m_normal - friction.m_impulse[j] * friction.m_direction[j]; + friction.m_accumulated_tangent_impulse[j] = -friction.m_impulse[j] * friction.m_direction[j]; if (1) // in the same CG solve, the set of constraits doesn't change // if (dn <= SIMD_EPSILON) { @@ -134,7 +136,7 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit // the incremental impulse: // in the normal direction it's the normal component of "impulse" // in the tangent direction it's the difference between the frictional impulse in the iteration and the previous iteration - impulse = impulse_normal + (friction.m_impulse_prev[j] * friction.m_direction_prev[j]) - (friction.m_impulse[j] * friction.m_direction[j]); + impulse = impulse_normal + (friction.m_impulse_prev[j] * friction.m_direction_prev[j])-(friction.m_impulse[j] * friction.m_direction[j]); // impulse = impulse_normal; if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) { @@ -145,7 +147,7 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit { if (multibodyLinkCol) { - double multiplier = 0.5; + double multiplier = 1; multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV, -impulse.length() * multiplier); } } @@ -273,7 +275,8 @@ void btContactProjection::setConstraintDirections() frictions[j].m_dv_prev.push_back(0); frictions[j].m_static.push_back(false); frictions[j].m_static_prev.push_back(false); - frictions[j].m_accumulated_impulse.push_back(btVector3(0,0,0)); + frictions[j].m_accumulated_normal_impulse.push_back(0); + frictions[j].m_accumulated_tangent_impulse.push_back(btVector3(0,0,0)); frictions[j].m_released.push_back(false); merged = true; break; diff --git a/src/BulletSoftBody/btContactProjection.h b/src/BulletSoftBody/btContactProjection.h index 969745d93..566fd9f92 100644 --- a/src/BulletSoftBody/btContactProjection.h +++ b/src/BulletSoftBody/btContactProjection.h @@ -124,7 +124,7 @@ public: // clear the old constraint if (friction.m_static_prev[j] == true) { - x[i] -= friction.m_direction_prev[j] * friction.m_dv_prev[j]; +// x[i] -= friction.m_direction_prev[j] * friction.m_dv_prev[j]; } // add the new constraint if (friction.m_static[j] == true) @@ -156,7 +156,7 @@ public: // clear the old constraint if (friction.m_static_prev[j] == true) { - x[i] -= friction.m_direction_prev[j] * friction.m_dv_prev[j]; +// x[i] -= friction.m_direction_prev[j] * friction.m_dv_prev[j]; } // add the new constraint if (friction.m_static[j] == true) From dc10336d45eeaf5d06de4bdabd7df3bc4d990d6f Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 18 Jul 2019 11:34:06 -0700 Subject: [PATCH 019/389] code clean up + check in examples --- examples/BasicDemo/BasicExample.cpp | 6 +- .../DeformableContact/DeformableContact.cpp | 412 ++++++++++++++++++ .../DeformableContact/DeformableContact.h | 20 + examples/DeformableDemo/DeformableDemo.cpp | 90 ++-- examples/ExampleBrowser/ExampleEntries.cpp | 8 +- examples/Pinch/Pinch.cpp | 297 +++++++++++++ examples/Pinch/Pinch.h | 20 + .../VolumetricDeformable.cpp | 294 +++++++++++++ .../VolumetricDeformable.h | 20 + .../btBackwardEulerObjective.cpp | 47 +- src/BulletSoftBody/btBackwardEulerObjective.h | 118 +---- src/BulletSoftBody/btCGProjection.h | 49 ++- src/BulletSoftBody/btConjugateGradient.h | 8 - src/BulletSoftBody/btContactProjection.cpp | 201 +++++++-- src/BulletSoftBody/btContactProjection.h | 160 +------ src/BulletSoftBody/btDeformableBodySolver.cpp | 78 +++- src/BulletSoftBody/btDeformableBodySolver.h | 69 +-- src/BulletSoftBody/btPreconditioner.h | 67 +++ 18 files changed, 1552 insertions(+), 412 deletions(-) create mode 100644 examples/DeformableContact/DeformableContact.cpp create mode 100644 examples/DeformableContact/DeformableContact.h create mode 100644 examples/Pinch/Pinch.cpp create mode 100644 examples/Pinch/Pinch.h create mode 100644 examples/VolumetricDeformable/VolumetricDeformable.cpp create mode 100644 examples/VolumetricDeformable/VolumetricDeformable.h create mode 100644 src/BulletSoftBody/btPreconditioner.h diff --git a/examples/BasicDemo/BasicExample.cpp b/examples/BasicDemo/BasicExample.cpp index 67f670d07..136aefb20 100644 --- a/examples/BasicDemo/BasicExample.cpp +++ b/examples/BasicDemo/BasicExample.cpp @@ -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" diff --git a/examples/DeformableContact/DeformableContact.cpp b/examples/DeformableContact/DeformableContact.cpp new file mode 100644 index 000000000..b70751e2f --- /dev/null +++ b/examples/DeformableContact/DeformableContact.cpp @@ -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 //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 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 world_to_local; + world_to_local.resize(pMultiBody->getNumLinks() + 1); + + btAlignedObjectArray 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); +} + + diff --git a/examples/DeformableContact/DeformableContact.h b/examples/DeformableContact/DeformableContact.h new file mode 100644 index 000000000..591c6bab1 --- /dev/null +++ b/examples/DeformableContact/DeformableContact.h @@ -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 diff --git a/examples/DeformableDemo/DeformableDemo.cpp b/examples/DeformableDemo/DeformableDemo.cpp index 990bdd7b9..7ce94a314 100644 --- a/examples/DeformableDemo/DeformableDemo.cpp +++ b/examples/DeformableDemo/DeformableDemo.cpp @@ -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 //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); } diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index 6d3db549e..f29cef2ba 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -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), diff --git a/examples/Pinch/Pinch.cpp b/examples/Pinch/Pinch.cpp new file mode 100644 index 000000000..cedc51750 --- /dev/null +++ b/examples/Pinch/Pinch.cpp @@ -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 //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& 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); +} + + diff --git a/examples/Pinch/Pinch.h b/examples/Pinch/Pinch.h new file mode 100644 index 000000000..6c7e2fb3c --- /dev/null +++ b/examples/Pinch/Pinch.h @@ -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 _PINCH_H +#define _PINCH_H + +class CommonExampleInterface* PinchCreateFunc(struct CommonExampleOptions& options); + +#endif //_PINCH_H diff --git a/examples/VolumetricDeformable/VolumetricDeformable.cpp b/examples/VolumetricDeformable/VolumetricDeformable.cpp new file mode 100644 index 000000000..b30e9bc24 --- /dev/null +++ b/examples/VolumetricDeformable/VolumetricDeformable.cpp @@ -0,0 +1,294 @@ +/* +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 //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); +} + + diff --git a/examples/VolumetricDeformable/VolumetricDeformable.h b/examples/VolumetricDeformable/VolumetricDeformable.h new file mode 100644 index 000000000..af1cc38b6 --- /dev/null +++ b/examples/VolumetricDeformable/VolumetricDeformable.h @@ -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 _VOLUMETRIC_DEFORMABLE_H +#define _VOLUMETRIC_DEFORMABLE_H + +class CommonExampleInterface* VolumetricDeformableCreateFunc(struct CommonExampleOptions& options); + +#endif //_VOLUMETRIC_DEFORMABLE__H diff --git a/src/BulletSoftBody/btBackwardEulerObjective.cpp b/src/BulletSoftBody/btBackwardEulerObjective.cpp index 9174107ba..024cc66b6 100644 --- a/src/BulletSoftBody/btBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btBackwardEulerObjective.cpp @@ -77,6 +77,51 @@ void btBackwardEulerObjective::updateVelocity(const TVStack& dv) } } +void btBackwardEulerObjective::applyForce(TVStack& force, bool setZero) +{ + size_t counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + btScalar one_over_mass = (psb->m_nodes[j].m_im == 0) ? 0 : psb->m_nodes[j].m_im; + psb->m_nodes[j].m_v += one_over_mass * force[counter++]; + } + } + if (setZero) + { + for (int i = 0; i < force.size(); ++i) + force[i].setZero(); + } +} + +void btBackwardEulerObjective::computeResidual(btScalar dt, TVStack &residual) const +{ + // add implicit force + for (int i = 0; i < m_lf.size(); ++i) + { + m_lf[i]->addScaledImplicitForce(dt, residual); + } +} + +btScalar btBackwardEulerObjective::computeNorm(const TVStack& residual) const +{ + btScalar norm_squared = 0; + for (int i = 0; i < residual.size(); ++i) + { + norm_squared += residual[i].length2(); + } + return std::sqrt(norm_squared+SIMD_EPSILON); +} + +void btBackwardEulerObjective::applyExplicitForce(TVStack& force) +{ + for (int i = 0; i < m_lf.size(); ++i) + m_lf[i]->addScaledExplicitForce(m_dt, force); + applyForce(force, true); +} + void btBackwardEulerObjective::initialGuess(TVStack& dv, const TVStack& residual) { size_t counter = 0; @@ -85,7 +130,7 @@ void btBackwardEulerObjective::initialGuess(TVStack& dv, const TVStack& residual btSoftBody* psb = m_softBodies[i]; for (int j = 0; j < psb->m_nodes.size(); ++j) { - dv[counter] = psb->m_nodes[j].m_im * residual[counter] * 1; + dv[counter] = psb->m_nodes[j].m_im * residual[counter]; ++counter; } } diff --git a/src/BulletSoftBody/btBackwardEulerObjective.h b/src/BulletSoftBody/btBackwardEulerObjective.h index e9642f6ae..68f7f66fe 100644 --- a/src/BulletSoftBody/btBackwardEulerObjective.h +++ b/src/BulletSoftBody/btBackwardEulerObjective.h @@ -12,66 +12,10 @@ #include "btLagrangianForce.h" #include "btMassSpring.h" #include "btContactProjection.h" +#include "btPreconditioner.h" #include "btDeformableRigidDynamicsWorld.h" class btDeformableRigidDynamicsWorld; - -class Preconditioner -{ -public: - using TVStack = btAlignedObjectArray; - virtual void operator()(const TVStack& x, TVStack& b) = 0; - virtual void reinitialize(bool nodeUpdated) = 0; -}; - -class DefaultPreconditioner : public Preconditioner -{ -public: - virtual void operator()(const TVStack& x, TVStack& b) - { - btAssert(b.size() == x.size()); - for (int i = 0; i < b.size(); ++i) - b[i] = x[i]; - } - virtual void reinitialize(bool nodeUpdated) - { - - } -}; - -class MassPreconditioner : public Preconditioner -{ - btAlignedObjectArray m_inv_mass; - const btAlignedObjectArray& m_softBodies; -public: - MassPreconditioner(const btAlignedObjectArray& softBodies) - : m_softBodies(softBodies) - { - } - - virtual void reinitialize(bool nodeUpdated) - { - if (nodeUpdated) - { - m_inv_mass.clear(); - for (int i = 0; i < m_softBodies.size(); ++i) - { - btSoftBody* psb = m_softBodies[i]; - for (int j = 0; j < psb->m_nodes.size(); ++j) - m_inv_mass.push_back(psb->m_nodes[j].m_im); - } - } - } - - virtual void operator()(const TVStack& x, TVStack& b) - { - btAssert(b.size() == x.size()); - btAssert(m_inv_mass.size() == x.size()); - for (int i = 0; i < b.size(); ++i) - b[i] = x[i] * m_inv_mass[i]; - } -}; - class btBackwardEulerObjective { public: @@ -91,74 +35,60 @@ public: void initialize(){} - void computeResidual(btScalar dt, TVStack& residual) const - { - // add implicit force - for (int i = 0; i < m_lf.size(); ++i) - { - m_lf[i]->addScaledImplicitForce(dt, residual); - } - } + // compute the rhs for CG solve, i.e, add the dt scaled implicit force to residual + void computeResidual(btScalar dt, TVStack& residual) const; - void applyExplicitForce(TVStack& force) - { - for (int i = 0; i < m_lf.size(); ++i) - m_lf[i]->addScaledExplicitForce(m_dt, force); - - size_t counter = 0; - for (int i = 0; i < m_softBodies.size(); ++i) - { - btSoftBody* psb = m_softBodies[i]; - for (int j = 0; j < psb->m_nodes.size(); ++j) - { - btScalar one_over_mass = (psb->m_nodes[j].m_im == 0) ? 0 : psb->m_nodes[j].m_im; - psb->m_nodes[j].m_v += one_over_mass * force[counter]; - force[counter].setZero(); - counter++; - } - } - } + // add explicit force to the velocity + void applyExplicitForce(TVStack& force); - btScalar computeNorm(const TVStack& residual) const - { - btScalar norm_squared = 0; - for (int i = 0; i < residual.size(); ++i) - { - norm_squared += residual[i].length2(); - } - return std::sqrt(norm_squared+SIMD_EPSILON); - } + // apply force to velocity and optionally reset the force to zero + void applyForce(TVStack& force, bool setZero); + // compute the norm of the residual + btScalar computeNorm(const TVStack& residual) const; + + // compute one step of the solve (there is only one solve if the system is linear) void computeStep(TVStack& dv, const TVStack& residual, const btScalar& dt); + // perform A*x = b void multiply(const TVStack& x, TVStack& b) const; + // update the constraints treated as projections void updateProjection(const TVStack& dv) { projection.update(dv, m_backupVelocity); } + + // set initial guess for CG solve void initialGuess(TVStack& dv, const TVStack& residual); + // reset data structure void reinitialize(bool nodeUpdated); + // enforce constraints in CG solve void enforceConstraint(TVStack& x) { projection.enforceConstraint(x); updateVelocity(x); } + // add dv to velocity void updateVelocity(const TVStack& dv); - void setConstraintDirections() + //set constraints as projections + void setConstraints() { - projection.setConstraintDirections(); + projection.setConstraints(); } + + // update the projections and project the residual void project(TVStack& r, const TVStack& dv) { updateProjection(dv); projection(r); } + // perform precondition M^(-1) x = b void precondition(const TVStack& x, TVStack& b) { m_preconditioner->operator()(x,b); diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index 46979c8f0..ff5eecd8c 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -17,12 +17,12 @@ struct Constraint btAlignedObjectArray m_contact; btAlignedObjectArray m_direction; btAlignedObjectArray m_value; + // the magnitude of the total impulse the node applied to the rb in the normal direction in the cg solve + btAlignedObjectArray m_accumulated_normal_impulse; Constraint(const btSoftBody::RContact& rcontact) { - m_contact.push_back(&rcontact); - m_direction.push_back(rcontact.m_cti.m_normal); - m_value.push_back(0); + append(rcontact); } Constraint(const btVector3 dir) @@ -30,30 +30,56 @@ struct Constraint m_contact.push_back(nullptr); m_direction.push_back(dir); m_value.push_back(0); + m_accumulated_normal_impulse.push_back(0); } Constraint() + { + m_contact.push_back(nullptr); + m_direction.push_back(btVector3(0,0,0)); + m_value.push_back(0); + m_accumulated_normal_impulse.push_back(0); + } + + void append(const btSoftBody::RContact& rcontact) + { + m_contact.push_back(&rcontact); + m_direction.push_back(rcontact.m_cti.m_normal); + m_value.push_back(0); + m_accumulated_normal_impulse.push_back(0); + } + + ~Constraint() { } }; struct Friction { - btAlignedObjectArray m_static; - btAlignedObjectArray m_impulse; - btAlignedObjectArray m_dv; - btAlignedObjectArray m_direction; - btAlignedObjectArray m_direction_prev; + + btAlignedObjectArray m_static; // whether the friction is static + btAlignedObjectArray m_impulse; // the impulse magnitude the node feels + btAlignedObjectArray m_dv; // the dv magnitude of the node + btAlignedObjectArray m_direction; // the direction of the friction for the node + btAlignedObjectArray m_static_prev; btAlignedObjectArray m_impulse_prev; btAlignedObjectArray m_dv_prev; + btAlignedObjectArray m_direction_prev; - btAlignedObjectArray m_released; + btAlignedObjectArray m_released; // whether the contact is released - btAlignedObjectArray m_accumulated_normal_impulse; + + + // the total impulse the node applied to the rb in the tangential direction in the cg solve btAlignedObjectArray m_accumulated_tangent_impulse; Friction() + { + append(); + } + + void append() { m_static.push_back(false); m_static_prev.push_back(false); @@ -67,7 +93,6 @@ struct Friction m_dv.push_back(0); m_dv_prev.push_back(0); - m_accumulated_normal_impulse.push_back(0); m_accumulated_tangent_impulse.push_back(btVector3(0,0,0)); m_released.push_back(false); } @@ -100,7 +125,7 @@ public: // apply the constraints virtual void operator()(TVStack& x) = 0; - virtual void setConstraintDirections() = 0; + virtual void setConstraints() = 0; // update the constraints virtual void update(const TVStack& dv, const TVStack& backup_v) = 0; diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h index a2b69f48d..f23b26385 100644 --- a/src/BulletSoftBody/btConjugateGradient.h +++ b/src/BulletSoftBody/btConjugateGradient.h @@ -18,12 +18,10 @@ class btConjugateGradient using TVStack = btAlignedObjectArray; TVStack r,p,z,temp; int max_iterations; - btScalar tolerance; public: btConjugateGradient(const int max_it_in) : max_iterations(max_it_in) - , tolerance(std::numeric_limits::epsilon() * 16) { } @@ -121,12 +119,6 @@ public: return ans; } - void setZero(TVStack& a) - { - for (int i = 0; i < a.size(); ++i) - a[i].setZero(); - } - void multAndAddTo(btScalar s, const TVStack& a, TVStack& result) { // result += s*a diff --git a/src/BulletSoftBody/btContactProjection.cpp b/src/BulletSoftBody/btContactProjection.cpp index 041792d08..cf2e05e59 100644 --- a/src/BulletSoftBody/btContactProjection.cpp +++ b/src/BulletSoftBody/btContactProjection.cpp @@ -61,9 +61,9 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0], deltaV, jacobianData.scratch_r, jacobianData.scratch_v); btScalar vel = 0.0; - for (int j = 0; j < ndof; ++j) + for (int k = 0; k < ndof; ++k) { - vel += multibodyLinkCol->m_multiBody->getVelocityVector()[j] * jac[j]; + vel += multibodyLinkCol->m_multiBody->getVelocityVector()[k] * jac[k]; } va = cti.m_normal * vel * m_dt; } @@ -75,41 +75,41 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit btVector3 impulse = c->m_c0 * vr; const btVector3 impulse_normal = c->m_c0 * (cti.m_normal * dn); const btVector3 impulse_tangent = impulse - impulse_normal; + + // start friction handling + // copy old data + friction.m_impulse_prev[j] = friction.m_impulse[j]; + friction.m_dv_prev[j] = friction.m_dv[j]; + friction.m_static_prev[j] = friction.m_static[j]; + + // get the current tangent direction btScalar local_tangent_norm = impulse_tangent.norm(); btVector3 local_tangent_dir = btVector3(0,0,0); if (local_tangent_norm > SIMD_EPSILON) local_tangent_dir = impulse_tangent.normalized(); // accumulated impulse on the rb in this and all prev cg iterations - friction.m_accumulated_normal_impulse[j] += impulse_normal.dot(cti.m_normal); - btScalar accumulated_normal = friction.m_accumulated_normal_impulse[j]; + constraint.m_accumulated_normal_impulse[j] += impulse_normal.dot(cti.m_normal); + const btScalar& accumulated_normal = constraint.m_accumulated_normal_impulse[j]; + + // the total tangential impulse required to stop sliding btVector3 tangent = friction.m_accumulated_tangent_impulse[j] + impulse_tangent; btScalar tangent_norm = tangent.norm(); - // start friction handling - // copy old data - friction.m_impulse_prev[j] = friction.m_impulse[j]; - friction.m_dv_prev[j] = friction.m_dv[j]; - friction.m_static_prev[j] = friction.m_static[j]; - if (accumulated_normal < 0 && tangent_norm > SIMD_EPSILON) + + if (accumulated_normal < 0) { friction.m_direction[j] = -local_tangent_dir; - btScalar compare1 = -accumulated_normal*c->m_c3; - btScalar compare2 = tangent_norm; // do not allow switching from static friction to dynamic friction // it causes cg to explode if (-accumulated_normal*c->m_c3 < tangent_norm && friction.m_static_prev[j] == false && friction.m_released[j] == false) { friction.m_static[j] = false; friction.m_impulse[j] = -accumulated_normal*c->m_c3; - friction.m_dv[j] = 0; - impulse = impulse_normal + (friction.m_impulse_prev[j] * friction.m_direction_prev[j])-(friction.m_impulse[j] * friction.m_direction[j]); } else { friction.m_static[j] = true; - friction.m_impulse[j] = 0; - friction.m_dv[j] = local_tangent_norm * c->m_c2/m_dt; - impulse = impulse_normal + impulse_tangent; + friction.m_impulse[j] = local_tangent_norm; } } else @@ -117,27 +117,29 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit friction.m_released[j] = true; friction.m_static[j] = false; friction.m_impulse[j] = 0; - friction.m_dv[j] = 0; friction.m_direction[j] = btVector3(0,0,0); - impulse = impulse_normal; } + friction.m_dv[j] = friction.m_impulse[j] * c->m_c2/m_dt; friction.m_accumulated_tangent_impulse[j] = -friction.m_impulse[j] * friction.m_direction[j]; + + // the incremental impulse applied to rb in the tangential direction + btVector3 incremental_tangent = (friction.m_impulse_prev[j] * friction.m_direction_prev[j])-(friction.m_impulse[j] * friction.m_direction[j]); + if (1) // in the same CG solve, the set of constraits doesn't change -// if (dn <= SIMD_EPSILON) { // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient // dv = new_impulse + accumulated velocity change in previous CG iterations // so we have the invariant node->m_v = backupVelocity + dv; - btVector3 dv = -impulse * c->m_c2/m_dt + c->m_node->m_v - backupVelocity[m_indices[c->m_node]]; - btScalar dvn = dv.dot(cti.m_normal); +// btVector3 dv = -impulse_normal * c->m_c2/m_dt + c->m_node->m_v - backupVelocity[m_indices[c->m_node]]; +// btScalar dvn = dv.dot(cti.m_normal); + btScalar dvn = -accumulated_normal * c->m_c2/m_dt; constraint.m_value[j] = dvn; // the incremental impulse: // in the normal direction it's the normal component of "impulse" // in the tangent direction it's the difference between the frictional impulse in the iteration and the previous iteration - impulse = impulse_normal + (friction.m_impulse_prev[j] * friction.m_direction_prev[j])-(friction.m_impulse[j] * friction.m_direction[j]); -// impulse = impulse_normal; + impulse = impulse_normal + incremental_tangent; if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) { if (rigidCol) @@ -147,7 +149,7 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit { if (multibodyLinkCol) { - double multiplier = 1; + double multiplier = 0.5; multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV, -impulse.length() * multiplier); } } @@ -158,8 +160,7 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit } } - -void btContactProjection::setConstraintDirections() +void btContactProjection::setConstraints() { // set Dirichlet constraint for (int i = 0; i < m_softBodies.size(); ++i) @@ -188,6 +189,7 @@ void btContactProjection::setConstraintDirections() { btSoftBody* psb = m_softBodies[i]; btMultiBodyJacobianData jacobianData; + btAlignedObjectArray jacobian; for (int j = 0; j < psb->m_rcontacts.size(); ++j) { @@ -214,6 +216,7 @@ void btContactProjection::setConstraintDirections() } else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) { + jacobian.clear(); multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); if (multibodyLinkCol) { @@ -227,9 +230,11 @@ void btContactProjection::setConstraintDirections() multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0], deltaV, jacobianData.scratch_r, jacobianData.scratch_v); btScalar vel = 0.0; + jacobian.resize(ndof); for (int j = 0; j < ndof; ++j) { vel += multibodyLinkCol->m_multiBody->getVelocityVector()[j] * jac[j]; + jacobian[j] = jac[j]; } va = cti.m_normal * vel * m_dt; } @@ -262,22 +267,10 @@ void btContactProjection::setConstraintDirections() btScalar dot_prod = dirs[0].dot(cti.m_normal); if (std::abs(std::abs(dot_prod) - 1) < angle_epsilon) { - constraints[j].m_contact.push_back(&c); - constraints[j].m_direction.push_back(cti.m_normal); - constraints[j].m_value.push_back(0); - + // group the constraints + constraints[j].append(c); // push in an empty friction - frictions[j].m_direction.push_back(btVector3(0,0,0)); - frictions[j].m_direction_prev.push_back(btVector3(0,0,0)); - frictions[j].m_impulse.push_back(0); - frictions[j].m_impulse_prev.push_back(0); - frictions[j].m_dv.push_back(0); - frictions[j].m_dv_prev.push_back(0); - frictions[j].m_static.push_back(false); - frictions[j].m_static_prev.push_back(false); - frictions[j].m_accumulated_normal_impulse.push_back(0); - frictions[j].m_accumulated_tangent_impulse.push_back(btVector3(0,0,0)); - frictions[j].m_released.push_back(false); + frictions[j].append(); merged = true; break; } @@ -295,3 +288,127 @@ void btContactProjection::setConstraintDirections() } } } + +void btContactProjection::enforceConstraint(TVStack& x) +{ + const int dim = 3; + for (auto& it : m_constraints) + { + const btAlignedObjectArray& constraints = it.second; + size_t i = m_indices[it.first]; + const btAlignedObjectArray& frictions = m_frictions[it.first]; + btAssert(constraints.size() <= dim); + btAssert(constraints.size() > 0); + if (constraints.size() == 1) + { + x[i] -= x[i].dot(constraints[0].m_direction[0]) * constraints[0].m_direction[0]; + for (int j = 0; j < constraints[0].m_direction.size(); ++j) + x[i] += constraints[0].m_value[j] * constraints[0].m_direction[j]; + } + else if (constraints.size() == 2) + { + btVector3 free_dir = btCross(constraints[0].m_direction[0], constraints[1].m_direction[0]); + btAssert(free_dir.norm() > SIMD_EPSILON) + free_dir.normalize(); + x[i] = x[i].dot(free_dir) * free_dir; + for (int j = 0; j < constraints.size(); ++j) + { + for (int k = 0; k < constraints[j].m_direction.size(); ++k) + { + x[i] += constraints[j].m_value[k] * constraints[j].m_direction[k]; + } + } + + } + else + { + x[i].setZero(); + for (int j = 0; j < constraints.size(); ++j) + { + for (int k = 0; k < constraints[j].m_direction.size(); ++k) + { + x[i] += constraints[j].m_value[k] * constraints[j].m_direction[k]; + } + } + } + + // apply friction if the node is not constrained in all directions + if (constraints.size() < 3) + { + for (int f = 0; f < frictions.size(); ++f) + { + const Friction& friction= frictions[f]; + for (int j = 0; j < friction.m_direction.size(); ++j) + { + // clear the old constraint + if (friction.m_static_prev[j] == true) + { + x[i] -= friction.m_direction_prev[j] * friction.m_dv_prev[j]; + } + // add the new constraint + if (friction.m_static[j] == true) + { + x[i] += friction.m_direction[j] * friction.m_dv[j]; + } + } + } + } + } +} + +void btContactProjection::operator()(TVStack& x) +{ + const int dim = 3; + for (auto& it : m_constraints) + { + const btAlignedObjectArray& constraints = it.second; + size_t i = m_indices[it.first]; + btAlignedObjectArray& frictions = m_frictions[it.first]; + btAssert(constraints.size() <= dim); + btAssert(constraints.size() > 0); + if (constraints.size() == 1) + { + x[i] -= x[i].dot(constraints[0].m_direction[0]) * constraints[0].m_direction[0]; + } + else if (constraints.size() == 2) + { + btVector3 free_dir = btCross(constraints[0].m_direction[0], constraints[1].m_direction[0]); + btAssert(free_dir.norm() > SIMD_EPSILON) + free_dir.normalize(); + x[i] = x[i].dot(free_dir) * free_dir; + } + else + x[i].setZero(); + + // apply friction if the node is not constrained in all directions + if (constraints.size() < 3) + { + bool has_static_constraint = false; + for (int f = 0; f < frictions.size(); ++f) + { + Friction& friction= frictions[f]; + for (int j = 0; j < friction.m_static.size(); ++j) + has_static_constraint = has_static_constraint || friction.m_static[j]; + } + + for (int f = 0; f < frictions.size(); ++f) + { + Friction& friction= frictions[f]; + for (int j = 0; j < friction.m_direction.size(); ++j) + { + // clear the old friction force + if (friction.m_static_prev[j] == false) + { + x[i] -= friction.m_direction_prev[j] * friction.m_impulse_prev[j]; + } + + // only add to the rhs if there is no static friction constraint on the node + if (friction.m_static[j] == false && !has_static_constraint) + { + x[i] += friction.m_direction[j] * friction.m_impulse[j]; + } + } + } + } + } +} diff --git a/src/BulletSoftBody/btContactProjection.h b/src/BulletSoftBody/btContactProjection.h index 566fd9f92..725cc106b 100644 --- a/src/BulletSoftBody/btContactProjection.h +++ b/src/BulletSoftBody/btContactProjection.h @@ -18,171 +18,21 @@ public: btContactProjection(btAlignedObjectArray& softBodies, const btScalar& dt) : btCGProjection(softBodies, dt) { - } virtual ~btContactProjection() { - } - // apply the constraints - virtual void operator()(TVStack& x) - { - const int dim = 3; - for (auto& it : m_constraints) - { - const btAlignedObjectArray& constraints = it.second; - size_t i = m_indices[it.first]; - btAlignedObjectArray& frictions = m_frictions[it.first]; - btAssert(constraints.size() <= dim); - btAssert(constraints.size() > 0); - if (constraints.size() == 1) - { - x[i] -= x[i].dot(constraints[0].m_direction[0]) * constraints[0].m_direction[0]; - Friction& friction= frictions[0]; - - bool has_static_constraint = false; - for (int j = 0; j < friction.m_static.size(); ++j) - has_static_constraint = has_static_constraint || friction.m_static[j]; - - for (int j = 0; j < friction.m_direction.size(); ++j) - { - // clear the old friction force - if (friction.m_static_prev[j] == false) - { - x[i] -= friction.m_direction_prev[j] * friction.m_impulse_prev[j]; - } - - // only add to the rhs if there is no static friction constraint on the node - if (friction.m_static[j] == false && !has_static_constraint) - { - x[i] += friction.m_direction[j] * friction.m_impulse[j]; - } - } - } - else if (constraints.size() == 2) - { - // TODO : friction - btVector3 free_dir = btCross(constraints[0].m_direction[0], constraints[1].m_direction[0]); - btAssert(free_dir.norm() > SIMD_EPSILON) - free_dir.normalize(); - x[i] = x[i].dot(free_dir) * free_dir; - - bool has_static_constraint = false; - for (int f = 0; f < 2; ++f) - { - Friction& friction= frictions[f]; - for (int j = 0; j < friction.m_static.size(); ++j) - has_static_constraint = has_static_constraint || friction.m_static[j]; - } - - for (int f = 0; f < 2; ++f) - { - Friction& friction= frictions[f]; - for (int j = 0; j < friction.m_direction.size(); ++j) - { - // clear the old friction force - if (friction.m_static_prev[j] == false) - { - x[i] -= friction.m_direction_prev[j] * friction.m_impulse_prev[j]; - } - - // only add to the rhs if there is no static friction constraint on the node - if (friction.m_static[j] == false && !has_static_constraint) - { - x[i] += friction.m_direction[j] * friction.m_impulse[j]; - } - } - } - } - else - x[i].setZero(); - } - } - + // apply the constraints to the rhs + virtual void operator()(TVStack& x); - virtual void enforceConstraint(TVStack& x) - { - const int dim = 3; - for (auto& it : m_constraints) - { - const btAlignedObjectArray& constraints = it.second; - size_t i = m_indices[it.first]; - const btAlignedObjectArray& frictions = m_frictions[it.first]; - btAssert(constraints.size() <= dim); - btAssert(constraints.size() > 0); - if (constraints.size() == 1) - { - x[i] -= x[i].dot(constraints[0].m_direction[0]) * constraints[0].m_direction[0]; - for (int j = 0; j < constraints[0].m_direction.size(); ++j) - x[i] += constraints[0].m_value[j] * constraints[0].m_direction[j]; - - const Friction& friction= frictions[0]; - for (int j = 0; j < friction.m_direction.size(); ++j) - { - // clear the old constraint - if (friction.m_static_prev[j] == true) - { -// x[i] -= friction.m_direction_prev[j] * friction.m_dv_prev[j]; - } - // add the new constraint - if (friction.m_static[j] == true) - { - x[i] += friction.m_direction[j] * friction.m_dv[j]; - } - } - } - else if (constraints.size() == 2) - { - // TODO: friction - btVector3 free_dir = btCross(constraints[0].m_direction[0], constraints[1].m_direction[0]); - btAssert(free_dir.norm() > SIMD_EPSILON) - free_dir.normalize(); - x[i] = x[i].dot(free_dir) * free_dir; - for (int j = 0; j < constraints.size(); ++j) - { - for (int k = 0; k < constraints[j].m_direction.size(); ++k) - { - x[i] += constraints[j].m_value[k] * constraints[j].m_direction[k]; - } - } - - for (int f = 0; f < 2; ++f) - { - const Friction& friction= frictions[f]; - for (int j = 0; j < friction.m_direction.size(); ++j) - { - // clear the old constraint - if (friction.m_static_prev[j] == true) - { -// x[i] -= friction.m_direction_prev[j] * friction.m_dv_prev[j]; - } - // add the new constraint - if (friction.m_static[j] == true) - { - x[i] += friction.m_direction[j] * friction.m_dv[j]; - } - } - } - } - else - { - x[i].setZero(); - for (int j = 0; j < constraints.size(); ++j) - { - for (int k = 0; k < constraints[j].m_direction.size(); ++k) - { - x[i] += constraints[j].m_value[k] * constraints[j].m_direction[k]; - } - } - } - } - } + // apply constraints to x in Ax=b + virtual void enforceConstraint(TVStack& x); // update the constraints virtual void update(const TVStack& dv, const TVStack& backupVelocity); - virtual void setConstraintDirections(); + virtual void setConstraints(); }; #endif /* btContactProjection_h */ diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index a8e1e5cd5..f98dfacbb 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -122,14 +122,15 @@ void btDeformableBodySolver::solveConstraints(float solverdt) // apply explicit force m_objective->applyExplicitForce(m_residual); - // remove contact constraints with separating velocity - setConstraintDirections(); + // add constraints to the solver + setConstraints(); backupVelocity(); for (int i = 0; i < m_solveIterations; ++i) { m_objective->computeResidual(solverdt, m_residual); + m_objective->initialGuess(m_dv, m_residual); m_objective->computeStep(m_dv, m_residual, solverdt); updateVelocity(); } @@ -153,9 +154,9 @@ void btDeformableBodySolver::reinitialize(bool nodeUpdated) m_objective->reinitialize(nodeUpdated); } -void btDeformableBodySolver::setConstraintDirections() +void btDeformableBodySolver::setConstraints() { - m_objective->setConstraintDirections(); + m_objective->setConstraints(); } void btDeformableBodySolver::setWorld(btDeformableRigidDynamicsWorld* world) @@ -173,9 +174,76 @@ void btDeformableBodySolver::updateVelocity() btSoftBody* psb = m_softBodySet[i]; for (int j = 0; j < psb->m_nodes.size(); ++j) { -// psb->m_nodes[j].m_v += m_dv[counter]; psb->m_nodes[j].m_v = m_backupVelocity[counter]+m_dv[counter]; ++counter; } } } + + +void btDeformableBodySolver::advect(btScalar dt) +{ + for (int i = 0; i < m_softBodySet.size(); ++i) + { + btSoftBody* psb = m_softBodySet[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + auto& node = psb->m_nodes[j]; + node.m_x = node.m_q + dt * node.m_v; + } + } +} + +void btDeformableBodySolver::backupVelocity() +{ + // serial implementation + int counter = 0; + for (int i = 0; i < m_softBodySet.size(); ++i) + { + btSoftBody* psb = m_softBodySet[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + m_backupVelocity[counter++] = psb->m_nodes[j].m_v; + } + } +} + +bool btDeformableBodySolver::updateNodes() +{ + int numNodes = 0; + for (int i = 0; i < m_softBodySet.size(); ++i) + numNodes += m_softBodySet[i]->m_nodes.size(); + if (numNodes != m_numNodes) + { + m_numNodes = numNodes; + m_backupVelocity.resize(numNodes); + return true; + } + return false; +} + + +void btDeformableBodySolver::predictMotion(float solverdt) +{ + for (int i = 0; i < m_softBodySet.size(); ++i) + { + btSoftBody *psb = m_softBodySet[i]; + + if (psb->isActive()) + { + psb->predictMotion(solverdt); + } + } +} + +void btDeformableBodySolver::updateSoftBodies() +{ + for (int i = 0; i < m_softBodySet.size(); i++) + { + btSoftBody *psb = (btSoftBody *)m_softBodySet[i]; + if (psb->isActive()) + { + psb->integrateMotion(); // normal is updated here + } + } +} diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index 17f088c72..a1cd45077 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -51,17 +51,7 @@ public: return true; } - virtual void updateSoftBodies() - { - for (int i = 0; i < m_softBodySet.size(); i++) - { - btSoftBody *psb = (btSoftBody *)m_softBodySet[i]; - if (psb->isActive()) - { - psb->integrateMotion(); // normal is updated here - } - } - } + virtual void updateSoftBodies(); virtual void optimize(btAlignedObjectArray &softBodies, bool forceUpdate = false) { @@ -76,64 +66,17 @@ public: void reinitialize(bool nodeUpdated); - void setConstraintDirections(); + void setConstraints(); - void advect(btScalar dt) - { - size_t counter = 0; - for (int i = 0; i < m_softBodySet.size(); ++i) - { - btSoftBody* psb = m_softBodySet[i]; - for (int j = 0; j < psb->m_nodes.size(); ++j) - { - auto& node = psb->m_nodes[j]; - node.m_x = node.m_q + dt * node.m_v; - } - } - } + void advect(btScalar dt); - void backupVelocity() - { - // serial implementation - int counter = 0; - for (int i = 0; i < m_softBodySet.size(); ++i) - { - btSoftBody* psb = m_softBodySet[i]; - for (int j = 0; j < psb->m_nodes.size(); ++j) - { - m_backupVelocity[counter++] = psb->m_nodes[j].m_v; - } - } - } + void backupVelocity(); void updateVelocity(); - bool updateNodes() - { - int numNodes = 0; - for (int i = 0; i < m_softBodySet.size(); ++i) - numNodes += m_softBodySet[i]->m_nodes.size(); - if (numNodes != m_numNodes) - { - m_numNodes = numNodes; - m_backupVelocity.resize(numNodes); - return true; - } - return false; - } + bool updateNodes(); - virtual void predictMotion(float solverdt) - { - for (int i = 0; i < m_softBodySet.size(); ++i) - { - btSoftBody *psb = m_softBodySet[i]; - - if (psb->isActive()) - { - psb->predictMotion(solverdt); - } - } - } + virtual void predictMotion(float solverdt); virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer) {} diff --git a/src/BulletSoftBody/btPreconditioner.h b/src/BulletSoftBody/btPreconditioner.h new file mode 100644 index 000000000..ad190a3a8 --- /dev/null +++ b/src/BulletSoftBody/btPreconditioner.h @@ -0,0 +1,67 @@ +// +// btPreconditioner.h +// BulletSoftBody +// +// Created by Xuchen Han on 7/18/19. +// + +#ifndef BT_PRECONDITIONER_H +#define BT_PRECONDITIONER_H + +class Preconditioner +{ +public: + using TVStack = btAlignedObjectArray; + virtual void operator()(const TVStack& x, TVStack& b) = 0; + virtual void reinitialize(bool nodeUpdated) = 0; +}; + +class DefaultPreconditioner : public Preconditioner +{ +public: + virtual void operator()(const TVStack& x, TVStack& b) + { + btAssert(b.size() == x.size()); + for (int i = 0; i < b.size(); ++i) + b[i] = x[i]; + } + virtual void reinitialize(bool nodeUpdated) + { + + } +}; + +class MassPreconditioner : public Preconditioner +{ + btAlignedObjectArray m_inv_mass; + const btAlignedObjectArray& m_softBodies; +public: + MassPreconditioner(const btAlignedObjectArray& softBodies) + : m_softBodies(softBodies) + { + } + + virtual void reinitialize(bool nodeUpdated) + { + if (nodeUpdated) + { + m_inv_mass.clear(); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + m_inv_mass.push_back(psb->m_nodes[j].m_im); + } + } + } + + virtual void operator()(const TVStack& x, TVStack& b) + { + btAssert(b.size() == x.size()); + btAssert(m_inv_mass.size() == x.size()); + for (int i = 0; i < b.size(); ++i) + b[i] = x[i] * m_inv_mass[i]; + } +}; + +#endif /* BT_PRECONDITIONER_H */ From a90cad2a9650ad57d597eaf72cc8b0e091e51ad5 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Sun, 21 Jul 2019 18:32:54 -0700 Subject: [PATCH 020/389] deformable code refactor --- .../Dynamics/btDiscreteDynamicsWorld.h | 10 + src/BulletSoftBody/btBackwardEulerObjective.h | 28 +- src/BulletSoftBody/btCGProjection.h | 51 +- src/BulletSoftBody/btConjugateGradient.h | 4 +- src/BulletSoftBody/btContactProjection.cpp | 156 ++++-- ...=> btDeformableBackwardEulerObjective.cpp} | 43 +- .../btDeformableBackwardEulerObjective.h | 100 ++++ src/BulletSoftBody/btDeformableBodySolver.cpp | 190 +++---- src/BulletSoftBody/btDeformableBodySolver.h | 35 +- .../btDeformableContactProjection.cpp | 488 ++++++++++++++++++ ...tion.h => btDeformableContactProjection.h} | 17 +- src/BulletSoftBody/btDeformableGravityForce.h | 60 +++ ...nForce.h => btDeformableLagrangianForce.h} | 30 +- ...Spring.h => btDeformableMassSpringForce.h} | 54 +- .../btDeformableRigidDynamicsWorld.cpp | 148 +++--- .../btDeformableRigidDynamicsWorld.h | 20 +- src/BulletSoftBody/btSoftBody.cpp | 13 +- 17 files changed, 1065 insertions(+), 382 deletions(-) rename src/BulletSoftBody/{btBackwardEulerObjective.cpp => btDeformableBackwardEulerObjective.cpp} (67%) create mode 100644 src/BulletSoftBody/btDeformableBackwardEulerObjective.h create mode 100644 src/BulletSoftBody/btDeformableContactProjection.cpp rename src/BulletSoftBody/{btContactProjection.h => btDeformableContactProjection.h} (52%) create mode 100644 src/BulletSoftBody/btDeformableGravityForce.h rename src/BulletSoftBody/{btLagrangianForce.h => btDeformableLagrangianForce.h} (58%) rename src/BulletSoftBody/{btMassSpring.h => btDeformableMassSpringForce.h} (65%) diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h index 51b3d906d..73607c61f 100644 --- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h +++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h @@ -229,6 +229,16 @@ public: { return m_latencyMotionStateInterpolation; } + + btAlignedObjectArray& getNonStaticRigidBodies() + { + return m_nonStaticRigidBodies; + } + + const btAlignedObjectArray& getNonStaticRigidBodies() const + { + return m_nonStaticRigidBodies; + } }; #endif //BT_DISCRETE_DYNAMICS_WORLD_H diff --git a/src/BulletSoftBody/btBackwardEulerObjective.h b/src/BulletSoftBody/btBackwardEulerObjective.h index 68f7f66fe..16ec0a542 100644 --- a/src/BulletSoftBody/btBackwardEulerObjective.h +++ b/src/BulletSoftBody/btBackwardEulerObjective.h @@ -1,5 +1,5 @@ // -// btBackwardEulerObjective.h +// btDeformableBackwardEulerObjective.h // BulletSoftBody // // Created by Xuchen Han on 7/1/19. @@ -11,27 +11,26 @@ #include "btConjugateGradient.h" #include "btLagrangianForce.h" #include "btMassSpring.h" -#include "btContactProjection.h" +#include "btDeformableContactProjection.h" #include "btPreconditioner.h" #include "btDeformableRigidDynamicsWorld.h" class btDeformableRigidDynamicsWorld; -class btBackwardEulerObjective +class btDeformableBackwardEulerObjective { public: using TVStack = btAlignedObjectArray; btScalar m_dt; - btConjugateGradient cg; btDeformableRigidDynamicsWorld* m_world; btAlignedObjectArray m_lf; btAlignedObjectArray& m_softBodies; Preconditioner* m_preconditioner; - btContactProjection projection; + btDeformableContactProjection projection; const TVStack& m_backupVelocity; - btBackwardEulerObjective(btAlignedObjectArray& softBodies, const TVStack& backup_v); + btDeformableBackwardEulerObjective(btAlignedObjectArray& softBodies, const TVStack& backup_v); - virtual ~btBackwardEulerObjective() {} + virtual ~btDeformableBackwardEulerObjective() {} void initialize(){} @@ -53,18 +52,14 @@ public: // perform A*x = b void multiply(const TVStack& x, TVStack& b) const; - // update the constraints treated as projections - void updateProjection(const TVStack& dv) - { - projection.update(dv, m_backupVelocity); - } - // set initial guess for CG solve void initialGuess(TVStack& dv, const TVStack& residual); // reset data structure void reinitialize(bool nodeUpdated); + void setDt(btScalar dt); + // enforce constraints in CG solve void enforceConstraint(TVStack& x) { @@ -82,10 +77,11 @@ public: } // update the projections and project the residual - void project(TVStack& r, const TVStack& dv) + void project(TVStack& r) { - updateProjection(dv); - projection(r); + projection.update(); + // TODO rename + projection.project(r); } // perform precondition M^(-1) x = b diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index ff5eecd8c..09055c7d1 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -8,53 +8,61 @@ #define BT_CG_PROJECTION_H #include "btSoftBody.h" +#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" #include class btDeformableRigidDynamicsWorld; -struct Constraint +struct DeformableContactConstraint { btAlignedObjectArray m_contact; btAlignedObjectArray m_direction; btAlignedObjectArray m_value; // the magnitude of the total impulse the node applied to the rb in the normal direction in the cg solve btAlignedObjectArray m_accumulated_normal_impulse; + btAlignedObjectArray m_normal_jacobian; - Constraint(const btSoftBody::RContact& rcontact) + DeformableContactConstraint(const btSoftBody::RContact& rcontact, const btMultiBodyJacobianData& jacobian) { - append(rcontact); + append(rcontact, jacobian); } - Constraint(const btVector3 dir) + DeformableContactConstraint(const btVector3 dir) { m_contact.push_back(nullptr); m_direction.push_back(dir); m_value.push_back(0); m_accumulated_normal_impulse.push_back(0); + btMultiBodyJacobianData j; + m_normal_jacobian.push_back(j); } - Constraint() + DeformableContactConstraint() { m_contact.push_back(nullptr); m_direction.push_back(btVector3(0,0,0)); m_value.push_back(0); m_accumulated_normal_impulse.push_back(0); + btMultiBodyJacobianData j; + m_normal_jacobian.push_back(j); } - void append(const btSoftBody::RContact& rcontact) + void append(const btSoftBody::RContact& rcontact, const btMultiBodyJacobianData& jacobian) { m_contact.push_back(&rcontact); m_direction.push_back(rcontact.m_cti.m_normal); m_value.push_back(0); m_accumulated_normal_impulse.push_back(0); + m_normal_jacobian.push_back(jacobian); } - ~Constraint() + ~DeformableContactConstraint() { } }; -struct Friction +struct DeformableFrictionConstraint { btAlignedObjectArray m_static; // whether the friction is static @@ -69,16 +77,24 @@ struct Friction btAlignedObjectArray m_direction_prev; btAlignedObjectArray m_released; // whether the contact is released - + btAlignedObjectArray m_complementary_jacobian; + btAlignedObjectArray m_complementaryDirection; // the total impulse the node applied to the rb in the tangential direction in the cg solve btAlignedObjectArray m_accumulated_tangent_impulse; - Friction() + + DeformableFrictionConstraint() { append(); } + DeformableFrictionConstraint(const btVector3& complementaryDir, const btMultiBodyJacobianData& jacobian) + { + append(); + addJacobian(complementaryDir, jacobian); + } + void append() { m_static.push_back(false); @@ -96,6 +112,13 @@ struct Friction m_accumulated_tangent_impulse.push_back(btVector3(0,0,0)); m_released.push_back(false); } + + void addJacobian(const btVector3& complementaryDir, const btMultiBodyJacobianData& jacobian) + { + m_complementary_jacobian.push_back(jacobian); + m_complementaryDirection.push_back(complementaryDir); + } + }; class btCGProjection @@ -109,8 +132,6 @@ public: btDeformableRigidDynamicsWorld* m_world; std::unordered_map m_indices; const btScalar& m_dt; - std::unordered_map > m_constraints; - std::unordered_map > m_frictions; btCGProjection(btAlignedObjectArray& softBodies, const btScalar& dt) : m_softBodies(softBodies) @@ -123,19 +144,17 @@ public: } // apply the constraints - virtual void operator()(TVStack& x) = 0; + virtual void project(TVStack& x) = 0; virtual void setConstraints() = 0; // update the constraints - virtual void update(const TVStack& dv, const TVStack& backup_v) = 0; + virtual void update() = 0; virtual void reinitialize(bool nodeUpdated) { if (nodeUpdated) updateId(); - m_constraints.clear(); - m_frictions.clear(); } void updateId() diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h index f23b26385..0c8384a00 100644 --- a/src/BulletSoftBody/btConjugateGradient.h +++ b/src/BulletSoftBody/btConjugateGradient.h @@ -36,7 +36,7 @@ public: // r = b - A * x --with assigned dof zeroed out A.multiply(x, temp); r = sub(b, temp); - A.project(r,x); + A.project(r); A.enforceConstraint(x); btScalar r_norm = std::sqrt(squaredNorm(r)); @@ -62,7 +62,7 @@ public: multAndAddTo(alpha, p, x); multAndAddTo(-alpha, temp, r); // zero out the dofs of r - A.project(r,x); + A.project(r); A.enforceConstraint(x); r_norm = std::sqrt(squaredNorm(r)); diff --git a/src/BulletSoftBody/btContactProjection.cpp b/src/BulletSoftBody/btContactProjection.cpp index cf2e05e59..99ab6f473 100644 --- a/src/BulletSoftBody/btContactProjection.cpp +++ b/src/BulletSoftBody/btContactProjection.cpp @@ -1,14 +1,47 @@ // -// btContactProjection.cpp +// btDeformableContactProjection.cpp // BulletSoftBody // // Created by Xuchen Han on 7/4/19. // -#include "btContactProjection.h" +#include "btDeformableContactProjection.h" #include "btDeformableRigidDynamicsWorld.h" #include -void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocity) +static void findJacobian(const btMultiBodyLinkCollider* multibodyLinkCol, + btMultiBodyJacobianData& jacobianData, + const btVector3& contact_point, + const btVector3& dir) +{ + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + jacobianData.m_jacobians.resize(ndof); + jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof); + btScalar* jac = &jacobianData.m_jacobians[0]; + + multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, contact_point, dir, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m); + multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0], &jacobianData.m_deltaVelocitiesUnitImpulse[0], jacobianData.scratch_r, jacobianData.scratch_v); +} + +static btVector3 generateUnitOrthogonalVector(const btVector3& u) +{ + btScalar ux = u.getX(); + btScalar uy = u.getY(); + btScalar uz = u.getZ(); + btScalar ax = std::abs(ux); + btScalar ay = std::abs(uy); + btScalar az = std::abs(uz); + btVector3 v; + if (ax <= ay && ax <= az) + v = btVector3(0, -uz, uy); + else if (ay <= ax && ay <= az) + v = btVector3(-uz, 0, ux); + else + v = btVector3(-uy, ux, 0); + v.normalize(); + return v; +} + +void btDeformableContactProjection::update() { ///solve rigid body constraints m_world->getSolverInfo().m_numIterations = 10; @@ -32,13 +65,17 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit } const btSoftBody::RContact* c = constraint.m_contact[j]; const btSoftBody::sCti& cti = c->m_cti; - btMultiBodyJacobianData jacobianData; + + // normal jacobian is precompute but tangent jacobian is not + const btMultiBodyJacobianData& jacobianData_normal = constraint.m_normal_jacobian[j]; + const btMultiBodyJacobianData& jacobianData_complementary = friction.m_complementary_jacobian[j]; + if (cti.m_colObj->hasContactResponse()) { btVector3 va(0, 0, 0); btRigidBody* rigidCol = 0; btMultiBodyLinkCollider* multibodyLinkCol = 0; - btScalar* deltaV; + const btScalar* deltaV_normal; // grab the velocity of the rigid body if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) @@ -52,20 +89,25 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit if (multibodyLinkCol) { const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; - jacobianData.m_jacobians.resize(ndof); - jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof); - btScalar* jac = &jacobianData.m_jacobians[0]; - - multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, c->m_node->m_x, cti.m_normal, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m); - deltaV = &jacobianData.m_deltaVelocitiesUnitImpulse[0]; - multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0], deltaV, jacobianData.scratch_r, jacobianData.scratch_v); + const btScalar* jac_normal = &jacobianData_normal.m_jacobians[0]; + deltaV_normal = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + // add in the normal component of the va btScalar vel = 0.0; for (int k = 0; k < ndof; ++k) { - vel += multibodyLinkCol->m_multiBody->getVelocityVector()[k] * jac[k]; + vel += multibodyLinkCol->m_multiBody->getVelocityVector()[k] * jac_normal[k]; } va = cti.m_normal * vel * m_dt; + + // add in complementary direction of va + const btScalar* jac_complementary = &jacobianData_complementary.m_jacobians[0]; + vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += multibodyLinkCol->m_multiBody->getVelocityVector()[k] * jac_complementary[k]; + } + va += friction.m_complementaryDirection[j] * vel * m_dt; } } @@ -109,7 +151,7 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit else { friction.m_static[j] = true; - friction.m_impulse[j] = local_tangent_norm; + friction.m_impulse[j] = tangent_norm; } } else @@ -125,15 +167,22 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit // the incremental impulse applied to rb in the tangential direction btVector3 incremental_tangent = (friction.m_impulse_prev[j] * friction.m_direction_prev[j])-(friction.m_impulse[j] * friction.m_direction[j]); + // TODO cleanup if (1) // in the same CG solve, the set of constraits doesn't change { // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient // dv = new_impulse + accumulated velocity change in previous CG iterations // so we have the invariant node->m_v = backupVelocity + dv; -// btVector3 dv = -impulse_normal * c->m_c2/m_dt + c->m_node->m_v - backupVelocity[m_indices[c->m_node]]; -// btScalar dvn = dv.dot(cti.m_normal); + btScalar dvn = -accumulated_normal * c->m_c2/m_dt; + + // the following is equivalent + /* + btVector3 dv = -impulse_normal * c->m_c2/m_dt + c->m_node->m_v - backupVelocity[m_indices[c->m_node]]; + btScalar dvn = dv.dot(cti.m_normal); + */ + constraint.m_value[j] = dvn; // the incremental impulse: @@ -147,10 +196,20 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit } else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) { + if (multibodyLinkCol) { - double multiplier = 0.5; - multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV, -impulse.length() * multiplier); + double multiplier = 1; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_normal, -impulse_normal.length() * multiplier); + + if (incremental_tangent.norm() > SIMD_EPSILON) + { + btMultiBodyJacobianData jacobian_tangent; + btVector3 tangent = incremental_tangent.normalized(); + findJacobian(multibodyLinkCol, jacobian_tangent, c->m_node->m_x, tangent); + const btScalar* deltaV_tangent = &jacobian_tangent.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_tangent, incremental_tangent.length() * multiplier); + } } } } @@ -160,7 +219,7 @@ void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocit } } -void btContactProjection::setConstraints() +void btDeformableContactProjection::setConstraints() { // set Dirichlet constraint for (int i = 0; i < m_softBodies.size(); ++i) @@ -188,8 +247,8 @@ void btContactProjection::setConstraints() for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; - btMultiBodyJacobianData jacobianData; - btAlignedObjectArray jacobian; + btMultiBodyJacobianData jacobianData_normal; + btMultiBodyJacobianData jacobianData_complementary; for (int j = 0; j < psb->m_rcontacts.size(); ++j) { @@ -206,7 +265,6 @@ void btContactProjection::setConstraints() btVector3 va(0, 0, 0); btRigidBody* rigidCol = 0; btMultiBodyLinkCollider* multibodyLinkCol = 0; - btScalar* deltaV; // grab the velocity of the rigid body if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) @@ -216,25 +274,18 @@ void btContactProjection::setConstraints() } else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) { - jacobian.clear(); multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); if (multibodyLinkCol) { - const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; - jacobianData.m_jacobians.resize(ndof); - jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof); - btScalar* jac = &jacobianData.m_jacobians[0]; - - multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, c.m_node->m_x, cti.m_normal, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m); - deltaV = &jacobianData.m_deltaVelocitiesUnitImpulse[0]; - multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0], deltaV, jacobianData.scratch_r, jacobianData.scratch_v); - + findJacobian(multibodyLinkCol, jacobianData_normal, c.m_node->m_x, cti.m_normal); btScalar vel = 0.0; - jacobian.resize(ndof); + const btScalar* jac = &jacobianData_normal.m_jacobians[0]; + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; for (int j = 0; j < ndof; ++j) { vel += multibodyLinkCol->m_multiBody->getVelocityVector()[j] * jac[j]; - jacobian[j] = jac[j]; + std::cout << multibodyLinkCol->m_multiBody->getVelocityVector()[j] << std::endl; + std::cout << jac[j] << std::endl; } va = cti.m_normal * vel * m_dt; } @@ -245,13 +296,25 @@ void btContactProjection::setConstraints() const btScalar dn = btDot(vr, cti.m_normal); if (dn < SIMD_EPSILON) { + // find complementary jacobian + btVector3 complementaryDirection; + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + complementaryDirection = generateUnitOrthogonalVector(cti.m_normal); + findJacobian(multibodyLinkCol, jacobianData_complementary, c.m_node->m_x, complementaryDirection); + } + } + if (m_constraints.find(c.m_node) == m_constraints.end()) { btAlignedObjectArray constraints; - constraints.push_back(Constraint(c)); + constraints.push_back(Constraint(c, jacobianData_normal)); m_constraints[c.m_node] = constraints; btAlignedObjectArray frictions; - frictions.push_back(Friction()); + frictions.push_back(Friction(complementaryDirection, jacobianData_complementary)); m_frictions[c.m_node] = frictions; } else @@ -268,9 +331,10 @@ void btContactProjection::setConstraints() if (std::abs(std::abs(dot_prod) - 1) < angle_epsilon) { // group the constraints - constraints[j].append(c); + constraints[j].append(c, jacobianData_normal); // push in an empty friction frictions[j].append(); + frictions[j].addJacobian(complementaryDirection, jacobianData_complementary); merged = true; break; } @@ -279,8 +343,8 @@ void btContactProjection::setConstraints() // hard coded no more than 3 constraint directions if (!merged && constraints.size() < dim) { - constraints.push_back(Constraint(c)); - frictions.push_back(Friction()); + constraints.push_back(Constraint(c, jacobianData_normal)); + frictions.push_back(Friction(complementaryDirection, jacobianData_complementary)); } } } @@ -289,7 +353,7 @@ void btContactProjection::setConstraints() } } -void btContactProjection::enforceConstraint(TVStack& x) +void btDeformableContactProjection::enforceConstraint(TVStack& x) { const int dim = 3; for (auto& it : m_constraints) @@ -356,7 +420,7 @@ void btContactProjection::enforceConstraint(TVStack& x) } } -void btContactProjection::operator()(TVStack& x) +void btDeformableContactProjection::project(TVStack& x) { const int dim = 3; for (auto& it : m_constraints) @@ -412,3 +476,13 @@ void btContactProjection::operator()(TVStack& x) } } } + +void btDeformableContactProjection::reinitialize(bool nodeUpdated) +{ + btCGProjection::reinitialize(nodeUpdated); + m_constraints.clear(); + m_frictions.clear(); +} + + + diff --git a/src/BulletSoftBody/btBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp similarity index 67% rename from src/BulletSoftBody/btBackwardEulerObjective.cpp rename to src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index 024cc66b6..31b0905ac 100644 --- a/src/BulletSoftBody/btBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -1,26 +1,26 @@ // -// btBackwardEulerObjective.cpp +// btDeformableBackwardEulerObjective.cpp // BulletSoftBody // // Created by Xuchen Han on 7/9/19. // -#include "btBackwardEulerObjective.h" +#include "btDeformableBackwardEulerObjective.h" -btBackwardEulerObjective::btBackwardEulerObjective(btAlignedObjectArray& softBodies, const TVStack& backup_v) -: cg(10) -, m_softBodies(softBodies) +btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAlignedObjectArray& softBodies, const TVStack& backup_v) +: m_softBodies(softBodies) , projection(m_softBodies, m_dt) , m_backupVelocity(backup_v) { // TODO: this should really be specified in initialization instead of here - btMassSpring* mass_spring = new btMassSpring(m_softBodies); -// m_preconditioner = new MassPreconditioner(m_softBodies); + btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(m_softBodies); + btDeformableGravityForce* gravity = new btDeformableGravityForce(m_softBodies, btVector3(0,-10,0)); m_preconditioner = new DefaultPreconditioner(); m_lf.push_back(mass_spring); + m_lf.push_back(gravity); } -void btBackwardEulerObjective::reinitialize(bool nodeUpdated) +void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated) { if(nodeUpdated) { @@ -34,8 +34,12 @@ void btBackwardEulerObjective::reinitialize(bool nodeUpdated) m_preconditioner->reinitialize(nodeUpdated); } +void btDeformableBackwardEulerObjective::setDt(btScalar dt) +{ + m_dt = dt; +} -void btBackwardEulerObjective::multiply(const TVStack& x, TVStack& b) const +void btDeformableBackwardEulerObjective::multiply(const TVStack& x, TVStack& b) const { for (int i = 0; i < b.size(); ++i) b[i].setZero(); @@ -56,18 +60,11 @@ void btBackwardEulerObjective::multiply(const TVStack& x, TVStack& b) const for (int i = 0; i < m_lf.size(); ++i) { // add damping matrix - m_lf[i]->addScaledDampingForceDifferential(-m_dt, x, b); + m_lf[i]->addScaledForceDifferential(-m_dt, x, b); } } -void btBackwardEulerObjective::computeStep(TVStack& dv, const TVStack& residual, const btScalar& dt) -{ - m_dt = dt; - btScalar tolerance = std::numeric_limits::epsilon()* 1024 * computeNorm(residual); - cg.solve(*this, dv, residual, tolerance); -} - -void btBackwardEulerObjective::updateVelocity(const TVStack& dv) +void btDeformableBackwardEulerObjective::updateVelocity(const TVStack& dv) { // only the velocity of the constrained nodes needs to be updated during CG solve for (auto it : projection.m_constraints) @@ -77,7 +74,7 @@ void btBackwardEulerObjective::updateVelocity(const TVStack& dv) } } -void btBackwardEulerObjective::applyForce(TVStack& force, bool setZero) +void btDeformableBackwardEulerObjective::applyForce(TVStack& force, bool setZero) { size_t counter = 0; for (int i = 0; i < m_softBodies.size(); ++i) @@ -96,7 +93,7 @@ void btBackwardEulerObjective::applyForce(TVStack& force, bool setZero) } } -void btBackwardEulerObjective::computeResidual(btScalar dt, TVStack &residual) const +void btDeformableBackwardEulerObjective::computeResidual(btScalar dt, TVStack &residual) const { // add implicit force for (int i = 0; i < m_lf.size(); ++i) @@ -105,7 +102,7 @@ void btBackwardEulerObjective::computeResidual(btScalar dt, TVStack &residual) c } } -btScalar btBackwardEulerObjective::computeNorm(const TVStack& residual) const +btScalar btDeformableBackwardEulerObjective::computeNorm(const TVStack& residual) const { btScalar norm_squared = 0; for (int i = 0; i < residual.size(); ++i) @@ -115,14 +112,14 @@ btScalar btBackwardEulerObjective::computeNorm(const TVStack& residual) const return std::sqrt(norm_squared+SIMD_EPSILON); } -void btBackwardEulerObjective::applyExplicitForce(TVStack& force) +void btDeformableBackwardEulerObjective::applyExplicitForce(TVStack& force) { for (int i = 0; i < m_lf.size(); ++i) m_lf[i]->addScaledExplicitForce(m_dt, force); applyForce(force, true); } -void btBackwardEulerObjective::initialGuess(TVStack& dv, const TVStack& residual) +void btDeformableBackwardEulerObjective::initialGuess(TVStack& dv, const TVStack& residual) { size_t counter = 0; for (int i = 0; i < m_softBodies.size(); ++i) diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h new file mode 100644 index 000000000..bfd4ca3af --- /dev/null +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -0,0 +1,100 @@ +// +// btDeformableBackwardEulerObjective.h +// BulletSoftBody +// +// Created by Xuchen Han on 7/1/19. +// + +#ifndef BT_BACKWARD_EULER_OBJECTIVE_H +#define BT_BACKWARD_EULER_OBJECTIVE_H +#include +#include "btConjugateGradient.h" +#include "btDeformableLagrangianForce.h" +#include "btDeformableMassSpringForce.h" +#include "btDeformableGravityForce.h" +#include "btDeformableContactProjection.h" +#include "btPreconditioner.h" +#include "btDeformableRigidDynamicsWorld.h" + +class btDeformableRigidDynamicsWorld; +class btDeformableBackwardEulerObjective +{ +public: + using TVStack = btAlignedObjectArray; + btScalar m_dt; + btDeformableRigidDynamicsWorld* m_world; + btAlignedObjectArray m_lf; + btAlignedObjectArray& m_softBodies; + Preconditioner* m_preconditioner; + btDeformableContactProjection projection; + const TVStack& m_backupVelocity; + + btDeformableBackwardEulerObjective(btAlignedObjectArray& softBodies, const TVStack& backup_v); + + virtual ~btDeformableBackwardEulerObjective() {} + + void initialize(){} + + // compute the rhs for CG solve, i.e, add the dt scaled implicit force to residual + void computeResidual(btScalar dt, TVStack& residual) const; + + // add explicit force to the velocity + void applyExplicitForce(TVStack& force); + + // apply force to velocity and optionally reset the force to zero + void applyForce(TVStack& force, bool setZero); + + // compute the norm of the residual + btScalar computeNorm(const TVStack& residual) const; + + // compute one step of the solve (there is only one solve if the system is linear) + void computeStep(TVStack& dv, const TVStack& residual, const btScalar& dt); + + // perform A*x = b + void multiply(const TVStack& x, TVStack& b) const; + + // set initial guess for CG solve + void initialGuess(TVStack& dv, const TVStack& residual); + + // reset data structure + void reinitialize(bool nodeUpdated); + + void setDt(btScalar dt); + + // enforce constraints in CG solve + void enforceConstraint(TVStack& x) + { + projection.enforceConstraint(x); + updateVelocity(x); + } + + // add dv to velocity + void updateVelocity(const TVStack& dv); + + //set constraints as projections + void setConstraints() + { + projection.setConstraints(); + } + + // update the projections and project the residual + void project(TVStack& r) + { + projection.update(); + projection.project(r); + } + + // perform precondition M^(-1) x = b + void precondition(const TVStack& x, TVStack& b) + { + m_preconditioner->operator()(x,b); + } + + virtual void setWorld(btDeformableRigidDynamicsWorld* world) + { + m_world = world; + projection.setWorld(world); + } +}; + +#endif /* btBackwardEulerObjective_h */ diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index f98dfacbb..96d2e0029 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -10,11 +10,9 @@ btDeformableBodySolver::btDeformableBodySolver() : m_numNodes(0) -, m_solveIterations(1) -, m_impulseIterations(1) -, m_world(nullptr) +, cg(10) { - m_objective = new btBackwardEulerObjective(m_softBodySet, m_backupVelocity); + m_objective = new btDeformableBackwardEulerObjective(m_softBodySet, m_backupVelocity); } btDeformableBodySolver::~btDeformableBodySolver() @@ -22,124 +20,31 @@ btDeformableBodySolver::~btDeformableBodySolver() delete m_objective; } -void btDeformableBodySolver::postStabilize() -{ - for (int i = 0; i < m_softBodySet.size(); ++i) - { - btSoftBody* psb = m_softBodySet[i]; - btMultiBodyJacobianData jacobianData; - const btScalar mrg = psb->getCollisionShape()->getMargin(); - for (int j = 0; j < psb->m_rcontacts.size(); ++j) - { - const btSoftBody::RContact& c = psb->m_rcontacts[j]; - // skip anchor points - if (c.m_node->m_im == 0) - continue; - - const btSoftBody::sCti& cti = c.m_cti; - if (cti.m_colObj->hasContactResponse()) - { - btVector3 va(0, 0, 0); - btRigidBody* rigidCol = 0; - btMultiBodyLinkCollider* multibodyLinkCol = 0; - btScalar* deltaV; - - // grab the velocity of the rigid body - if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) - { - rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); - va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c.m_c1)) * m_dt : btVector3(0, 0, 0); - } - else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) - { - multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); - if (multibodyLinkCol) - { - const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; - jacobianData.m_jacobians.resize(ndof); - jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof); - btScalar* jac = &jacobianData.m_jacobians[0]; - - multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, c.m_node->m_x, cti.m_normal, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m); - deltaV = &jacobianData.m_deltaVelocitiesUnitImpulse[0]; - multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0], deltaV, jacobianData.scratch_r, jacobianData.scratch_v); - - btScalar vel = 0.0; - for (int j = 0; j < ndof; ++j) - { - vel += multibodyLinkCol->m_multiBody->getVelocityVector()[j] * jac[j]; - } - va = cti.m_normal * vel * m_dt; - } - } - - const btVector3 vb = c.m_node->m_v * m_dt; - const btVector3 vr = vb - va; - const btScalar dn = btDot(vr, cti.m_normal); - - btScalar dp = btMin((btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg); -// dp += mrg; - // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient - - btScalar dvn = dn * c.m_c4; - const btVector3 impulse = c.m_c0 * ((cti.m_normal * (dn * c.m_c4))); - // TODO: only contact is considered here, add friction later - if (dp < 0) - { - bool two_way = false; - if (two_way) - { - c.m_node->m_x -= impulse * c.m_c2; - - if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) - { - if (rigidCol) - rigidCol->applyImpulse(impulse, c.m_c1); - } - else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) - { - if (multibodyLinkCol) - { - double multiplier = 0.5; - multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV, -impulse.length() * multiplier); - } - } - } - else - c.m_node->m_x -= dp * cti.m_normal * c.m_c4; - } - } - } - } -} - void btDeformableBodySolver::solveConstraints(float solverdt) { - m_dt = solverdt; - bool nodeUpdated = updateNodes(); - reinitialize(nodeUpdated); - - // apply explicit force - m_objective->applyExplicitForce(m_residual); + m_objective->setDt(solverdt); // add constraints to the solver setConstraints(); + // save v_{n+1}^* velocity after explicit forces backupVelocity(); - - for (int i = 0; i < m_solveIterations; ++i) - { - m_objective->computeResidual(solverdt, m_residual); - m_objective->initialGuess(m_dv, m_residual); - m_objective->computeStep(m_dv, m_residual, solverdt); - updateVelocity(); - } - advect(solverdt); - postStabilize(); + m_objective->computeResidual(solverdt, m_residual); +// m_objective->initialGuess(m_dv, m_residual); + computeStep(m_dv, m_residual); + updateVelocity(); } -void btDeformableBodySolver::reinitialize(bool nodeUpdated) +void btDeformableBodySolver::computeStep(TVStack& dv, const TVStack& residual) { + btScalar tolerance = std::numeric_limits::epsilon()* 1024 * m_objective->computeNorm(residual); + cg.solve(*m_objective, dv, residual, tolerance); +} + +void btDeformableBodySolver::reinitialize(const btAlignedObjectArray& softBodies) +{ + m_softBodySet.copyFromArray(softBodies); + bool nodeUpdated = updateNodes(); if (nodeUpdated) { m_dv.resize(m_numNodes); @@ -161,7 +66,6 @@ void btDeformableBodySolver::setConstraints() void btDeformableBodySolver::setWorld(btDeformableRigidDynamicsWorld* world) { - m_world = world; m_objective->setWorld(world); } @@ -180,20 +84,6 @@ void btDeformableBodySolver::updateVelocity() } } - -void btDeformableBodySolver::advect(btScalar dt) -{ - for (int i = 0; i < m_softBodySet.size(); ++i) - { - btSoftBody* psb = m_softBodySet[i]; - for (int j = 0; j < psb->m_nodes.size(); ++j) - { - auto& node = psb->m_nodes[j]; - node.m_x = node.m_q + dt * node.m_v; - } - } -} - void btDeformableBodySolver::backupVelocity() { // serial implementation @@ -231,11 +121,53 @@ void btDeformableBodySolver::predictMotion(float solverdt) if (psb->isActive()) { - psb->predictMotion(solverdt); + // apply explicit forces to velocity + m_objective->applyExplicitForce(m_residual); + // predict motion for collision detection + predictDeformableMotion(psb, solverdt); } } } +void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar dt) +{ + int i, ni; + + /* Prepare */ + psb->m_sst.sdt = dt * psb->m_cfg.timescale; + psb->m_sst.isdt = 1 / psb->m_sst.sdt; + psb->m_sst.velmrg = psb->m_sst.sdt * 3; + psb->m_sst.radmrg = psb->getCollisionShape()->getMargin(); + psb->m_sst.updmrg = psb->m_sst.radmrg * (btScalar)0.25; + /* Integrate */ + for (i = 0, ni = psb->m_nodes.size(); i < ni; ++i) + { + btSoftBody::Node& n = psb->m_nodes[i]; + n.m_q = n.m_x; + n.m_x += n.m_v * dt; + } + /* Bounds */ + psb->updateBounds(); + /* Nodes */ + ATTRIBUTE_ALIGNED16(btDbvtVolume) + vol; + for (i = 0, ni = psb->m_nodes.size(); i < ni; ++i) + { + btSoftBody::Node& n = psb->m_nodes[i]; + vol = btDbvtVolume::FromCR(n.m_x, psb->m_sst.radmrg); + psb->m_ndbvt.update(n.m_leaf, + vol, + n.m_v * psb->m_sst.velmrg, + psb->m_sst.updmrg); + } + + /* Clear contacts */ + psb->m_rcontacts.resize(0); + psb->m_scontacts.resize(0); + /* Optimize dbvt's */ + psb->m_ndbvt.optimizeIncremental(1); +} + void btDeformableBodySolver::updateSoftBodies() { for (int i = 0; i < m_softBodySet.size(); i++) @@ -243,7 +175,7 @@ void btDeformableBodySolver::updateSoftBodies() btSoftBody *psb = (btSoftBody *)m_softBodySet[i]; if (psb->isActive()) { - psb->integrateMotion(); // normal is updated here + psb->updateNormals(); // normal is updated here } } } diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index a1cd45077..570cce90f 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -10,31 +10,27 @@ #include #include "btSoftBodySolvers.h" -#include "btBackwardEulerObjective.h" +#include "btDeformableBackwardEulerObjective.h" #include "btDeformableRigidDynamicsWorld.h" #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" struct btCollisionObjectWrapper; -class btBackwardEulerObjective; +class btDeformableBackwardEulerObjective; class btDeformableRigidDynamicsWorld; class btDeformableBodySolver : public btSoftBodySolver { using TVStack = btAlignedObjectArray; protected: - /** Variable to define whether we need to update solver constants on the next iteration */ - bool m_updateSolverConstants; int m_numNodes; TVStack m_dv; TVStack m_residual; btAlignedObjectArray m_softBodySet; - btBackwardEulerObjective* m_objective; - int m_solveIterations; - int m_impulseIterations; - btDeformableRigidDynamicsWorld* m_world; + btDeformableBackwardEulerObjective* m_objective; btAlignedObjectArray m_backupVelocity; btScalar m_dt; + btConjugateGradient cg; public: btDeformableBodySolver(); @@ -45,30 +41,20 @@ public: { return DEFORMABLE_SOLVER; } - - virtual bool checkInitialized() - { - return true; - } virtual void updateSoftBodies(); - - virtual void optimize(btAlignedObjectArray &softBodies, bool forceUpdate = false) - { - m_softBodySet.copyFromArray(softBodies); - } virtual void copyBackToSoftBodies(bool bMove = true) {} + void extracted(float solverdt); + virtual void solveConstraints(float solverdt); - void postStabilize(); - - void reinitialize(bool nodeUpdated); + void reinitialize(const btAlignedObjectArray& softBodies); void setConstraints(); - void advect(btScalar dt); + void predictDeformableMotion(btSoftBody* psb, btScalar dt); void backupVelocity(); @@ -76,6 +62,8 @@ public: bool updateNodes(); + void computeStep(TVStack& dv, const TVStack& residual); + virtual void predictMotion(float solverdt); virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer) {} @@ -88,7 +76,8 @@ public: virtual void processCollision(btSoftBody * softBody, btSoftBody * otherSoftBody) { softBody->defaultCollisionHandler(otherSoftBody); } - + virtual void optimize(btAlignedObjectArray &softBodies, bool forceUpdate = false){} + virtual bool checkInitialized(){return true;} virtual void setWorld(btDeformableRigidDynamicsWorld* world); }; diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp new file mode 100644 index 000000000..e81cb2c50 --- /dev/null +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -0,0 +1,488 @@ +// +// btDeformableContactProjection.cpp +// BulletSoftBody +// +// Created by Xuchen Han on 7/4/19. +// + +#include "btDeformableContactProjection.h" +#include "btDeformableRigidDynamicsWorld.h" +#include +static void findJacobian(const btMultiBodyLinkCollider* multibodyLinkCol, + btMultiBodyJacobianData& jacobianData, + const btVector3& contact_point, + const btVector3& dir) +{ + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + jacobianData.m_jacobians.resize(ndof); + jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof); + btScalar* jac = &jacobianData.m_jacobians[0]; + + multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, contact_point, dir, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m); + multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0], &jacobianData.m_deltaVelocitiesUnitImpulse[0], jacobianData.scratch_r, jacobianData.scratch_v); +} + +static btVector3 generateUnitOrthogonalVector(const btVector3& u) +{ + btScalar ux = u.getX(); + btScalar uy = u.getY(); + btScalar uz = u.getZ(); + btScalar ax = std::abs(ux); + btScalar ay = std::abs(uy); + btScalar az = std::abs(uz); + btVector3 v; + if (ax <= ay && ax <= az) + v = btVector3(0, -uz, uy); + else if (ay <= ax && ay <= az) + v = btVector3(-uz, 0, ux); + else + v = btVector3(-uy, ux, 0); + v.normalize(); + return v; +} + +void btDeformableContactProjection::update() +{ + ///solve rigid body constraints + m_world->getSolverInfo().m_numIterations = 10; + m_world->btMultiBodyDynamicsWorld::solveConstraints(m_world->getSolverInfo()); + + // loop through constraints to set constrained values + for (auto& it : m_constraints) + { + btAlignedObjectArray& frictions = m_frictions[it.first]; + btAlignedObjectArray& constraints = it.second; + for (int i = 0; i < constraints.size(); ++i) + { + DeformableContactConstraint& constraint = constraints[i]; + DeformableFrictionConstraint& friction = frictions[i]; + for (int j = 0; j < constraint.m_contact.size(); ++j) + { + if (constraint.m_contact[j] == nullptr) + { + // nothing needs to be done for dirichelet constraints + continue; + } + const btSoftBody::RContact* c = constraint.m_contact[j]; + const btSoftBody::sCti& cti = c->m_cti; + + // normal jacobian is precompute but tangent jacobian is not + const btMultiBodyJacobianData& jacobianData_normal = constraint.m_normal_jacobian[j]; + const btMultiBodyJacobianData& jacobianData_complementary = friction.m_complementary_jacobian[j]; + + if (cti.m_colObj->hasContactResponse()) + { + btVector3 va(0, 0, 0); + btRigidBody* rigidCol = 0; + btMultiBodyLinkCollider* multibodyLinkCol = 0; + const btScalar* deltaV_normal; + + // grab the velocity of the rigid body + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c->m_c1)) * m_dt : btVector3(0, 0, 0); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + const btScalar* jac_normal = &jacobianData_normal.m_jacobians[0]; + deltaV_normal = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + + // add in the normal component of the va + btScalar vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += multibodyLinkCol->m_multiBody->getVelocityVector()[k] * jac_normal[k]; + } + va = cti.m_normal * vel * m_dt; + + // add in complementary direction of va + const btScalar* jac_complementary = &jacobianData_complementary.m_jacobians[0]; + vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += multibodyLinkCol->m_multiBody->getVelocityVector()[k] * jac_complementary[k]; + } + va += friction.m_complementaryDirection[j] * vel * m_dt; + } + } + + const btVector3 vb = c->m_node->m_v * m_dt; + const btVector3 vr = vb - va; + const btScalar dn = btDot(vr, cti.m_normal); + btVector3 impulse = c->m_c0 * vr; + const btVector3 impulse_normal = c->m_c0 * (cti.m_normal * dn); + const btVector3 impulse_tangent = impulse - impulse_normal; + + // start friction handling + // copy old data + friction.m_impulse_prev[j] = friction.m_impulse[j]; + friction.m_dv_prev[j] = friction.m_dv[j]; + friction.m_static_prev[j] = friction.m_static[j]; + + // get the current tangent direction + btScalar local_tangent_norm = impulse_tangent.norm(); + btVector3 local_tangent_dir = btVector3(0,0,0); + if (local_tangent_norm > SIMD_EPSILON) + local_tangent_dir = impulse_tangent.normalized(); + + // accumulated impulse on the rb in this and all prev cg iterations + constraint.m_accumulated_normal_impulse[j] += impulse_normal.dot(cti.m_normal); + const btScalar& accumulated_normal = constraint.m_accumulated_normal_impulse[j]; + + // the total tangential impulse required to stop sliding + btVector3 tangent = friction.m_accumulated_tangent_impulse[j] + impulse_tangent; + btScalar tangent_norm = tangent.norm(); + + if (accumulated_normal < 0) + { + friction.m_direction[j] = -local_tangent_dir; + // do not allow switching from static friction to dynamic friction + // it causes cg to explode + if (-accumulated_normal*c->m_c3 < tangent_norm && friction.m_static_prev[j] == false && friction.m_released[j] == false) + { + friction.m_static[j] = false; + friction.m_impulse[j] = -accumulated_normal*c->m_c3; + } + else + { + friction.m_static[j] = true; + friction.m_impulse[j] = tangent_norm; + } + } + else + { + friction.m_released[j] = true; + friction.m_static[j] = false; + friction.m_impulse[j] = 0; + friction.m_direction[j] = btVector3(0,0,0); + } + friction.m_dv[j] = friction.m_impulse[j] * c->m_c2/m_dt; + friction.m_accumulated_tangent_impulse[j] = -friction.m_impulse[j] * friction.m_direction[j]; + + // the incremental impulse applied to rb in the tangential direction + btVector3 incremental_tangent = (friction.m_impulse_prev[j] * friction.m_direction_prev[j])-(friction.m_impulse[j] * friction.m_direction[j]); + + // TODO cleanup + if (1) // in the same CG solve, the set of constraits doesn't change + { + // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient + + // dv = new_impulse + accumulated velocity change in previous CG iterations + // so we have the invariant node->m_v = backupVelocity + dv; + + btScalar dvn = -accumulated_normal * c->m_c2/m_dt; + + // the following is equivalent + /* + btVector3 dv = -impulse_normal * c->m_c2/m_dt + c->m_node->m_v - backupVelocity[m_indices[c->m_node]]; + btScalar dvn = dv.dot(cti.m_normal); + */ + + constraint.m_value[j] = dvn; + + // the incremental impulse: + // in the normal direction it's the normal component of "impulse" + // in the tangent direction it's the difference between the frictional impulse in the iteration and the previous iteration + impulse = impulse_normal + incremental_tangent; + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + if (rigidCol) + rigidCol->applyImpulse(impulse, c->m_c1); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + + if (multibodyLinkCol) + { + double multiplier = 1; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_normal, -impulse_normal.length() * multiplier); + + if (incremental_tangent.norm() > SIMD_EPSILON) + { + btMultiBodyJacobianData jacobian_tangent; + btVector3 tangent = incremental_tangent.normalized(); + findJacobian(multibodyLinkCol, jacobian_tangent, c->m_node->m_x, tangent); + const btScalar* deltaV_tangent = &jacobian_tangent.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_tangent, incremental_tangent.length() * multiplier); + } + } + } + } + } + } + } + } +} + +void btDeformableContactProjection::setConstraints() +{ + // set Dirichlet constraint + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + if (psb->m_nodes[j].m_im == 0) + { + btAlignedObjectArray c; + c.push_back(DeformableContactConstraint(btVector3(1,0,0))); + c.push_back(DeformableContactConstraint(btVector3(0,1,0))); + c.push_back(DeformableContactConstraint(btVector3(0,0,1))); + m_constraints[&(psb->m_nodes[j])] = c; + + btAlignedObjectArray f; + f.push_back(DeformableFrictionConstraint()); + f.push_back(DeformableFrictionConstraint()); + f.push_back(DeformableFrictionConstraint()); + m_frictions[&(psb->m_nodes[j])] = f; + } + } + } + + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + btMultiBodyJacobianData jacobianData_normal; + btMultiBodyJacobianData jacobianData_complementary; + + for (int j = 0; j < psb->m_rcontacts.size(); ++j) + { + const btSoftBody::RContact& c = psb->m_rcontacts[j]; + // skip anchor points + if (c.m_node->m_im == 0) + { + continue; + } + + const btSoftBody::sCti& cti = c.m_cti; + if (cti.m_colObj->hasContactResponse()) + { + btVector3 va(0, 0, 0); + btRigidBody* rigidCol = 0; + btMultiBodyLinkCollider* multibodyLinkCol = 0; + + // grab the velocity of the rigid body + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c.m_c1)) * m_dt : btVector3(0, 0, 0); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + findJacobian(multibodyLinkCol, jacobianData_normal, c.m_node->m_x, cti.m_normal); + btScalar vel = 0.0; + const btScalar* jac = &jacobianData_normal.m_jacobians[0]; + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + for (int j = 0; j < ndof; ++j) + { + vel += multibodyLinkCol->m_multiBody->getVelocityVector()[j] * jac[j]; + std::cout << multibodyLinkCol->m_multiBody->getVelocityVector()[j] << std::endl; + std::cout << jac[j] << std::endl; + } + va = cti.m_normal * vel * m_dt; + } + } + + const btVector3 vb = c.m_node->m_v * m_dt; + const btVector3 vr = vb - va; + const btScalar dn = btDot(vr, cti.m_normal); + if (dn < SIMD_EPSILON) + { + // find complementary jacobian + btVector3 complementaryDirection; + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + complementaryDirection = generateUnitOrthogonalVector(cti.m_normal); + findJacobian(multibodyLinkCol, jacobianData_complementary, c.m_node->m_x, complementaryDirection); + } + } + + if (m_constraints.find(c.m_node) == m_constraints.end()) + { + btAlignedObjectArray constraints; + constraints.push_back(DeformableContactConstraint(c, jacobianData_normal)); + m_constraints[c.m_node] = constraints; + btAlignedObjectArray frictions; + frictions.push_back(DeformableFrictionConstraint(complementaryDirection, jacobianData_complementary)); + m_frictions[c.m_node] = frictions; + } + else + { + // group colinear constraints into one + const btScalar angle_epsilon = 0.015192247; // less than 10 degree + bool merged = false; + btAlignedObjectArray& constraints = m_constraints[c.m_node]; + btAlignedObjectArray& frictions = m_frictions[c.m_node]; + for (int j = 0; j < constraints.size(); ++j) + { + const btAlignedObjectArray& dirs = constraints[j].m_direction; + btScalar dot_prod = dirs[0].dot(cti.m_normal); + if (std::abs(std::abs(dot_prod) - 1) < angle_epsilon) + { + // group the constraints + constraints[j].append(c, jacobianData_normal); + // push in an empty friction + frictions[j].append(); + frictions[j].addJacobian(complementaryDirection, jacobianData_complementary); + merged = true; + break; + } + } + const int dim = 3; + // hard coded no more than 3 constraint directions + if (!merged && constraints.size() < dim) + { + constraints.push_back(DeformableContactConstraint(c, jacobianData_normal)); + frictions.push_back(DeformableFrictionConstraint(complementaryDirection, jacobianData_complementary)); + } + } + } + } + } + } +} + +void btDeformableContactProjection::enforceConstraint(TVStack& x) +{ + const int dim = 3; + for (auto& it : m_constraints) + { + const btAlignedObjectArray& constraints = it.second; + size_t i = m_indices[it.first]; + const btAlignedObjectArray& frictions = m_frictions[it.first]; + btAssert(constraints.size() <= dim); + btAssert(constraints.size() > 0); + if (constraints.size() == 1) + { + x[i] -= x[i].dot(constraints[0].m_direction[0]) * constraints[0].m_direction[0]; + for (int j = 0; j < constraints[0].m_direction.size(); ++j) + x[i] += constraints[0].m_value[j] * constraints[0].m_direction[j]; + } + else if (constraints.size() == 2) + { + btVector3 free_dir = btCross(constraints[0].m_direction[0], constraints[1].m_direction[0]); + btAssert(free_dir.norm() > SIMD_EPSILON) + free_dir.normalize(); + x[i] = x[i].dot(free_dir) * free_dir; + for (int j = 0; j < constraints.size(); ++j) + { + for (int k = 0; k < constraints[j].m_direction.size(); ++k) + { + x[i] += constraints[j].m_value[k] * constraints[j].m_direction[k]; + } + } + + } + else + { + x[i].setZero(); + for (int j = 0; j < constraints.size(); ++j) + { + for (int k = 0; k < constraints[j].m_direction.size(); ++k) + { + x[i] += constraints[j].m_value[k] * constraints[j].m_direction[k]; + } + } + } + + // apply friction if the node is not constrained in all directions + if (constraints.size() < 3) + { + for (int f = 0; f < frictions.size(); ++f) + { + const DeformableFrictionConstraint& friction= frictions[f]; + for (int j = 0; j < friction.m_direction.size(); ++j) + { + // clear the old constraint + if (friction.m_static_prev[j] == true) + { + x[i] -= friction.m_direction_prev[j] * friction.m_dv_prev[j]; + } + // add the new constraint + if (friction.m_static[j] == true) + { + x[i] += friction.m_direction[j] * friction.m_dv[j]; + } + } + } + } + } +} + +void btDeformableContactProjection::project(TVStack& x) +{ + const int dim = 3; + for (auto& it : m_constraints) + { + const btAlignedObjectArray& constraints = it.second; + size_t i = m_indices[it.first]; + btAlignedObjectArray& frictions = m_frictions[it.first]; + btAssert(constraints.size() <= dim); + btAssert(constraints.size() > 0); + if (constraints.size() == 1) + { + x[i] -= x[i].dot(constraints[0].m_direction[0]) * constraints[0].m_direction[0]; + } + else if (constraints.size() == 2) + { + btVector3 free_dir = btCross(constraints[0].m_direction[0], constraints[1].m_direction[0]); + btAssert(free_dir.norm() > SIMD_EPSILON) + free_dir.normalize(); + x[i] = x[i].dot(free_dir) * free_dir; + } + else + x[i].setZero(); + + // apply friction if the node is not constrained in all directions + if (constraints.size() < 3) + { + bool has_static_constraint = false; + for (int f = 0; f < frictions.size(); ++f) + { + DeformableFrictionConstraint& friction= frictions[f]; + for (int j = 0; j < friction.m_static.size(); ++j) + has_static_constraint = has_static_constraint || friction.m_static[j]; + } + + for (int f = 0; f < frictions.size(); ++f) + { + DeformableFrictionConstraint& friction= frictions[f]; + for (int j = 0; j < friction.m_direction.size(); ++j) + { + // clear the old friction force + if (friction.m_static_prev[j] == false) + { + x[i] -= friction.m_direction_prev[j] * friction.m_impulse_prev[j]; + } + + // only add to the rhs if there is no static friction constraint on the node + if (friction.m_static[j] == false && !has_static_constraint) + { + x[i] += friction.m_direction[j] * friction.m_impulse[j]; + } + } + } + } + } +} + +void btDeformableContactProjection::reinitialize(bool nodeUpdated) +{ + btCGProjection::reinitialize(nodeUpdated); + m_constraints.clear(); + m_frictions.clear(); +} + + + diff --git a/src/BulletSoftBody/btContactProjection.h b/src/BulletSoftBody/btDeformableContactProjection.h similarity index 52% rename from src/BulletSoftBody/btContactProjection.h rename to src/BulletSoftBody/btDeformableContactProjection.h index 725cc106b..aa7af70fb 100644 --- a/src/BulletSoftBody/btContactProjection.h +++ b/src/BulletSoftBody/btDeformableContactProjection.h @@ -1,5 +1,5 @@ // -// btContactProjection.h +// btDeformableContactProjection.h // BulletSoftBody // // Created by Xuchen Han on 7/4/19. @@ -12,27 +12,32 @@ #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" #include -class btContactProjection : public btCGProjection +class btDeformableContactProjection : public btCGProjection { public: - btContactProjection(btAlignedObjectArray& softBodies, const btScalar& dt) + std::unordered_map > m_constraints; + std::unordered_map > m_frictions; + + btDeformableContactProjection(btAlignedObjectArray& softBodies, const btScalar& dt) : btCGProjection(softBodies, dt) { } - virtual ~btContactProjection() + virtual ~btDeformableContactProjection() { } // apply the constraints to the rhs - virtual void operator()(TVStack& x); + virtual void project(TVStack& x); // apply constraints to x in Ax=b virtual void enforceConstraint(TVStack& x); // update the constraints - virtual void update(const TVStack& dv, const TVStack& backupVelocity); + virtual void update(); virtual void setConstraints(); + + virtual void reinitialize(bool nodeUpdated); }; #endif /* btContactProjection_h */ diff --git a/src/BulletSoftBody/btDeformableGravityForce.h b/src/BulletSoftBody/btDeformableGravityForce.h new file mode 100644 index 000000000..545615a47 --- /dev/null +++ b/src/BulletSoftBody/btDeformableGravityForce.h @@ -0,0 +1,60 @@ +// +// btDeformableGravityForce.h +// BulletSoftBody +// +// Created by Xuchen Han on 7/21/19. +// + +#ifndef BT_DEFORMABLE_GRAVITY_FORCE_H +#define BT_DEFORMABLE_GRAVITY_FORCE_H + +#include "btDeformableLagrangianForce.h" + +class btDeformableGravityForce : public btDeformableLagrangianForce +{ +public: + using TVStack = btDeformableLagrangianForce::TVStack; + btVector3 m_gravity; + + btDeformableGravityForce(const btAlignedObjectArray& softBodies, const btVector3& g) : btDeformableLagrangianForce(softBodies), m_gravity(g) + { + + } + + virtual void addScaledImplicitForce(btScalar scale, TVStack& force) + { + } + + virtual void addScaledExplicitForce(btScalar scale, TVStack& force) + { + addScaledGravityForce(scale, force); + } + + virtual void addScaledForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) + { + + } + + virtual void addScaledGravityForce(btScalar scale, TVStack& force) + { + int numNodes = getNumNodes(); + btAssert(numNodes == force.size()) + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + btSoftBody::Node& n = psb->m_nodes[j]; + size_t id = m_indices[&n]; + btScalar mass = (n.m_im == 0) ? 0 : 1. / n.m_im; + btVector3 scaled_force = scale * m_gravity * mass; + force[id] += scaled_force; + } + } + } + + + + +}; +#endif /* BT_DEFORMABLE_GRAVITY_FORCE_H */ diff --git a/src/BulletSoftBody/btLagrangianForce.h b/src/BulletSoftBody/btDeformableLagrangianForce.h similarity index 58% rename from src/BulletSoftBody/btLagrangianForce.h rename to src/BulletSoftBody/btDeformableLagrangianForce.h index b95a30ce9..acb9a28ff 100644 --- a/src/BulletSoftBody/btLagrangianForce.h +++ b/src/BulletSoftBody/btDeformableLagrangianForce.h @@ -1,35 +1,33 @@ // -// btLagrangianForce.h +// btDeformableLagrangianForce.h // BulletSoftBody // // Created by Xuchen Han on 7/1/19. // -#ifndef BT_LAGRANGIAN_FORCE_H -#define BT_LAGRANGIAN_FORCE_H +#ifndef BT_DEFORMABLE_LAGRANGIAN_FORCE_H +#define BT_DEFORMABLE_LAGRANGIAN_FORCE_H #include "btSoftBody.h" #include -class btLagrangianForce +class btDeformableLagrangianForce { public: using TVStack = btAlignedObjectArray; const btAlignedObjectArray& m_softBodies; std::unordered_map m_indices; - btLagrangianForce(const btAlignedObjectArray& softBodies) + btDeformableLagrangianForce(const btAlignedObjectArray& softBodies) : m_softBodies(softBodies) { } - virtual ~btLagrangianForce(){} + virtual ~btDeformableLagrangianForce(){} virtual void addScaledImplicitForce(btScalar scale, TVStack& force) = 0; - virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) = 0; - - virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) = 0; + virtual void addScaledForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) = 0; virtual void addScaledExplicitForce(btScalar scale, TVStack& force) = 0; @@ -39,7 +37,7 @@ public: updateId(); } - void updateId() + virtual void updateId() { size_t index = 0; for (int i = 0; i < m_softBodies.size(); ++i) @@ -51,5 +49,15 @@ public: } } } + + virtual int getNumNodes() + { + int numNodes = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + numNodes += m_softBodies[i]->m_nodes.size(); + } + return numNodes; + } }; -#endif /* btLagrangianForce_h */ +#endif /* BT_DEFORMABLE_LAGRANGIAN_FORCE */ diff --git a/src/BulletSoftBody/btMassSpring.h b/src/BulletSoftBody/btDeformableMassSpringForce.h similarity index 65% rename from src/BulletSoftBody/btMassSpring.h rename to src/BulletSoftBody/btDeformableMassSpringForce.h index 78cdcf7e6..31389c20f 100644 --- a/src/BulletSoftBody/btMassSpring.h +++ b/src/BulletSoftBody/btDeformableMassSpringForce.h @@ -1,20 +1,20 @@ // -// btMassSpring.h +// btDeformableMassSpringForce.h // BulletSoftBody // -// Created by Chuyuan Fu on 7/1/19. +// Created by Xuchen Gan on 7/1/19. // #ifndef BT_MASS_SPRING_H #define BT_MASS_SPRING_H -#include "btLagrangianForce.h" +#include "btDeformableLagrangianForce.h" -class btMassSpring : public btLagrangianForce +class btDeformableMassSpringForce : public btDeformableLagrangianForce { public: - using TVStack = btLagrangianForce::TVStack; - btMassSpring(const btAlignedObjectArray& softBodies) : btLagrangianForce(softBodies) + using TVStack = btDeformableLagrangianForce::TVStack; + btDeformableMassSpringForce(const btAlignedObjectArray& softBodies) : btDeformableLagrangianForce(softBodies) { } @@ -72,10 +72,6 @@ public: size_t id2 = m_indices[node2]; // elastic force - - // fully implicit -// btVector3 dir = (node2->m_x - node1->m_x); - // explicit elastic force btVector3 dir = (node2->m_q - node1->m_q); btVector3 dir_normalized = dir.normalized(); @@ -86,33 +82,7 @@ public: } } - virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) - { - int numNodes = getNumNodes(); - btAssert(numNodes == dx.size()); - btAssert(numNodes == df.size()); - - // implicit elastic force differential - for (int i = 0; i < m_softBodies.size(); ++i) - { - const btSoftBody* psb = m_softBodies[i]; - for (int j = 0; j < psb->m_links.size(); ++j) - { - const auto& link = psb->m_links[j]; - const auto node1 = link.m_n[0]; - const auto node2 = link.m_n[1]; - btScalar kLST = link.Feature::m_material->m_kLST; - size_t id1 = m_indices[node1]; - size_t id2 = m_indices[node2]; - btVector3 local_scaled_df = scale * kLST * (dx[id2] - dx[id1]); - df[id1] += local_scaled_df; - df[id2] -= local_scaled_df; - } - } - } - - - virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) + virtual void addScaledForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) { // implicit damping force differential for (int i = 0; i < m_softBodies.size(); ++i) @@ -132,16 +102,6 @@ public: } } } - - int getNumNodes() - { - int numNodes = 0; - for (int i = 0; i < m_softBodies.size(); ++i) - { - numNodes += m_softBodies[i]->m_nodes.size(); - } - return numNodes; - } }; #endif /* btMassSpring_h */ diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp index 173f71206..3af3c8499 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp @@ -12,87 +12,78 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) { - m_internalTime += timeStep; - // Let the solver grab the soft bodies and if necessary optimize for it - m_deformableBodySolver->optimize(m_softBodies); + reinitialize(timeStep); - if (!m_deformableBodySolver->checkInitialized()) - { - btAssert("Solver initialization failed\n"); - } - - // from btDiscreteDynamicsWorld singleStepSimulation - if (0 != m_internalPreTickCallback) - { - (*m_internalPreTickCallback)(this, timeStep); - } + // add gravity to velocity of rigid and multi bodys + applyRigidBodyGravity(timeStep); - ///apply gravity, predict motion + ///apply gravity and explicit force to velocity, predict motion predictUnconstraintMotion(timeStep); - btDispatcherInfo& dispatchInfo = btMultiBodyDynamicsWorld::getDispatchInfo(); - - dispatchInfo.m_timeStep = timeStep; - dispatchInfo.m_stepCount = 0; - dispatchInfo.m_debugDraw = btMultiBodyDynamicsWorld::getDebugDrawer(); - - // only used in CCD -// createPredictiveContacts(timeStep); - ///perform collision detection btMultiBodyDynamicsWorld::performDiscreteCollisionDetection(); btMultiBodyDynamicsWorld::calculateSimulationIslands(); - btMultiBodyDynamicsWorld::getSolverInfo().m_timeStep = timeStep; - - if (0 != m_internalTickCallback) - { - (*m_internalTickCallback)(this, timeStep); - } + beforeSolverCallbacks(timeStep); - // TODO: This is an ugly hack to get the desired gravity behavior. - // gravity is applied in stepSimulation and then cleared here and then applied here and then cleared here again - // so that 1) gravity is applied to velocity before constraint solve and 2) gravity is applied in each substep - // when there are multiple substeps - clearForces(); - clearMultiBodyForces(); - btMultiBodyDynamicsWorld::applyGravity(); - // integrate rigid body gravity - for (int i = 0; i < m_nonStaticRigidBodies.size(); ++i) - { - btRigidBody* rb = m_nonStaticRigidBodies[i]; - rb->integrateVelocities(timeStep); - } - // integrate multibody gravity - btMultiBodyDynamicsWorld::solveExternalForces(btMultiBodyDynamicsWorld::getSolverInfo()); - clearForces(); - clearMultiBodyForces(); - - - for (int i = 0; i < before_solver_callbacks.size(); ++i) - before_solver_callbacks[i](m_internalTime, this); ///solve deformable bodies constraints solveDeformableBodiesConstraints(timeStep); - + positionCorrection(); - //integrate transforms - btMultiBodyDynamicsWorld::integrateTransforms(timeStep); + integrateTransforms(timeStep); ///update vehicle simulation btMultiBodyDynamicsWorld::updateActions(timeStep); btMultiBodyDynamicsWorld::updateActivationState(timeStep); - - ///update soft bodies - m_deformableBodySolver->updateSoftBodies(); - - clearForces(); // End solver-wise simulation step // /////////////////////////////// } +void btDeformableRigidDynamicsWorld::positionCorrection() +{ + // perform position correction for all geometric collisions + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + const btScalar mrg = psb->getCollisionShape()->getMargin(); + for (int j = 0; j < psb->m_rcontacts.size(); ++j) + { + const btSoftBody::RContact& c = psb->m_rcontacts[j]; + // skip anchor points + if (c.m_node->m_im == 0) + continue; + + const btSoftBody::sCti& cti = c.m_cti; + if (cti.m_colObj->hasContactResponse()) + { + btScalar dp = btMin((btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg); + if (dp < 0) + { + // m_c4 is the collision hardness + c.m_node->m_q -= dp * cti.m_normal * c.m_c4; + } + } + } + } +} + +void btDeformableRigidDynamicsWorld::integrateTransforms(btScalar dt) +{ + btMultiBodyDynamicsWorld::integrateTransforms(dt); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + auto& node = psb->m_nodes[j]; + node.m_x = node.m_q + dt * node.m_v; + } + } +} + void btDeformableRigidDynamicsWorld::solveDeformableBodiesConstraints(btScalar timeStep) { m_deformableBodySolver->solveConstraints(timeStep); @@ -117,4 +108,45 @@ void btDeformableRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep m_deformableBodySolver->predictMotion(float(timeStep)); } +void btDeformableRigidDynamicsWorld::reinitialize(btScalar timeStep) +{ + m_internalTime += timeStep; + m_deformableBodySolver->reinitialize(m_softBodies); + btDispatcherInfo& dispatchInfo = btMultiBodyDynamicsWorld::getDispatchInfo(); + dispatchInfo.m_timeStep = timeStep; + dispatchInfo.m_stepCount = 0; + dispatchInfo.m_debugDraw = btMultiBodyDynamicsWorld::getDebugDrawer(); + btMultiBodyDynamicsWorld::getSolverInfo().m_timeStep = timeStep; +} +void btDeformableRigidDynamicsWorld::applyRigidBodyGravity(btScalar timeStep) +{ + // TODO: This is an ugly hack to get the desired gravity behavior. + // gravity is applied in stepSimulation and then cleared here and then applied here and then cleared here again + // so that 1) gravity is applied to velocity before constraint solve and 2) gravity is applied in each substep + // when there are multiple substeps + clearForces(); + clearMultiBodyForces(); + btMultiBodyDynamicsWorld::applyGravity(); + // integrate rigid body gravity + for (int i = 0; i < m_nonStaticRigidBodies.size(); ++i) + { + btRigidBody* rb = m_nonStaticRigidBodies[i]; + rb->integrateVelocities(timeStep); + } + // integrate multibody gravity + btMultiBodyDynamicsWorld::solveExternalForces(btMultiBodyDynamicsWorld::getSolverInfo()); + clearForces(); + clearMultiBodyForces(); +} + +void btDeformableRigidDynamicsWorld::beforeSolverCallbacks(btScalar timeStep) +{ + if (0 != m_internalTickCallback) + { + (*m_internalTickCallback)(this, timeStep); + } + + for (int i = 0; i < m_beforeSolverCallbacks.size(); ++i) + m_beforeSolverCallbacks[i](m_internalTime, this); +} diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h index 5bbebeda3..c5cf280ef 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h @@ -17,15 +17,15 @@ #define BT_DEFORMABLE_RIGID_DYNAMICS_WORLD_H #include "btSoftMultiBodyDynamicsWorld.h" -#include "btLagrangianForce.h" -#include "btMassSpring.h" +#include "btDeformableLagrangianForce.h" +#include "btDeformableMassSpringForce.h" #include "btDeformableBodySolver.h" #include "btSoftBodyHelpers.h" #include typedef btAlignedObjectArray btSoftBodyArray; class btDeformableBodySolver; -class btLagrangianForce; +class btDeformableLagrangianForce; typedef btAlignedObjectArray btSoftBodyArray; class btDeformableRigidDynamicsWorld : public btMultiBodyDynamicsWorld @@ -45,6 +45,10 @@ class btDeformableRigidDynamicsWorld : public btMultiBodyDynamicsWorld protected: virtual void internalSingleStepSimulation(btScalar timeStep); + virtual void integrateTransforms(btScalar timeStep); + + void positionCorrection(); + void solveDeformableBodiesConstraints(btScalar timeStep); public: @@ -70,7 +74,7 @@ public: m_sbi.m_sparsesdf.Initialize(); m_internalTime = 0.0; } - btAlignedObjectArray > before_solver_callbacks; + btAlignedObjectArray > m_beforeSolverCallbacks; virtual ~btDeformableRigidDynamicsWorld() { } @@ -108,10 +112,18 @@ public: { return m_sbi; } + const btSoftBodyWorldInfo& getWorldInfo() const { return m_sbi; } + + void reinitialize(btScalar timeStep); + + void applyRigidBodyGravity(btScalar timeStep); + + void beforeSolverCallbacks(btScalar timeStep); + int getDrawFlags() const { return (m_drawFlags); } void setDrawFlags(int f) { m_drawFlags = f; } }; diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 974246448..876b6b6e4 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -1782,7 +1782,7 @@ void btSoftBody::predictMotion(btScalar dt) m_sst.radmrg = getCollisionShape()->getMargin(); m_sst.updmrg = m_sst.radmrg * (btScalar)0.25; /* Forces */ - addVelocity(m_worldInfo->m_gravity * m_sst.sdt); +// addVelocity(m_worldInfo->m_gravity * m_sst.sdt); applyForces(); /* Integrate */ for (i = 0, ni = m_nodes.size(); i < ni; ++i) @@ -1806,7 +1806,7 @@ void btSoftBody::predictMotion(btScalar dt) } } n.m_v += deltaV; - n.m_x += n.m_v * m_sst.sdt; + n.m_x += n.m_v * m_sst.sdt; n.m_f = btVector3(0, 0, 0); } /* Clusters */ @@ -2270,10 +2270,11 @@ bool btSoftBody::checkContact(const btCollisionObjectWrapper* colObjWrap, { btVector3 nrm; const btCollisionShape* shp = colObjWrap->getCollisionShape(); - // const btRigidBody *tmpRigid = btRigidBody::upcast(colObjWrap->getCollisionObject()); - //const btTransform &wtr = tmpRigid ? tmpRigid->getWorldTransform() : colObjWrap->getWorldTransform(); - const btTransform& wtr = colObjWrap->getWorldTransform(); - //todo: check which transform is needed here + const btRigidBody *tmpRigid = btRigidBody::upcast(colObjWrap->getCollisionObject()); + + // get the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg + const btTransform &wtr = tmpRigid ? tmpRigid->getInterpolationWorldTransform() : colObjWrap->getWorldTransform(); + // TODO: get the correct transform for multibody btScalar dst = m_worldInfo->m_sparsesdf.Evaluate( From 243b9fc8c7e4727eb42947389a99c0254d16032d Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 23 Jul 2019 12:15:23 -0700 Subject: [PATCH 021/389] combat friction drift in positionCorrect by changing velocity and change it back (effectively only changing position) --- .../DeformableContact/DeformableContact.cpp | 23 ++- examples/DeformableDemo/DeformableDemo.cpp | 21 +-- examples/Pinch/Pinch.cpp | 136 +++++++++++++++--- .../VolumetricDeformable.cpp | 4 +- .../btSimulationIslandManager.cpp | 7 +- src/BulletSoftBody/btContactProjection.cpp | 54 +++---- src/BulletSoftBody/btDeformableBodySolver.cpp | 15 ++ src/BulletSoftBody/btDeformableBodySolver.h | 6 +- .../btDeformableContactProjection.cpp | 91 ++++++------ src/BulletSoftBody/btDeformableGravityForce.h | 1 + .../btDeformableMassSpringForce.h | 3 + .../btDeformableRigidDynamicsWorld.cpp | 67 ++++++--- .../btDeformableRigidDynamicsWorld.h | 4 +- src/BulletSoftBody/btSoftBody.cpp | 3 +- src/BulletSoftBody/btSoftBodyInternals.h | 8 +- 15 files changed, 291 insertions(+), 152 deletions(-) diff --git a/examples/DeformableContact/DeformableContact.cpp b/examples/DeformableContact/DeformableContact.cpp index b70751e2f..a43fc04ca 100644 --- a/examples/DeformableContact/DeformableContact.cpp +++ b/examples/DeformableContact/DeformableContact.cpp @@ -54,13 +54,6 @@ class DeformableContact : public CommonMultiBodyBase btMultiBody* m_multiBody; btAlignedObjectArray m_jointFeedbacks; public: - - struct TetraBunny - { - #include "../SoftDemo/bunny.inl" - }; - - DeformableContact(struct GUIHelperInterface* helper) : CommonMultiBodyBase(helper) { @@ -147,7 +140,7 @@ void DeformableContact::initPhysics() btTransform groundTransform; groundTransform.setIdentity(); groundTransform.setOrigin(btVector3(0, -40, 0)); - groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.0)); + groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.1)); //We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here: btScalar mass(0.); @@ -170,16 +163,16 @@ void DeformableContact::initPhysics() { - bool damping = true; - bool gyro = true; - int numLinks = 3; + bool damping = false; + bool gyro = false; + int numLinks = 0; 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); + btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(m_dynamicsWorld, numLinks, btVector3(0.f, 2.f,0.f), linkHalfExtents, baseHalfExtents, spherical, g_floatingBase); mbC->setCanSleep(canSleep); mbC->setHasSelfCollision(selfCollide); @@ -216,12 +209,13 @@ void DeformableContact::initPhysics() // create a patch of cloth { - const btScalar s = 6; + const btScalar s = 4; btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s), btVector3(+s, 0, -s), btVector3(-s, 0, +s), btVector3(+s, 0, +s), - 20,20, +// 20,20, + 3,3, 1 + 2 + 4 + 8, true); psb->getCollisionShape()->setMargin(0.25); @@ -232,7 +226,6 @@ void DeformableContact::initPhysics() psb->m_cfg.kCHR = 1; // collision hardness with rigid body psb->m_cfg.kDF = 0; getDeformableDynamicsWorld()->addSoftBody(psb); - } m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); diff --git a/examples/DeformableDemo/DeformableDemo.cpp b/examples/DeformableDemo/DeformableDemo.cpp index 7ce94a314..aa58fbd6f 100644 --- a/examples/DeformableDemo/DeformableDemo.cpp +++ b/examples/DeformableDemo/DeformableDemo.cpp @@ -105,15 +105,15 @@ public: // } btTransform startTransform; startTransform.setIdentity(); - startTransform.setOrigin(btVector3(1, 2, 1)); + startTransform.setOrigin(btVector3(1, 1.5, 1)); createRigidBody(mass, startTransform, shape[0]); - startTransform.setOrigin(btVector3(1, 2, -1)); + startTransform.setOrigin(btVector3(1, 1.5, -1)); createRigidBody(mass, startTransform, shape[0]); - startTransform.setOrigin(btVector3(-1, 2, 1)); + startTransform.setOrigin(btVector3(-1, 1.5, 1)); createRigidBody(mass, startTransform, shape[0]); - startTransform.setOrigin(btVector3(-1, 2, -1)); + startTransform.setOrigin(btVector3(-1, 1.5, -1)); createRigidBody(mass, startTransform, shape[0]); - startTransform.setOrigin(btVector3(0, 4, 0)); + startTransform.setOrigin(btVector3(0, 3.5, 0)); createRigidBody(mass, startTransform, shape[0]); } @@ -182,7 +182,7 @@ void DeformableDemo::initPhysics() btTransform groundTransform; groundTransform.setIdentity(); - groundTransform.setOrigin(btVector3(0, -30, 0)); + groundTransform.setOrigin(btVector3(0, -32, 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.); @@ -206,7 +206,7 @@ void DeformableDemo::initPhysics() // create a piece of cloth { - bool onGround = true; + bool onGround = false; const btScalar s = 4; btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s), btVector3(+s, 0, -s), @@ -222,13 +222,14 @@ void DeformableDemo::initPhysics() btVector3(+s, 0, -s), btVector3(-s, 0, +s), btVector3(+s, 0, +s), - 20,20, +// 20,20, + 2,2, 0, true); psb->getCollisionShape()->setMargin(0.1); psb->generateBendingConstraints(2); - psb->setTotalMass(10); - psb->setSpringStiffness(10); + 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 diff --git a/examples/Pinch/Pinch.cpp b/examples/Pinch/Pinch.cpp index cedc51750..cc3008f9c 100644 --- a/examples/Pinch/Pinch.cpp +++ b/examples/Pinch/Pinch.cpp @@ -73,9 +73,9 @@ public: void resetCamera() { float dist = 25; - float pitch = -45; + float pitch = -30; float yaw = 100; - float targetPos[3] = {0, -3, 0}; + float targetPos[3] = {0, -0, 0}; m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]); } @@ -137,17 +137,56 @@ void dynamics(btScalar time, btDeformableRigidDynamicsWorld* world) return; btRigidBody* rb0 = rbs[0]; btScalar pressTime = 0.9; + btScalar liftTime = 2.5; + btScalar shiftTime = 3.5; + btScalar holdTime = 4.5*1000; + btScalar dropTime = 5.3*1000; btTransform rbTransform; rbTransform.setIdentity(); - btVector3 translation = btVector3(0.5,3,4); - btVector3 velocity = btVector3(0,5,0); + btVector3 translation; + btVector3 velocity; + + btVector3 initialTranslationLeft = btVector3(0.5,3,4); + btVector3 initialTranslationRight = btVector3(0.5,3,-4); + btVector3 pinchVelocityLeft = btVector3(0,0,-2); + btVector3 pinchVelocityRight = btVector3(0,0,2); + btVector3 liftVelocity = btVector3(0,5,0); + btVector3 shiftVelocity = btVector3(0,0,5); + btVector3 holdVelocity = btVector3(0,0,0); + btVector3 openVelocityLeft = btVector3(0,0,4); + btVector3 openVelocityRight = btVector3(0,0,-4); + if (time < pressTime) { - velocity = btVector3(0,0,-2); - translation += velocity * time; + velocity = pinchVelocityLeft; + translation = initialTranslationLeft + pinchVelocityLeft * time; + } + else if (time < liftTime) + { + velocity = liftVelocity; + translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (time - pressTime); + + } + else if (time < shiftTime) + { + velocity = shiftVelocity; + translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime); + } + else if (time < holdTime) + { + velocity = btVector3(0,0,0); + translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime); + } + else if (time < dropTime) + { + velocity = openVelocityLeft; + translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (time - holdTime); } else - translation += btVector3(0,0,-2) * pressTime + (time-pressTime)*velocity; + { + velocity = holdVelocity; + translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (dropTime - holdTime); + } rbTransform.setOrigin(translation); rbTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0)); rb0->setCenterOfMassTransform(rbTransform); @@ -155,23 +194,45 @@ void dynamics(btScalar time, btDeformableRigidDynamicsWorld* world) 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; + velocity = pinchVelocityRight; + translation = initialTranslationRight + pinchVelocityRight * time; + } + else if (time < liftTime) + { + velocity = liftVelocity; + translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (time - pressTime); + + } + else if (time < shiftTime) + { + velocity = shiftVelocity; + translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime); + } + else if (time < holdTime) + { + velocity = btVector3(0,0,0); + translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime); + } + else if (time < dropTime) + { + velocity = openVelocityRight; + translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (time - holdTime); } else - translation += btVector3(0,0,2) * pressTime + (time-pressTime)*velocity; + { + velocity = holdVelocity; + translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (dropTime - holdTime); + } 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); + rb0->setFriction(20); + rb1->setFriction(20); } void Pinch::initPhysics() @@ -194,7 +255,7 @@ void Pinch::initPhysics() m_dynamicsWorld->setGravity(btVector3(0, -10, 0)); getDeformableDynamicsWorld()->getWorldInfo().m_gravity.setValue(0, -10, 0); - getDeformableDynamicsWorld()->before_solver_callbacks.push_back(dynamics); + getDeformableDynamicsWorld()->m_beforeSolverCallbacks.push_back(dynamics); m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); //create a ground @@ -229,21 +290,58 @@ void Pinch::initPhysics() // create a soft block { + btScalar verts[24] = {0.f, 0.f, 0.f, + 1.f, 0.f, 0.f, + 0.f, 1.f, 0.f, + 0.f, 0.f, 1.f, + 1.f, 1.f, 0.f, + 0.f, 1.f, 1.f, + 1.f, 0.f, 1.f, + 1.f, 1.f, 1.f + }; + int triangles[60] = {0, 6, 3, + 0,1,6, + 7,5,3, + 7,3,6, + 4,7,6, + 4,6,1, + 7,2,5, + 7,4,2, + 0,3,2, + 2,3,5, + 0,2,4, + 0,4,1, + 0,6,5, + 0,6,4, + 3,4,2, + 3,4,7, + 2,7,3, + 2,7,1, + 4,5,0, + 4,5,6, + }; +// btSoftBody* psb = btSoftBodyHelpers::CreateFromTriMesh(getDeformableDynamicsWorld()->getWorldInfo(), &verts[0], &triangles[0], 20); +//// 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->scale(btVector3(5, 5, 5)); +// psb->translate(btVector3(-2.5, 4, -2.5)); +// psb->getCollisionShape()->setMargin(0.1); +// psb->setTotalMass(1); + psb->setSpringStiffness(4); + psb->setDampingCoefficient(0.02); 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; + psb->m_cfg.kDF = 2; + getDeformableDynamicsWorld()->addSoftBody(psb); // add a grippers createGrip(); } diff --git a/examples/VolumetricDeformable/VolumetricDeformable.cpp b/examples/VolumetricDeformable/VolumetricDeformable.cpp index b30e9bc24..9bcf63ab2 100644 --- a/examples/VolumetricDeformable/VolumetricDeformable.cpp +++ b/examples/VolumetricDeformable/VolumetricDeformable.cpp @@ -77,8 +77,8 @@ public: void stepSimulation(float deltaTime) { //use a smaller internal timestep, there are stability issues - float internalTimeStep = 1. / 240.f; - m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep); + float internalTimeStep = 1. / 480.f; + m_dynamicsWorld->stepSimulation(deltaTime, 8, internalTimeStep); } void createStaticBox(const btVector3& halfEdge, const btVector3& translation) diff --git a/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp index e5097ccbb..11fa97cdd 100644 --- a/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp +++ b/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp @@ -233,7 +233,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi // printf("error in island management\n"); } - btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); +// btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); if (colObj0->getIslandTag() == islandId) { if (colObj0->getActivationState() == ACTIVE_TAG || @@ -257,7 +257,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi // printf("error in island management\n"); } - btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); +// btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); if (colObj0->getIslandTag() == islandId) { @@ -278,7 +278,8 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi // printf("error in island management\n"); } - btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); +// btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + if (colObj0->getIslandTag() == islandId) { diff --git a/src/BulletSoftBody/btContactProjection.cpp b/src/BulletSoftBody/btContactProjection.cpp index 99ab6f473..e81cb2c50 100644 --- a/src/BulletSoftBody/btContactProjection.cpp +++ b/src/BulletSoftBody/btContactProjection.cpp @@ -50,12 +50,12 @@ void btDeformableContactProjection::update() // loop through constraints to set constrained values for (auto& it : m_constraints) { - btAlignedObjectArray& frictions = m_frictions[it.first]; - btAlignedObjectArray& constraints = it.second; + btAlignedObjectArray& frictions = m_frictions[it.first]; + btAlignedObjectArray& constraints = it.second; for (int i = 0; i < constraints.size(); ++i) { - Constraint& constraint = constraints[i]; - Friction& friction = frictions[i]; + DeformableContactConstraint& constraint = constraints[i]; + DeformableFrictionConstraint& friction = frictions[i]; for (int j = 0; j < constraint.m_contact.size(); ++j) { if (constraint.m_contact[j] == nullptr) @@ -229,16 +229,16 @@ void btDeformableContactProjection::setConstraints() { if (psb->m_nodes[j].m_im == 0) { - btAlignedObjectArray c; - c.push_back(Constraint(btVector3(1,0,0))); - c.push_back(Constraint(btVector3(0,1,0))); - c.push_back(Constraint(btVector3(0,0,1))); + btAlignedObjectArray c; + c.push_back(DeformableContactConstraint(btVector3(1,0,0))); + c.push_back(DeformableContactConstraint(btVector3(0,1,0))); + c.push_back(DeformableContactConstraint(btVector3(0,0,1))); m_constraints[&(psb->m_nodes[j])] = c; - btAlignedObjectArray f; - f.push_back(Friction()); - f.push_back(Friction()); - f.push_back(Friction()); + btAlignedObjectArray f; + f.push_back(DeformableFrictionConstraint()); + f.push_back(DeformableFrictionConstraint()); + f.push_back(DeformableFrictionConstraint()); m_frictions[&(psb->m_nodes[j])] = f; } } @@ -310,11 +310,11 @@ void btDeformableContactProjection::setConstraints() if (m_constraints.find(c.m_node) == m_constraints.end()) { - btAlignedObjectArray constraints; - constraints.push_back(Constraint(c, jacobianData_normal)); + btAlignedObjectArray constraints; + constraints.push_back(DeformableContactConstraint(c, jacobianData_normal)); m_constraints[c.m_node] = constraints; - btAlignedObjectArray frictions; - frictions.push_back(Friction(complementaryDirection, jacobianData_complementary)); + btAlignedObjectArray frictions; + frictions.push_back(DeformableFrictionConstraint(complementaryDirection, jacobianData_complementary)); m_frictions[c.m_node] = frictions; } else @@ -322,8 +322,8 @@ void btDeformableContactProjection::setConstraints() // group colinear constraints into one const btScalar angle_epsilon = 0.015192247; // less than 10 degree bool merged = false; - btAlignedObjectArray& constraints = m_constraints[c.m_node]; - btAlignedObjectArray& frictions = m_frictions[c.m_node]; + btAlignedObjectArray& constraints = m_constraints[c.m_node]; + btAlignedObjectArray& frictions = m_frictions[c.m_node]; for (int j = 0; j < constraints.size(); ++j) { const btAlignedObjectArray& dirs = constraints[j].m_direction; @@ -343,8 +343,8 @@ void btDeformableContactProjection::setConstraints() // hard coded no more than 3 constraint directions if (!merged && constraints.size() < dim) { - constraints.push_back(Constraint(c, jacobianData_normal)); - frictions.push_back(Friction(complementaryDirection, jacobianData_complementary)); + constraints.push_back(DeformableContactConstraint(c, jacobianData_normal)); + frictions.push_back(DeformableFrictionConstraint(complementaryDirection, jacobianData_complementary)); } } } @@ -358,9 +358,9 @@ void btDeformableContactProjection::enforceConstraint(TVStack& x) const int dim = 3; for (auto& it : m_constraints) { - const btAlignedObjectArray& constraints = it.second; + const btAlignedObjectArray& constraints = it.second; size_t i = m_indices[it.first]; - const btAlignedObjectArray& frictions = m_frictions[it.first]; + const btAlignedObjectArray& frictions = m_frictions[it.first]; btAssert(constraints.size() <= dim); btAssert(constraints.size() > 0); if (constraints.size() == 1) @@ -401,7 +401,7 @@ void btDeformableContactProjection::enforceConstraint(TVStack& x) { for (int f = 0; f < frictions.size(); ++f) { - const Friction& friction= frictions[f]; + const DeformableFrictionConstraint& friction= frictions[f]; for (int j = 0; j < friction.m_direction.size(); ++j) { // clear the old constraint @@ -425,9 +425,9 @@ void btDeformableContactProjection::project(TVStack& x) const int dim = 3; for (auto& it : m_constraints) { - const btAlignedObjectArray& constraints = it.second; + const btAlignedObjectArray& constraints = it.second; size_t i = m_indices[it.first]; - btAlignedObjectArray& frictions = m_frictions[it.first]; + btAlignedObjectArray& frictions = m_frictions[it.first]; btAssert(constraints.size() <= dim); btAssert(constraints.size() > 0); if (constraints.size() == 1) @@ -450,14 +450,14 @@ void btDeformableContactProjection::project(TVStack& x) bool has_static_constraint = false; for (int f = 0; f < frictions.size(); ++f) { - Friction& friction= frictions[f]; + DeformableFrictionConstraint& friction= frictions[f]; for (int j = 0; j < friction.m_static.size(); ++j) has_static_constraint = has_static_constraint || friction.m_static[j]; } for (int f = 0; f < frictions.size(); ++f) { - Friction& friction= frictions[f]; + DeformableFrictionConstraint& friction= frictions[f]; for (int j = 0; j < friction.m_direction.size(); ++j) { // clear the old friction force diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 96d2e0029..e3009dcbb 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -29,6 +29,7 @@ void btDeformableBodySolver::solveConstraints(float solverdt) // save v_{n+1}^* velocity after explicit forces backupVelocity(); + m_objective->computeResidual(solverdt, m_residual); // m_objective->initialGuess(m_dv, m_residual); computeStep(m_dv, m_residual); @@ -98,6 +99,20 @@ void btDeformableBodySolver::backupVelocity() } } +void btDeformableBodySolver::revertVelocity() +{ + // serial implementation + int counter = 0; + for (int i = 0; i < m_softBodySet.size(); ++i) + { + btSoftBody* psb = m_softBodySet[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_v = m_backupVelocity[counter++]; + } + } +} + bool btDeformableBodySolver::updateNodes() { int numNodes = 0; diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index 570cce90f..0b4a4819f 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -27,12 +27,14 @@ protected: TVStack m_dv; TVStack m_residual; btAlignedObjectArray m_softBodySet; - btDeformableBackwardEulerObjective* m_objective; + btAlignedObjectArray m_backupVelocity; btScalar m_dt; btConjugateGradient cg; public: + btDeformableBackwardEulerObjective* m_objective; + btDeformableBodySolver(); virtual ~btDeformableBodySolver(); @@ -57,7 +59,7 @@ public: void predictDeformableMotion(btSoftBody* psb, btScalar dt); void backupVelocity(); - + void revertVelocity(); void updateVelocity(); bool updateNodes(); diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index e81cb2c50..25f667711 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -143,6 +143,8 @@ void btDeformableContactProjection::update() friction.m_direction[j] = -local_tangent_dir; // do not allow switching from static friction to dynamic friction // it causes cg to explode + btScalar comp1 = -accumulated_normal*c->m_c3; + btScalar comp2 = tangent_norm; if (-accumulated_normal*c->m_c3 < tangent_norm && friction.m_static_prev[j] == false && friction.m_released[j] == false) { friction.m_static[j] = false; @@ -167,49 +169,44 @@ void btDeformableContactProjection::update() // the incremental impulse applied to rb in the tangential direction btVector3 incremental_tangent = (friction.m_impulse_prev[j] * friction.m_direction_prev[j])-(friction.m_impulse[j] * friction.m_direction[j]); - // TODO cleanup - if (1) // in the same CG solve, the set of constraits doesn't change - { - // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient - - // dv = new_impulse + accumulated velocity change in previous CG iterations - // so we have the invariant node->m_v = backupVelocity + dv; - btScalar dvn = -accumulated_normal * c->m_c2/m_dt; + // dv = new_impulse + accumulated velocity change in previous CG iterations + // so we have the invariant node->m_v = backupVelocity + dv; + + btScalar dvn = -accumulated_normal * c->m_c2/m_dt; + + // the following is equivalent + /* + btVector3 dv = -impulse_normal * c->m_c2/m_dt + c->m_node->m_v - backupVelocity[m_indices[c->m_node]]; + btScalar dvn = dv.dot(cti.m_normal); + */ + + constraint.m_value[j] = dvn; + + // the incremental impulse: + // in the normal direction it's the normal component of "impulse" + // in the tangent direction it's the difference between the frictional impulse in the iteration and the previous iteration + impulse = impulse_normal + incremental_tangent; + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + if (rigidCol) + rigidCol->applyImpulse(impulse, c->m_c1); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { - // the following is equivalent - /* - btVector3 dv = -impulse_normal * c->m_c2/m_dt + c->m_node->m_v - backupVelocity[m_indices[c->m_node]]; - btScalar dvn = dv.dot(cti.m_normal); - */ - - constraint.m_value[j] = dvn; - - // the incremental impulse: - // in the normal direction it's the normal component of "impulse" - // in the tangent direction it's the difference between the frictional impulse in the iteration and the previous iteration - impulse = impulse_normal + incremental_tangent; - if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) - { - if (rigidCol) - rigidCol->applyImpulse(impulse, c->m_c1); - } - else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + if (multibodyLinkCol) { + double multiplier = 1; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_normal, -impulse_normal.length() * multiplier); - if (multibodyLinkCol) + if (incremental_tangent.norm() > SIMD_EPSILON) { - double multiplier = 1; - multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_normal, -impulse_normal.length() * multiplier); - - if (incremental_tangent.norm() > SIMD_EPSILON) - { - btMultiBodyJacobianData jacobian_tangent; - btVector3 tangent = incremental_tangent.normalized(); - findJacobian(multibodyLinkCol, jacobian_tangent, c->m_node->m_x, tangent); - const btScalar* deltaV_tangent = &jacobian_tangent.m_deltaVelocitiesUnitImpulse[0]; - multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_tangent, incremental_tangent.length() * multiplier); - } + btMultiBodyJacobianData jacobian_tangent; + btVector3 tangent = incremental_tangent.normalized(); + findJacobian(multibodyLinkCol, jacobian_tangent, c->m_node->m_x, tangent); + const btScalar* deltaV_tangent = &jacobian_tangent.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_tangent, incremental_tangent.length() * multiplier); } } } @@ -404,14 +401,10 @@ void btDeformableContactProjection::enforceConstraint(TVStack& x) const DeformableFrictionConstraint& friction= frictions[f]; for (int j = 0; j < friction.m_direction.size(); ++j) { - // clear the old constraint - if (friction.m_static_prev[j] == true) - { - x[i] -= friction.m_direction_prev[j] * friction.m_dv_prev[j]; - } - // add the new constraint + // add the friction constraint if (friction.m_static[j] == true) { + x[i] -= x[i].dot(friction.m_direction[j]) * friction.m_direction[j]; x[i] += friction.m_direction[j] * friction.m_dv[j]; } } @@ -467,9 +460,15 @@ void btDeformableContactProjection::project(TVStack& x) } // only add to the rhs if there is no static friction constraint on the node - if (friction.m_static[j] == false && !has_static_constraint) + if (friction.m_static[j] == false) { - x[i] += friction.m_direction[j] * friction.m_impulse[j]; + if (!has_static_constraint) + x[i] += friction.m_direction[j] * friction.m_impulse[j]; + } + else + { + // otherwise clear the constraint in the friction direction + x[i] -= x[i].dot(friction.m_direction[j]) * friction.m_direction[j]; } } } diff --git a/src/BulletSoftBody/btDeformableGravityForce.h b/src/BulletSoftBody/btDeformableGravityForce.h index 545615a47..d8571fa73 100644 --- a/src/BulletSoftBody/btDeformableGravityForce.h +++ b/src/BulletSoftBody/btDeformableGravityForce.h @@ -23,6 +23,7 @@ public: virtual void addScaledImplicitForce(btScalar scale, TVStack& force) { +// addScaledGravityForce(scale, force); } virtual void addScaledExplicitForce(btScalar scale, TVStack& force) diff --git a/src/BulletSoftBody/btDeformableMassSpringForce.h b/src/BulletSoftBody/btDeformableMassSpringForce.h index 31389c20f..70ad6e69c 100644 --- a/src/BulletSoftBody/btDeformableMassSpringForce.h +++ b/src/BulletSoftBody/btDeformableMassSpringForce.h @@ -22,6 +22,7 @@ public: virtual void addScaledImplicitForce(btScalar scale, TVStack& force) { addScaledDampingForce(scale, force); +// addScaledElasticForce(scale, force); } virtual void addScaledExplicitForce(btScalar scale, TVStack& force) @@ -102,6 +103,8 @@ public: } } } + + }; #endif /* btMassSpring_h */ diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp index 3af3c8499..216c1a24d 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp @@ -13,7 +13,7 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) { reinitialize(timeStep); - +// beforeSolverCallbacks(timeStep); // add gravity to velocity of rigid and multi bodys applyRigidBodyGravity(timeStep); @@ -30,7 +30,7 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS ///solve deformable bodies constraints solveDeformableBodiesConstraints(timeStep); - positionCorrection(); + afterSolverCallbacks(timeStep); integrateTransforms(timeStep); @@ -42,36 +42,57 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS // /////////////////////////////// } -void btDeformableRigidDynamicsWorld::positionCorrection() +void btDeformableRigidDynamicsWorld::positionCorrection(btScalar dt) { - // perform position correction for all geometric collisions - for (int i = 0; i < m_softBodies.size(); ++i) + // perform position correction for all constraints + for (auto& it : m_deformableBodySolver->m_objective->projection.m_constraints) { - btSoftBody* psb = m_softBodies[i]; - const btScalar mrg = psb->getCollisionShape()->getMargin(); - for (int j = 0; j < psb->m_rcontacts.size(); ++j) + btAlignedObjectArray& frictions = m_deformableBodySolver->m_objective->projection.m_frictions[it.first]; + btAlignedObjectArray& constraints = it.second; + for (int i = 0; i < constraints.size(); ++i) { - const btSoftBody::RContact& c = psb->m_rcontacts[j]; - // skip anchor points - if (c.m_node->m_im == 0) - continue; - - const btSoftBody::sCti& cti = c.m_cti; - if (cti.m_colObj->hasContactResponse()) + DeformableContactConstraint& constraint = constraints[i]; + DeformableFrictionConstraint& friction = frictions[i]; + for (int j = 0; j < constraint.m_contact.size(); ++j) { - btScalar dp = btMin((btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg); - if (dp < 0) + const btSoftBody::RContact* c = constraint.m_contact[j]; + // skip anchor points + if (c == nullptr || c->m_node->m_im == 0) + continue; + const btSoftBody::sCti& cti = c->m_cti; + btRigidBody* rigidCol = 0; + btVector3 va(0, 0, 0); + + // grab the velocity of the rigid body + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) { - // m_c4 is the collision hardness - c.m_node->m_q -= dp * cti.m_normal * c.m_c4; + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c->m_c1)): btVector3(0, 0, 0); + } + + if (cti.m_colObj->hasContactResponse()) + { + btScalar dp = cti.m_offset; + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + if (friction.m_static[j] == true) + { + c->m_node->m_v = va; + } + if (dp < 0) + { + c->m_node->m_v -= dp * cti.m_normal / dt; + } } } } } } + void btDeformableRigidDynamicsWorld::integrateTransforms(btScalar dt) { + m_deformableBodySolver->backupVelocity(); + positionCorrection(dt); btMultiBodyDynamicsWorld::integrateTransforms(dt); for (int i = 0; i < m_softBodies.size(); ++i) { @@ -82,6 +103,7 @@ void btDeformableRigidDynamicsWorld::integrateTransforms(btScalar dt) node.m_x = node.m_q + dt * node.m_v; } } + m_deformableBodySolver->revertVelocity(); } void btDeformableRigidDynamicsWorld::solveDeformableBodiesConstraints(btScalar timeStep) @@ -146,7 +168,12 @@ void btDeformableRigidDynamicsWorld::beforeSolverCallbacks(btScalar timeStep) { (*m_internalTickCallback)(this, timeStep); } - + for (int i = 0; i < m_beforeSolverCallbacks.size(); ++i) + m_beforeSolverCallbacks[i](m_internalTime, this); +} + +void btDeformableRigidDynamicsWorld::afterSolverCallbacks(btScalar timeStep) +{ for (int i = 0; i < m_beforeSolverCallbacks.size(); ++i) m_beforeSolverCallbacks[i](m_internalTime, this); } diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h index c5cf280ef..f1be4fd85 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h @@ -47,7 +47,7 @@ protected: virtual void integrateTransforms(btScalar timeStep); - void positionCorrection(); + void positionCorrection(btScalar dt); void solveDeformableBodiesConstraints(btScalar timeStep); @@ -124,6 +124,8 @@ public: void beforeSolverCallbacks(btScalar timeStep); + void afterSolverCallbacks(btScalar timeStep); + int getDrawFlags() const { return (m_drawFlags); } void setDrawFlags(int f) { m_drawFlags = f; } }; diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 876b6b6e4..bd7587c47 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -2286,7 +2286,8 @@ bool btSoftBody::checkContact(const btCollisionObjectWrapper* colObjWrap, { cti.m_colObj = colObjWrap->getCollisionObject(); cti.m_normal = wtr.getBasis() * nrm; - cti.m_offset = -btDot(cti.m_normal, x - cti.m_normal * dst); +// cti.m_offset = -btDot(cti.m_normal, x - cti.m_normal * dst); + cti.m_offset = dst; return (true); } return (false); diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index b892498ea..9b3e45ea4 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -878,15 +878,11 @@ struct btSoftColliders const btScalar ms = ima + imb; if (ms > 0) { + psb->checkContact(m_colObj1Wrap, n.m_q, m, c.m_cti); const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform(); static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0); const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic; - const btVector3 ra = n.m_x - wtr.getOrigin(); - const btVector3 va = m_rigidBody ? m_rigidBody->getVelocityInLocalPoint(ra) * psb->m_sst.sdt : btVector3(0, 0, 0); - const btVector3 vb = n.m_x - n.m_q; - const btVector3 vr = vb - va; - const btScalar dn = btDot(vr, c.m_cti.m_normal); - const btVector3 fv = vr - c.m_cti.m_normal * dn; + const btVector3 ra = n.m_q - wtr.getOrigin(); const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); c.m_node = &n; c.m_c0 = ImpulseMatrix(psb->m_sst.sdt, ima, imb, iwi, ra); From 233a381e7cc39b1768771f0d3660f985dd1bcf95 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 24 Jul 2019 16:01:47 -0700 Subject: [PATCH 022/389] add correct impulse matrix to multibody-deformable contact --- .../DeformableContact/DeformableContact.cpp | 46 +- examples/ExampleBrowser/ExampleEntries.cpp | 2 + .../MultiBodyBaseline/MultiBodyBaseline.cpp | 358 +++++++++++++ .../MultiBodyBaseline/MultiBodyBaseline.h | 20 + .../VolumetricDeformable.cpp | 4 +- .../Featherstone/btMultiBodyDynamicsWorld.cpp | 4 + .../Featherstone/btMultiBodyDynamicsWorld.h | 1 + src/BulletSoftBody/btCGProjection.h | 27 +- src/BulletSoftBody/btContactProjection.cpp | 488 ------------------ .../btDeformableContactProjection.cpp | 72 +-- .../btDeformableContactProjection.h | 2 +- .../btDeformableRigidDynamicsWorld.cpp | 37 ++ src/BulletSoftBody/btSoftBody.h | 10 +- src/BulletSoftBody/btSoftBodyInternals.h | 141 ++++- 14 files changed, 618 insertions(+), 594 deletions(-) create mode 100644 examples/MultiBodyBaseline/MultiBodyBaseline.cpp create mode 100644 examples/MultiBodyBaseline/MultiBodyBaseline.h delete mode 100644 src/BulletSoftBody/btContactProjection.cpp diff --git a/examples/DeformableContact/DeformableContact.cpp b/examples/DeformableContact/DeformableContact.cpp index a43fc04ca..f51978ae3 100644 --- a/examples/DeformableContact/DeformableContact.cpp +++ b/examples/DeformableContact/DeformableContact.cpp @@ -69,10 +69,10 @@ public: void resetCamera() { - float dist = 15; + float dist = 30; float pitch = -30; float yaw = 100; - float targetPos[3] = {0, -3, 0}; + float targetPos[3] = {0, -10, 0}; m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]); } @@ -140,7 +140,7 @@ void DeformableContact::initPhysics() btTransform groundTransform; groundTransform.setIdentity(); groundTransform.setOrigin(btVector3(0, -40, 0)); - groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.1)); + 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.); @@ -163,16 +163,16 @@ void DeformableContact::initPhysics() { - bool damping = false; + bool damping = true; bool gyro = false; - int numLinks = 0; - bool spherical = true; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals + int numLinks = 4; + bool spherical = false; //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, 2.f,0.f), linkHalfExtents, baseHalfExtents, spherical, g_floatingBase); + 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); @@ -180,13 +180,13 @@ void DeformableContact::initPhysics() // if (!damping) { - mbC->setLinearDamping(0.f); - mbC->setAngularDamping(0.f); + mbC->setLinearDamping(0.0f); + mbC->setAngularDamping(0.0f); } else { - mbC->setLinearDamping(0.1f); - mbC->setAngularDamping(0.9f); + mbC->setLinearDamping(0.04f); + mbC->setAngularDamping(0.04f); } if (numLinks > 0) @@ -209,22 +209,24 @@ void DeformableContact::initPhysics() // create a patch of cloth { + btScalar h = 0; const btScalar s = 4; - btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s), - btVector3(+s, 0, -s), - btVector3(-s, 0, +s), - btVector3(+s, 0, +s), -// 20,20, - 3,3, + btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s), + btVector3(+s, h, -s), + btVector3(-s, h, +s), + btVector3(+s, h, +s), + 20,20, +// 3,3, 1 + 2 + 4 + 8, true); psb->getCollisionShape()->setMargin(0.25); psb->generateBendingConstraints(2); - psb->setTotalMass(.5); + psb->setTotalMass(5); + psb->setSpringStiffness(2); 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; + psb->m_cfg.kDF = .1; getDeformableDynamicsWorld()->addSoftBody(psb); } @@ -271,7 +273,7 @@ void DeformableContact::exitPhysics() void DeformableContact::stepSimulation(float deltaTime) { // getDeformableDynamicsWorld()->getMultiBodyDynamicsWorld()->stepSimulation(deltaTime); - m_dynamicsWorld->stepSimulation(deltaTime, 4, 1./240.); + m_dynamicsWorld->stepSimulation(deltaTime, 5, 1./250.); } @@ -279,7 +281,7 @@ btMultiBody* DeformableContact::createFeatherstoneMultiBody_testMultiDof(btMulti { //init the base btVector3 baseInertiaDiag(0.f, 0.f, 0.f); - float baseMass = .05f; + float baseMass = .1f; if (baseMass) { @@ -300,7 +302,7 @@ btMultiBody* DeformableContact::createFeatherstoneMultiBody_testMultiDof(btMulti //init the links btVector3 hingeJointAxis(1, 0, 0); - float linkMass = .05f; + float linkMass = .1f; btVector3 linkInertiaDiag(0.f, 0.f, 0.f); btCollisionShape* pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2])); diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index f29cef2ba..1bbadd941 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -50,6 +50,7 @@ #include "../DeformableDemo/DeformableDemo.h" #include "../Pinch/Pinch.h" #include "../DeformableContact/DeformableContact.h" +#include "../MultiBodyBaseline/MultiBodyBaseline.h" #include "../VolumetricDeformable/VolumetricDeformable.h" #include "../SharedMemory/PhysicsServerExampleBullet2.h" #include "../SharedMemory/PhysicsServerExample.h" @@ -126,6 +127,7 @@ static ExampleEntry gDefaultExamples[] = 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(0, "MultiBody Baseline", "MultiBody Baseline", MultiBodyBaselineCreateFunc), 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), diff --git a/examples/MultiBodyBaseline/MultiBodyBaseline.cpp b/examples/MultiBodyBaseline/MultiBodyBaseline.cpp new file mode 100644 index 000000000..663c2d33a --- /dev/null +++ b/examples/MultiBodyBaseline/MultiBodyBaseline.cpp @@ -0,0 +1,358 @@ +/* +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 "MultiBodyBaseline.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 //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 MultiBodyBaseline demo deformable bodies self-collision +static bool g_floatingBase = true; +static float friction = 1.; +class MultiBodyBaseline : public CommonMultiBodyBase +{ + btMultiBody* m_multiBody; + btAlignedObjectArray m_jointFeedbacks; +public: + MultiBodyBaseline(struct GUIHelperInterface* helper) + : CommonMultiBodyBase(helper) + { + } + + virtual ~MultiBodyBaseline() + { + } + + void initPhysics(); + + void exitPhysics(); + + void resetCamera() + { + float dist = 30; + float pitch = -30; + float yaw = 100; + float targetPos[3] = {0, -10, 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); + +}; + +void MultiBodyBaseline::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(); + btMultiBodyConstraintSolver* sol; + sol = new btMultiBodyConstraintSolver; + m_solver = sol; + + btMultiBodyDynamicsWorld* world = new btMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration); + m_dynamicsWorld = world; + // m_dynamicsWorld->setDebugDrawer(&gDebugDraw); + m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); + m_dynamicsWorld->setGravity(btVector3(0, -10, 0)); + + { + ///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.)); + //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 = false; + int numLinks = 4; + bool spherical = false; //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(0.0f); + mbC->setAngularDamping(0.0f); + } + else + { + mbC->setLinearDamping(0.04f); + mbC->setAngularDamping(0.04f); + } + + 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); + } + + m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); +} + +void MultiBodyBaseline::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 MultiBodyBaseline::stepSimulation(float deltaTime) +{ +// getDeformableDynamicsWorld()->getMultiBodyDynamicsWorld()->stepSimulation(deltaTime); + m_dynamicsWorld->stepSimulation(deltaTime, 5, 1./250.); +} + + +btMultiBody* MultiBodyBaseline::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 = .1f; + + 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 = .1f; + 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 MultiBodyBaseline::addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents) +{ + btAlignedObjectArray world_to_local; + world_to_local.resize(pMultiBody->getNumLinks() + 1); + + btAlignedObjectArray 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* MultiBodyBaselineCreateFunc(struct CommonExampleOptions& options) +{ + return new MultiBodyBaseline(options.m_guiHelper); +} + + diff --git a/examples/MultiBodyBaseline/MultiBodyBaseline.h b/examples/MultiBodyBaseline/MultiBodyBaseline.h new file mode 100644 index 000000000..35734c63c --- /dev/null +++ b/examples/MultiBodyBaseline/MultiBodyBaseline.h @@ -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 _MULTIBODY_BASELINE_H +#define _MULTIBODY_BASELINE_H + +class CommonExampleInterface* MultiBodyBaselineCreateFunc(struct CommonExampleOptions& options); + +#endif //_MULTIBODY_BASELINE_H diff --git a/examples/VolumetricDeformable/VolumetricDeformable.cpp b/examples/VolumetricDeformable/VolumetricDeformable.cpp index 9bcf63ab2..b30e9bc24 100644 --- a/examples/VolumetricDeformable/VolumetricDeformable.cpp +++ b/examples/VolumetricDeformable/VolumetricDeformable.cpp @@ -77,8 +77,8 @@ public: void stepSimulation(float deltaTime) { //use a smaller internal timestep, there are stability issues - float internalTimeStep = 1. / 480.f; - m_dynamicsWorld->stepSimulation(deltaTime, 8, internalTimeStep); + float internalTimeStep = 1. / 240.f; + m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep); } void createStaticBox(const btVector3& halfEdge, const btVector3& translation) diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp index 718106e77..d4a9a754f 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp @@ -422,7 +422,11 @@ void btMultiBodyDynamicsWorld::forwardKinematics() void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) { solveExternalForces(solverInfo); + solveInternalConstraints(solverInfo); +} +void btMultiBodyDynamicsWorld::solveInternalConstraints(btContactSolverInfo& solverInfo) +{ /// solve all the constraints for this island m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback); diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h index 019d1bd87..4f48f07d2 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h @@ -113,6 +113,7 @@ public: virtual void getAnalyticsData(btAlignedObjectArray& m_islandAnalyticsData) const; virtual void solveExternalForces(btContactSolverInfo& solverInfo); + virtual void solveInternalConstraints(btContactSolverInfo& solverInfo); }; #endif //BT_MULTIBODY_DYNAMICS_WORLD_H diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index 09055c7d1..928ee46f8 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -21,11 +21,10 @@ struct DeformableContactConstraint btAlignedObjectArray m_value; // the magnitude of the total impulse the node applied to the rb in the normal direction in the cg solve btAlignedObjectArray m_accumulated_normal_impulse; - btAlignedObjectArray m_normal_jacobian; - DeformableContactConstraint(const btSoftBody::RContact& rcontact, const btMultiBodyJacobianData& jacobian) + DeformableContactConstraint(const btSoftBody::RContact& rcontact) { - append(rcontact, jacobian); + append(rcontact); } DeformableContactConstraint(const btVector3 dir) @@ -34,8 +33,6 @@ struct DeformableContactConstraint m_direction.push_back(dir); m_value.push_back(0); m_accumulated_normal_impulse.push_back(0); - btMultiBodyJacobianData j; - m_normal_jacobian.push_back(j); } DeformableContactConstraint() @@ -44,17 +41,14 @@ struct DeformableContactConstraint m_direction.push_back(btVector3(0,0,0)); m_value.push_back(0); m_accumulated_normal_impulse.push_back(0); - btMultiBodyJacobianData j; - m_normal_jacobian.push_back(j); } - void append(const btSoftBody::RContact& rcontact, const btMultiBodyJacobianData& jacobian) + void append(const btSoftBody::RContact& rcontact) { m_contact.push_back(&rcontact); m_direction.push_back(rcontact.m_cti.m_normal); m_value.push_back(0); m_accumulated_normal_impulse.push_back(0); - m_normal_jacobian.push_back(jacobian); } ~DeformableContactConstraint() @@ -77,8 +71,6 @@ struct DeformableFrictionConstraint btAlignedObjectArray m_direction_prev; btAlignedObjectArray m_released; // whether the contact is released - btAlignedObjectArray m_complementary_jacobian; - btAlignedObjectArray m_complementaryDirection; // the total impulse the node applied to the rb in the tangential direction in the cg solve @@ -89,12 +81,6 @@ struct DeformableFrictionConstraint append(); } - DeformableFrictionConstraint(const btVector3& complementaryDir, const btMultiBodyJacobianData& jacobian) - { - append(); - addJacobian(complementaryDir, jacobian); - } - void append() { m_static.push_back(false); @@ -112,13 +98,6 @@ struct DeformableFrictionConstraint m_accumulated_tangent_impulse.push_back(btVector3(0,0,0)); m_released.push_back(false); } - - void addJacobian(const btVector3& complementaryDir, const btMultiBodyJacobianData& jacobian) - { - m_complementary_jacobian.push_back(jacobian); - m_complementaryDirection.push_back(complementaryDir); - } - }; class btCGProjection diff --git a/src/BulletSoftBody/btContactProjection.cpp b/src/BulletSoftBody/btContactProjection.cpp deleted file mode 100644 index e81cb2c50..000000000 --- a/src/BulletSoftBody/btContactProjection.cpp +++ /dev/null @@ -1,488 +0,0 @@ -// -// btDeformableContactProjection.cpp -// BulletSoftBody -// -// Created by Xuchen Han on 7/4/19. -// - -#include "btDeformableContactProjection.h" -#include "btDeformableRigidDynamicsWorld.h" -#include -static void findJacobian(const btMultiBodyLinkCollider* multibodyLinkCol, - btMultiBodyJacobianData& jacobianData, - const btVector3& contact_point, - const btVector3& dir) -{ - const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; - jacobianData.m_jacobians.resize(ndof); - jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof); - btScalar* jac = &jacobianData.m_jacobians[0]; - - multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, contact_point, dir, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m); - multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0], &jacobianData.m_deltaVelocitiesUnitImpulse[0], jacobianData.scratch_r, jacobianData.scratch_v); -} - -static btVector3 generateUnitOrthogonalVector(const btVector3& u) -{ - btScalar ux = u.getX(); - btScalar uy = u.getY(); - btScalar uz = u.getZ(); - btScalar ax = std::abs(ux); - btScalar ay = std::abs(uy); - btScalar az = std::abs(uz); - btVector3 v; - if (ax <= ay && ax <= az) - v = btVector3(0, -uz, uy); - else if (ay <= ax && ay <= az) - v = btVector3(-uz, 0, ux); - else - v = btVector3(-uy, ux, 0); - v.normalize(); - return v; -} - -void btDeformableContactProjection::update() -{ - ///solve rigid body constraints - m_world->getSolverInfo().m_numIterations = 10; - m_world->btMultiBodyDynamicsWorld::solveConstraints(m_world->getSolverInfo()); - - // loop through constraints to set constrained values - for (auto& it : m_constraints) - { - btAlignedObjectArray& frictions = m_frictions[it.first]; - btAlignedObjectArray& constraints = it.second; - for (int i = 0; i < constraints.size(); ++i) - { - DeformableContactConstraint& constraint = constraints[i]; - DeformableFrictionConstraint& friction = frictions[i]; - for (int j = 0; j < constraint.m_contact.size(); ++j) - { - if (constraint.m_contact[j] == nullptr) - { - // nothing needs to be done for dirichelet constraints - continue; - } - const btSoftBody::RContact* c = constraint.m_contact[j]; - const btSoftBody::sCti& cti = c->m_cti; - - // normal jacobian is precompute but tangent jacobian is not - const btMultiBodyJacobianData& jacobianData_normal = constraint.m_normal_jacobian[j]; - const btMultiBodyJacobianData& jacobianData_complementary = friction.m_complementary_jacobian[j]; - - if (cti.m_colObj->hasContactResponse()) - { - btVector3 va(0, 0, 0); - btRigidBody* rigidCol = 0; - btMultiBodyLinkCollider* multibodyLinkCol = 0; - const btScalar* deltaV_normal; - - // grab the velocity of the rigid body - if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) - { - rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); - va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c->m_c1)) * m_dt : btVector3(0, 0, 0); - } - else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) - { - multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); - if (multibodyLinkCol) - { - const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; - const btScalar* jac_normal = &jacobianData_normal.m_jacobians[0]; - deltaV_normal = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; - - // add in the normal component of the va - btScalar vel = 0.0; - for (int k = 0; k < ndof; ++k) - { - vel += multibodyLinkCol->m_multiBody->getVelocityVector()[k] * jac_normal[k]; - } - va = cti.m_normal * vel * m_dt; - - // add in complementary direction of va - const btScalar* jac_complementary = &jacobianData_complementary.m_jacobians[0]; - vel = 0.0; - for (int k = 0; k < ndof; ++k) - { - vel += multibodyLinkCol->m_multiBody->getVelocityVector()[k] * jac_complementary[k]; - } - va += friction.m_complementaryDirection[j] * vel * m_dt; - } - } - - const btVector3 vb = c->m_node->m_v * m_dt; - const btVector3 vr = vb - va; - const btScalar dn = btDot(vr, cti.m_normal); - btVector3 impulse = c->m_c0 * vr; - const btVector3 impulse_normal = c->m_c0 * (cti.m_normal * dn); - const btVector3 impulse_tangent = impulse - impulse_normal; - - // start friction handling - // copy old data - friction.m_impulse_prev[j] = friction.m_impulse[j]; - friction.m_dv_prev[j] = friction.m_dv[j]; - friction.m_static_prev[j] = friction.m_static[j]; - - // get the current tangent direction - btScalar local_tangent_norm = impulse_tangent.norm(); - btVector3 local_tangent_dir = btVector3(0,0,0); - if (local_tangent_norm > SIMD_EPSILON) - local_tangent_dir = impulse_tangent.normalized(); - - // accumulated impulse on the rb in this and all prev cg iterations - constraint.m_accumulated_normal_impulse[j] += impulse_normal.dot(cti.m_normal); - const btScalar& accumulated_normal = constraint.m_accumulated_normal_impulse[j]; - - // the total tangential impulse required to stop sliding - btVector3 tangent = friction.m_accumulated_tangent_impulse[j] + impulse_tangent; - btScalar tangent_norm = tangent.norm(); - - if (accumulated_normal < 0) - { - friction.m_direction[j] = -local_tangent_dir; - // do not allow switching from static friction to dynamic friction - // it causes cg to explode - if (-accumulated_normal*c->m_c3 < tangent_norm && friction.m_static_prev[j] == false && friction.m_released[j] == false) - { - friction.m_static[j] = false; - friction.m_impulse[j] = -accumulated_normal*c->m_c3; - } - else - { - friction.m_static[j] = true; - friction.m_impulse[j] = tangent_norm; - } - } - else - { - friction.m_released[j] = true; - friction.m_static[j] = false; - friction.m_impulse[j] = 0; - friction.m_direction[j] = btVector3(0,0,0); - } - friction.m_dv[j] = friction.m_impulse[j] * c->m_c2/m_dt; - friction.m_accumulated_tangent_impulse[j] = -friction.m_impulse[j] * friction.m_direction[j]; - - // the incremental impulse applied to rb in the tangential direction - btVector3 incremental_tangent = (friction.m_impulse_prev[j] * friction.m_direction_prev[j])-(friction.m_impulse[j] * friction.m_direction[j]); - - // TODO cleanup - if (1) // in the same CG solve, the set of constraits doesn't change - { - // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient - - // dv = new_impulse + accumulated velocity change in previous CG iterations - // so we have the invariant node->m_v = backupVelocity + dv; - - btScalar dvn = -accumulated_normal * c->m_c2/m_dt; - - // the following is equivalent - /* - btVector3 dv = -impulse_normal * c->m_c2/m_dt + c->m_node->m_v - backupVelocity[m_indices[c->m_node]]; - btScalar dvn = dv.dot(cti.m_normal); - */ - - constraint.m_value[j] = dvn; - - // the incremental impulse: - // in the normal direction it's the normal component of "impulse" - // in the tangent direction it's the difference between the frictional impulse in the iteration and the previous iteration - impulse = impulse_normal + incremental_tangent; - if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) - { - if (rigidCol) - rigidCol->applyImpulse(impulse, c->m_c1); - } - else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) - { - - if (multibodyLinkCol) - { - double multiplier = 1; - multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_normal, -impulse_normal.length() * multiplier); - - if (incremental_tangent.norm() > SIMD_EPSILON) - { - btMultiBodyJacobianData jacobian_tangent; - btVector3 tangent = incremental_tangent.normalized(); - findJacobian(multibodyLinkCol, jacobian_tangent, c->m_node->m_x, tangent); - const btScalar* deltaV_tangent = &jacobian_tangent.m_deltaVelocitiesUnitImpulse[0]; - multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_tangent, incremental_tangent.length() * multiplier); - } - } - } - } - } - } - } - } -} - -void btDeformableContactProjection::setConstraints() -{ - // set Dirichlet constraint - for (int i = 0; i < m_softBodies.size(); ++i) - { - btSoftBody* psb = m_softBodies[i]; - for (int j = 0; j < psb->m_nodes.size(); ++j) - { - if (psb->m_nodes[j].m_im == 0) - { - btAlignedObjectArray c; - c.push_back(DeformableContactConstraint(btVector3(1,0,0))); - c.push_back(DeformableContactConstraint(btVector3(0,1,0))); - c.push_back(DeformableContactConstraint(btVector3(0,0,1))); - m_constraints[&(psb->m_nodes[j])] = c; - - btAlignedObjectArray f; - f.push_back(DeformableFrictionConstraint()); - f.push_back(DeformableFrictionConstraint()); - f.push_back(DeformableFrictionConstraint()); - m_frictions[&(psb->m_nodes[j])] = f; - } - } - } - - for (int i = 0; i < m_softBodies.size(); ++i) - { - btSoftBody* psb = m_softBodies[i]; - btMultiBodyJacobianData jacobianData_normal; - btMultiBodyJacobianData jacobianData_complementary; - - for (int j = 0; j < psb->m_rcontacts.size(); ++j) - { - const btSoftBody::RContact& c = psb->m_rcontacts[j]; - // skip anchor points - if (c.m_node->m_im == 0) - { - continue; - } - - const btSoftBody::sCti& cti = c.m_cti; - if (cti.m_colObj->hasContactResponse()) - { - btVector3 va(0, 0, 0); - btRigidBody* rigidCol = 0; - btMultiBodyLinkCollider* multibodyLinkCol = 0; - - // grab the velocity of the rigid body - if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) - { - rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); - va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c.m_c1)) * m_dt : btVector3(0, 0, 0); - } - else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) - { - multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); - if (multibodyLinkCol) - { - findJacobian(multibodyLinkCol, jacobianData_normal, c.m_node->m_x, cti.m_normal); - btScalar vel = 0.0; - const btScalar* jac = &jacobianData_normal.m_jacobians[0]; - const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; - for (int j = 0; j < ndof; ++j) - { - vel += multibodyLinkCol->m_multiBody->getVelocityVector()[j] * jac[j]; - std::cout << multibodyLinkCol->m_multiBody->getVelocityVector()[j] << std::endl; - std::cout << jac[j] << std::endl; - } - va = cti.m_normal * vel * m_dt; - } - } - - const btVector3 vb = c.m_node->m_v * m_dt; - const btVector3 vr = vb - va; - const btScalar dn = btDot(vr, cti.m_normal); - if (dn < SIMD_EPSILON) - { - // find complementary jacobian - btVector3 complementaryDirection; - if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) - { - multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); - if (multibodyLinkCol) - { - complementaryDirection = generateUnitOrthogonalVector(cti.m_normal); - findJacobian(multibodyLinkCol, jacobianData_complementary, c.m_node->m_x, complementaryDirection); - } - } - - if (m_constraints.find(c.m_node) == m_constraints.end()) - { - btAlignedObjectArray constraints; - constraints.push_back(DeformableContactConstraint(c, jacobianData_normal)); - m_constraints[c.m_node] = constraints; - btAlignedObjectArray frictions; - frictions.push_back(DeformableFrictionConstraint(complementaryDirection, jacobianData_complementary)); - m_frictions[c.m_node] = frictions; - } - else - { - // group colinear constraints into one - const btScalar angle_epsilon = 0.015192247; // less than 10 degree - bool merged = false; - btAlignedObjectArray& constraints = m_constraints[c.m_node]; - btAlignedObjectArray& frictions = m_frictions[c.m_node]; - for (int j = 0; j < constraints.size(); ++j) - { - const btAlignedObjectArray& dirs = constraints[j].m_direction; - btScalar dot_prod = dirs[0].dot(cti.m_normal); - if (std::abs(std::abs(dot_prod) - 1) < angle_epsilon) - { - // group the constraints - constraints[j].append(c, jacobianData_normal); - // push in an empty friction - frictions[j].append(); - frictions[j].addJacobian(complementaryDirection, jacobianData_complementary); - merged = true; - break; - } - } - const int dim = 3; - // hard coded no more than 3 constraint directions - if (!merged && constraints.size() < dim) - { - constraints.push_back(DeformableContactConstraint(c, jacobianData_normal)); - frictions.push_back(DeformableFrictionConstraint(complementaryDirection, jacobianData_complementary)); - } - } - } - } - } - } -} - -void btDeformableContactProjection::enforceConstraint(TVStack& x) -{ - const int dim = 3; - for (auto& it : m_constraints) - { - const btAlignedObjectArray& constraints = it.second; - size_t i = m_indices[it.first]; - const btAlignedObjectArray& frictions = m_frictions[it.first]; - btAssert(constraints.size() <= dim); - btAssert(constraints.size() > 0); - if (constraints.size() == 1) - { - x[i] -= x[i].dot(constraints[0].m_direction[0]) * constraints[0].m_direction[0]; - for (int j = 0; j < constraints[0].m_direction.size(); ++j) - x[i] += constraints[0].m_value[j] * constraints[0].m_direction[j]; - } - else if (constraints.size() == 2) - { - btVector3 free_dir = btCross(constraints[0].m_direction[0], constraints[1].m_direction[0]); - btAssert(free_dir.norm() > SIMD_EPSILON) - free_dir.normalize(); - x[i] = x[i].dot(free_dir) * free_dir; - for (int j = 0; j < constraints.size(); ++j) - { - for (int k = 0; k < constraints[j].m_direction.size(); ++k) - { - x[i] += constraints[j].m_value[k] * constraints[j].m_direction[k]; - } - } - - } - else - { - x[i].setZero(); - for (int j = 0; j < constraints.size(); ++j) - { - for (int k = 0; k < constraints[j].m_direction.size(); ++k) - { - x[i] += constraints[j].m_value[k] * constraints[j].m_direction[k]; - } - } - } - - // apply friction if the node is not constrained in all directions - if (constraints.size() < 3) - { - for (int f = 0; f < frictions.size(); ++f) - { - const DeformableFrictionConstraint& friction= frictions[f]; - for (int j = 0; j < friction.m_direction.size(); ++j) - { - // clear the old constraint - if (friction.m_static_prev[j] == true) - { - x[i] -= friction.m_direction_prev[j] * friction.m_dv_prev[j]; - } - // add the new constraint - if (friction.m_static[j] == true) - { - x[i] += friction.m_direction[j] * friction.m_dv[j]; - } - } - } - } - } -} - -void btDeformableContactProjection::project(TVStack& x) -{ - const int dim = 3; - for (auto& it : m_constraints) - { - const btAlignedObjectArray& constraints = it.second; - size_t i = m_indices[it.first]; - btAlignedObjectArray& frictions = m_frictions[it.first]; - btAssert(constraints.size() <= dim); - btAssert(constraints.size() > 0); - if (constraints.size() == 1) - { - x[i] -= x[i].dot(constraints[0].m_direction[0]) * constraints[0].m_direction[0]; - } - else if (constraints.size() == 2) - { - btVector3 free_dir = btCross(constraints[0].m_direction[0], constraints[1].m_direction[0]); - btAssert(free_dir.norm() > SIMD_EPSILON) - free_dir.normalize(); - x[i] = x[i].dot(free_dir) * free_dir; - } - else - x[i].setZero(); - - // apply friction if the node is not constrained in all directions - if (constraints.size() < 3) - { - bool has_static_constraint = false; - for (int f = 0; f < frictions.size(); ++f) - { - DeformableFrictionConstraint& friction= frictions[f]; - for (int j = 0; j < friction.m_static.size(); ++j) - has_static_constraint = has_static_constraint || friction.m_static[j]; - } - - for (int f = 0; f < frictions.size(); ++f) - { - DeformableFrictionConstraint& friction= frictions[f]; - for (int j = 0; j < friction.m_direction.size(); ++j) - { - // clear the old friction force - if (friction.m_static_prev[j] == false) - { - x[i] -= friction.m_direction_prev[j] * friction.m_impulse_prev[j]; - } - - // only add to the rhs if there is no static friction constraint on the node - if (friction.m_static[j] == false && !has_static_constraint) - { - x[i] += friction.m_direction[j] * friction.m_impulse[j]; - } - } - } - } - } -} - -void btDeformableContactProjection::reinitialize(bool nodeUpdated) -{ - btCGProjection::reinitialize(nodeUpdated); - m_constraints.clear(); - m_frictions.clear(); -} - - - diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index 25f667711..1a9cad120 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -45,7 +45,7 @@ void btDeformableContactProjection::update() { ///solve rigid body constraints m_world->getSolverInfo().m_numIterations = 10; - m_world->btMultiBodyDynamicsWorld::solveConstraints(m_world->getSolverInfo()); + m_world->btMultiBodyDynamicsWorld::solveInternalConstraints(m_world->getSolverInfo()); // loop through constraints to set constrained values for (auto& it : m_constraints) @@ -66,10 +66,6 @@ void btDeformableContactProjection::update() const btSoftBody::RContact* c = constraint.m_contact[j]; const btSoftBody::sCti& cti = c->m_cti; - // normal jacobian is precompute but tangent jacobian is not - const btMultiBodyJacobianData& jacobianData_normal = constraint.m_normal_jacobian[j]; - const btMultiBodyJacobianData& jacobianData_complementary = friction.m_complementary_jacobian[j]; - if (cti.m_colObj->hasContactResponse()) { btVector3 va(0, 0, 0); @@ -89,25 +85,31 @@ void btDeformableContactProjection::update() if (multibodyLinkCol) { const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; - const btScalar* jac_normal = &jacobianData_normal.m_jacobians[0]; - deltaV_normal = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + const btScalar* J_n = &c->jacobianData_normal.m_jacobians[0]; + const btScalar* J_t1 = &c->jacobianData_t1.m_jacobians[0]; + const btScalar* J_t2 = &c->jacobianData_t2.m_jacobians[0]; + deltaV_normal = &c->jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; // add in the normal component of the va btScalar vel = 0.0; for (int k = 0; k < ndof; ++k) { - vel += multibodyLinkCol->m_multiBody->getVelocityVector()[k] * jac_normal[k]; + vel += multibodyLinkCol->m_multiBody->getVelocityVector()[k] * J_n[k]; } va = cti.m_normal * vel * m_dt; - - // add in complementary direction of va - const btScalar* jac_complementary = &jacobianData_complementary.m_jacobians[0]; + vel = 0.0; for (int k = 0; k < ndof; ++k) { - vel += multibodyLinkCol->m_multiBody->getVelocityVector()[k] * jac_complementary[k]; + vel += multibodyLinkCol->m_multiBody->getVelocityVector()[k] * J_t1[k]; } - va += friction.m_complementaryDirection[j] * vel * m_dt; + va += c->t1 * vel * m_dt; + vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += multibodyLinkCol->m_multiBody->getVelocityVector()[k] * J_t2[k]; + } + va += c->t2 * vel * m_dt; } } @@ -143,8 +145,6 @@ void btDeformableContactProjection::update() friction.m_direction[j] = -local_tangent_dir; // do not allow switching from static friction to dynamic friction // it causes cg to explode - btScalar comp1 = -accumulated_normal*c->m_c3; - btScalar comp2 = tangent_norm; if (-accumulated_normal*c->m_c3 < tangent_norm && friction.m_static_prev[j] == false && friction.m_released[j] == false) { friction.m_static[j] = false; @@ -194,19 +194,15 @@ void btDeformableContactProjection::update() } else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) { - if (multibodyLinkCol) { - double multiplier = 1; - multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_normal, -impulse_normal.length() * multiplier); - + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_normal, impulse.dot(cti.m_normal)); if (incremental_tangent.norm() > SIMD_EPSILON) { - btMultiBodyJacobianData jacobian_tangent; - btVector3 tangent = incremental_tangent.normalized(); - findJacobian(multibodyLinkCol, jacobian_tangent, c->m_node->m_x, tangent); - const btScalar* deltaV_tangent = &jacobian_tangent.m_deltaVelocitiesUnitImpulse[0]; - multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_tangent, incremental_tangent.length() * multiplier); + const btScalar* deltaV_t1 = &c->jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_t1, impulse.dot(c->t1)); + const btScalar* deltaV_t2 = &c->jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_t2, impulse.dot(c->t2)); } } } @@ -274,15 +270,12 @@ void btDeformableContactProjection::setConstraints() multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); if (multibodyLinkCol) { - findJacobian(multibodyLinkCol, jacobianData_normal, c.m_node->m_x, cti.m_normal); btScalar vel = 0.0; - const btScalar* jac = &jacobianData_normal.m_jacobians[0]; + const btScalar* jac = &c.jacobianData_normal.m_jacobians[0]; const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; for (int j = 0; j < ndof; ++j) { vel += multibodyLinkCol->m_multiBody->getVelocityVector()[j] * jac[j]; - std::cout << multibodyLinkCol->m_multiBody->getVelocityVector()[j] << std::endl; - std::cout << jac[j] << std::endl; } va = cti.m_normal * vel * m_dt; } @@ -293,25 +286,13 @@ void btDeformableContactProjection::setConstraints() const btScalar dn = btDot(vr, cti.m_normal); if (dn < SIMD_EPSILON) { - // find complementary jacobian - btVector3 complementaryDirection; - if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) - { - multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); - if (multibodyLinkCol) - { - complementaryDirection = generateUnitOrthogonalVector(cti.m_normal); - findJacobian(multibodyLinkCol, jacobianData_complementary, c.m_node->m_x, complementaryDirection); - } - } - if (m_constraints.find(c.m_node) == m_constraints.end()) { btAlignedObjectArray constraints; - constraints.push_back(DeformableContactConstraint(c, jacobianData_normal)); + constraints.push_back(DeformableContactConstraint(c)); m_constraints[c.m_node] = constraints; btAlignedObjectArray frictions; - frictions.push_back(DeformableFrictionConstraint(complementaryDirection, jacobianData_complementary)); + frictions.push_back(DeformableFrictionConstraint()); m_frictions[c.m_node] = frictions; } else @@ -328,10 +309,9 @@ void btDeformableContactProjection::setConstraints() if (std::abs(std::abs(dot_prod) - 1) < angle_epsilon) { // group the constraints - constraints[j].append(c, jacobianData_normal); + constraints[j].append(c); // push in an empty friction frictions[j].append(); - frictions[j].addJacobian(complementaryDirection, jacobianData_complementary); merged = true; break; } @@ -340,8 +320,8 @@ void btDeformableContactProjection::setConstraints() // hard coded no more than 3 constraint directions if (!merged && constraints.size() < dim) { - constraints.push_back(DeformableContactConstraint(c, jacobianData_normal)); - frictions.push_back(DeformableFrictionConstraint(complementaryDirection, jacobianData_complementary)); + constraints.push_back(DeformableContactConstraint(c)); + frictions.push_back(DeformableFrictionConstraint()); } } } diff --git a/src/BulletSoftBody/btDeformableContactProjection.h b/src/BulletSoftBody/btDeformableContactProjection.h index aa7af70fb..e73d8faa4 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.h +++ b/src/BulletSoftBody/btDeformableContactProjection.h @@ -40,4 +40,4 @@ public: virtual void reinitialize(bool nodeUpdated); }; -#endif /* btContactProjection_h */ +#endif /* btDeformableContactProjection_h */ diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp index 216c1a24d..f9c9968c9 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp @@ -69,6 +69,43 @@ void btDeformableRigidDynamicsWorld::positionCorrection(btScalar dt) rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c->m_c1)): btVector3(0, 0, 0); } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + const btScalar* J_n = &c->jacobianData_normal.m_jacobians[0]; + const btScalar* J_t1 = &c->jacobianData_t1.m_jacobians[0]; + const btScalar* J_t2 = &c->jacobianData_t2.m_jacobians[0]; + + // add in the normal component of the va + btScalar vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += multibodyLinkCol->m_multiBody->getVelocityVector()[k] * J_n[k]; + } + va = cti.m_normal * vel; + + vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += multibodyLinkCol->m_multiBody->getVelocityVector()[k] * J_t1[k]; + } + va += c->t1 * vel; + vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += multibodyLinkCol->m_multiBody->getVelocityVector()[k] * J_t2[k]; + } + va += c->t2 * vel; + } + } + else + { + // The object interacting with deformable node is not supported for position correction + btAssert(false); + } if (cti.m_colObj->hasContactResponse()) { diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index e8fd3da39..95249b093 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -26,7 +26,8 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" #include "btSparseSDF.h" #include "BulletCollision/BroadphaseCollision/btDbvt.h" - +#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" //#ifdef BT_USE_DOUBLE_PRECISION //#define btRigidBodyData btRigidBodyDoubleData //#define btRigidBodyDataName "btRigidBodyDoubleData" @@ -300,6 +301,13 @@ public: btScalar m_c2; // ima*dt btScalar m_c3; // Friction btScalar m_c4; // Hardness + + // jacobians and unit impulse responses for multibody + btMultiBodyJacobianData jacobianData_normal; + btMultiBodyJacobianData jacobianData_t1; + btMultiBodyJacobianData jacobianData_t2; + btVector3 t1; + btVector3 t2; }; /* SContact */ struct SContact diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index 9b3e45ea4..8cf0ed3c0 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -25,7 +25,41 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" #include "BulletCollision/CollisionShapes/btConvexInternalShape.h" #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" +#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" #include //for memset +#include +static void findJacobian(const btMultiBodyLinkCollider* multibodyLinkCol, + btMultiBodyJacobianData& jacobianData, + const btVector3& contact_point, + const btVector3& dir) +{ + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + jacobianData.m_jacobians.resize(ndof); + jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof); + btScalar* jac = &jacobianData.m_jacobians[0]; + + multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, contact_point, dir, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m); + multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0], &jacobianData.m_deltaVelocitiesUnitImpulse[0], jacobianData.scratch_r, jacobianData.scratch_v); +} +static btVector3 generateUnitOrthogonalVector(const btVector3& u) +{ + btScalar ux = u.getX(); + btScalar uy = u.getY(); + btScalar uz = u.getZ(); + btScalar ax = std::abs(ux); + btScalar ay = std::abs(uy); + btScalar az = std::abs(uz); + btVector3 v; + if (ax <= ay && ax <= az) + v = btVector3(0, -uz, uy); + else if (ay <= ax && ay <= az) + v = btVector3(-uz, 0, ux); + else + v = btVector3(-uy, ux, 0); + v.normalize(); + return v; +} // // btSymMatrix // @@ -298,6 +332,46 @@ static inline btMatrix3x3 Diagonal(btScalar x) m[2] = btVector3(0, 0, x); return (m); } + +static inline btMatrix3x3 Diagonal(const btVector3& v) +{ + btMatrix3x3 m; + m[0] = btVector3(v.getX(), 0, 0); + m[1] = btVector3(0, v.getY(), 0); + m[2] = btVector3(0, 0, v.getZ()); + return (m); +} + +static inline btScalar Dot(const btScalar* a,const btScalar* b, int ndof) +{ + btScalar result = 0; + for (int i = 0; i < ndof; ++i) + result += a[i] * b[i]; + return result; +} + +static inline btMatrix3x3 OuterProduct(const btScalar* v1,const btScalar* v2,const btScalar* v3, + const btScalar* u1, const btScalar* u2, const btScalar* u3, int ndof) +{ + btMatrix3x3 m; + btScalar a11 = Dot(v1,u1,ndof); + btScalar a12 = Dot(v1,u2,ndof); + btScalar a13 = Dot(v1,u3,ndof); + + btScalar a21 = Dot(v2,u1,ndof); + btScalar a22 = Dot(v2,u2,ndof); + btScalar a23 = Dot(v2,u3,ndof); + + btScalar a31 = Dot(v3,u1,ndof); + btScalar a32 = Dot(v3,u2,ndof); + btScalar a33 = Dot(v3,u3,ndof); + m[0] = btVector3(a11, a12, a13); + m[1] = btVector3(a21, a22, a23); + m[2] = btVector3(a31, a32, a33); + return (m); +} + + // static inline btMatrix3x3 Add(const btMatrix3x3& a, const btMatrix3x3& b) @@ -879,21 +953,68 @@ struct btSoftColliders if (ms > 0) { psb->checkContact(m_colObj1Wrap, n.m_q, m, c.m_cti); - const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform(); - static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0); - const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic; - const btVector3 ra = n.m_q - wtr.getOrigin(); - const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); + auto& cti = c.m_cti; c.m_node = &n; - c.m_c0 = ImpulseMatrix(psb->m_sst.sdt, ima, imb, iwi, ra); - c.m_c1 = ra; + const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); c.m_c2 = ima * psb->m_sst.sdt; - // c.m_c3 = fv.length2() < (dn * fc * dn * fc) ? 0 : 1 - fc; c.m_c3 = fc; c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR; + + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform(); + static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0); + const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic; + const btVector3 ra = n.m_q - wtr.getOrigin(); + + c.m_c0 = ImpulseMatrix(psb->m_sst.sdt, ima, imb, iwi, ra); + c.m_c1 = ra; + if (m_rigidBody) + m_rigidBody->activate(); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + btVector3 normal = cti.m_normal; + btVector3 t1 = generateUnitOrthogonalVector(normal); + btVector3 t2 = btCross(normal, t1); + btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2; + findJacobian(multibodyLinkCol, jacobianData_normal, c.m_node->m_q, normal); + findJacobian(multibodyLinkCol, jacobianData_t1, c.m_node->m_q, t1); + findJacobian(multibodyLinkCol, jacobianData_t2, c.m_node->m_q, t2); + + btScalar* J_n = &jacobianData_normal.m_jacobians[0]; + btScalar* J_t1 = &jacobianData_t1.m_jacobians[0]; + btScalar* J_t2 = &jacobianData_t2.m_jacobians[0]; + + btScalar* u_n = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + + btMatrix3x3 rot(normal, t1, t2); // world frame to local frame + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + btVector3 u_dot_J(0,0,0); + for (int i = 0; i < ndof; ++i) + { + u_dot_J += btVector3(J_n[i] * u_n[i], J_t1[i] * u_t1[i], J_t2[i] * u_t2[i]); + } + btVector3 impulse_matrix_diag; + btScalar dt = psb->m_sst.sdt; + impulse_matrix_diag.setX(1/((u_dot_J.getX() + n.m_im) * dt)); + impulse_matrix_diag.setY(1/((u_dot_J.getY() + n.m_im) * dt)); + impulse_matrix_diag.setZ(1/((u_dot_J.getZ() + n.m_im) * dt)); + btMatrix3x3 local_impulse_matrix = Diagonal(1/dt) * (Diagonal(n.m_im) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse(); + c.m_c0 = rot.transpose() * local_impulse_matrix * rot; + c.jacobianData_normal = jacobianData_normal; + c.jacobianData_t1 = jacobianData_t1; + c.jacobianData_t2 = jacobianData_t2; + c.t1 = t1; + c.t2 = t2; + } + } psb->m_rcontacts.push_back(c); - if (m_rigidBody) - m_rigidBody->activate(); } } } From ec403f790d271af9b33eabaab07cd454eb1437c3 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 25 Jul 2019 13:51:44 -0700 Subject: [PATCH 023/389] factor out force; now btDeformableLagrangianceForce can be specified at configuration time and to specific softbody --- .../DeformableContact/DeformableContact.cpp | 11 +- examples/DeformableDemo/DeformableDemo.cpp | 7 +- examples/Pinch/Pinch.cpp | 9 +- .../VolumetricDeformable.cpp | 7 +- src/BulletSoftBody/btBackwardEulerObjective.h | 100 ------------------ src/BulletSoftBody/btCGProjection.h | 21 +--- .../btDeformableBackwardEulerObjective.cpp | 13 +-- .../btDeformableBackwardEulerObjective.h | 19 ++++ .../btDeformableContactProjection.cpp | 17 +-- .../btDeformableContactProjection.h | 4 +- src/BulletSoftBody/btDeformableGravityForce.h | 11 +- .../btDeformableLagrangianForce.h | 39 +++---- .../btDeformableMassSpringForce.h | 24 +++-- .../btDeformableRigidDynamicsWorld.cpp | 33 ++++-- .../btDeformableRigidDynamicsWorld.h | 2 + src/BulletSoftBody/btSoftBody.cpp | 10 +- src/BulletSoftBody/btSoftBody.h | 2 +- src/BulletSoftBody/btSoftBodyInternals.h | 25 +++-- 18 files changed, 150 insertions(+), 204 deletions(-) delete mode 100644 src/BulletSoftBody/btBackwardEulerObjective.h diff --git a/examples/DeformableContact/DeformableContact.cpp b/examples/DeformableContact/DeformableContact.cpp index f51978ae3..c40564867 100644 --- a/examples/DeformableContact/DeformableContact.cpp +++ b/examples/DeformableContact/DeformableContact.cpp @@ -127,8 +127,9 @@ void DeformableContact::initPhysics() 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); + btVector3 gravity = btVector3(0, -10, 0); + m_dynamicsWorld->setGravity(gravity); + getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); { @@ -169,8 +170,8 @@ void DeformableContact::initPhysics() bool spherical = false; //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); + btVector3 linkHalfExtents(.4, 1, .4); + btVector3 baseHalfExtents(.4, 1, .4); btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(m_dynamicsWorld, numLinks, btVector3(0.f, 10.f,0.f), linkHalfExtents, baseHalfExtents, spherical, g_floatingBase); @@ -228,6 +229,8 @@ void DeformableContact::initPhysics() psb->m_cfg.kCHR = 1; // collision hardness with rigid body psb->m_cfg.kDF = .1; getDeformableDynamicsWorld()->addSoftBody(psb); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce()); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); } m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); diff --git a/examples/DeformableDemo/DeformableDemo.cpp b/examples/DeformableDemo/DeformableDemo.cpp index aa58fbd6f..2411670cf 100644 --- a/examples/DeformableDemo/DeformableDemo.cpp +++ b/examples/DeformableDemo/DeformableDemo.cpp @@ -168,8 +168,9 @@ void DeformableDemo::initPhysics() 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); + btVector3 gravity = btVector3(0, -10, 0); + m_dynamicsWorld->setGravity(gravity); + getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; // getDeformableDynamicsWorld()->before_solver_callbacks.push_back(dynamics); m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); @@ -235,6 +236,8 @@ void DeformableDemo::initPhysics() psb->m_cfg.kCHR = 1; // collision hardness with rigid body psb->m_cfg.kDF = 1; getDeformableDynamicsWorld()->addSoftBody(psb); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce()); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); // add a few rigid bodies Ctor_RbUpStack(1); diff --git a/examples/Pinch/Pinch.cpp b/examples/Pinch/Pinch.cpp index cc3008f9c..4252a47b8 100644 --- a/examples/Pinch/Pinch.cpp +++ b/examples/Pinch/Pinch.cpp @@ -252,8 +252,9 @@ void Pinch::initPhysics() 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); + btVector3 gravity = btVector3(0, -10, 0); + m_dynamicsWorld->setGravity(gravity); + getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; getDeformableDynamicsWorld()->m_beforeSolverCallbacks.push_back(dynamics); m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); @@ -336,12 +337,14 @@ void Pinch::initPhysics() // psb->translate(btVector3(-2.5, 4, -2.5)); // psb->getCollisionShape()->setMargin(0.1); // psb->setTotalMass(1); - psb->setSpringStiffness(4); + psb->setSpringStiffness(2); psb->setDampingCoefficient(0.02); psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb->m_cfg.kCHR = 1; // collision hardness with rigid body psb->m_cfg.kDF = 2; getDeformableDynamicsWorld()->addSoftBody(psb); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce()); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); // add a grippers createGrip(); } diff --git a/examples/VolumetricDeformable/VolumetricDeformable.cpp b/examples/VolumetricDeformable/VolumetricDeformable.cpp index b30e9bc24..15fb712f6 100644 --- a/examples/VolumetricDeformable/VolumetricDeformable.cpp +++ b/examples/VolumetricDeformable/VolumetricDeformable.cpp @@ -186,8 +186,9 @@ void VolumetricDeformable::initPhysics() 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); + btVector3 gravity = btVector3(0, -10, 0); + m_dynamicsWorld->setGravity(gravity); + getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); { @@ -240,6 +241,8 @@ void VolumetricDeformable::initPhysics() 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; + getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce()); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); } // add a few rigid bodies Ctor_RbUpStack(4); diff --git a/src/BulletSoftBody/btBackwardEulerObjective.h b/src/BulletSoftBody/btBackwardEulerObjective.h deleted file mode 100644 index 16ec0a542..000000000 --- a/src/BulletSoftBody/btBackwardEulerObjective.h +++ /dev/null @@ -1,100 +0,0 @@ -// -// btDeformableBackwardEulerObjective.h -// BulletSoftBody -// -// Created by Xuchen Han on 7/1/19. -// - -#ifndef BT_BACKWARD_EULER_OBJECTIVE_H -#define BT_BACKWARD_EULER_OBJECTIVE_H -#include -#include "btConjugateGradient.h" -#include "btLagrangianForce.h" -#include "btMassSpring.h" -#include "btDeformableContactProjection.h" -#include "btPreconditioner.h" -#include "btDeformableRigidDynamicsWorld.h" - -class btDeformableRigidDynamicsWorld; -class btDeformableBackwardEulerObjective -{ -public: - using TVStack = btAlignedObjectArray; - btScalar m_dt; - btDeformableRigidDynamicsWorld* m_world; - btAlignedObjectArray m_lf; - btAlignedObjectArray& m_softBodies; - Preconditioner* m_preconditioner; - btDeformableContactProjection projection; - const TVStack& m_backupVelocity; - - btDeformableBackwardEulerObjective(btAlignedObjectArray& softBodies, const TVStack& backup_v); - - virtual ~btDeformableBackwardEulerObjective() {} - - void initialize(){} - - // compute the rhs for CG solve, i.e, add the dt scaled implicit force to residual - void computeResidual(btScalar dt, TVStack& residual) const; - - // add explicit force to the velocity - void applyExplicitForce(TVStack& force); - - // apply force to velocity and optionally reset the force to zero - void applyForce(TVStack& force, bool setZero); - - // compute the norm of the residual - btScalar computeNorm(const TVStack& residual) const; - - // compute one step of the solve (there is only one solve if the system is linear) - void computeStep(TVStack& dv, const TVStack& residual, const btScalar& dt); - - // perform A*x = b - void multiply(const TVStack& x, TVStack& b) const; - - // set initial guess for CG solve - void initialGuess(TVStack& dv, const TVStack& residual); - - // reset data structure - void reinitialize(bool nodeUpdated); - - void setDt(btScalar dt); - - // enforce constraints in CG solve - void enforceConstraint(TVStack& x) - { - projection.enforceConstraint(x); - updateVelocity(x); - } - - // add dv to velocity - void updateVelocity(const TVStack& dv); - - //set constraints as projections - void setConstraints() - { - projection.setConstraints(); - } - - // update the projections and project the residual - void project(TVStack& r) - { - projection.update(); - // TODO rename - projection.project(r); - } - - // perform precondition M^(-1) x = b - void precondition(const TVStack& x, TVStack& b) - { - m_preconditioner->operator()(x,b); - } - - virtual void setWorld(btDeformableRigidDynamicsWorld* world) - { - m_world = world; - projection.setWorld(world); - } -}; - -#endif /* btBackwardEulerObjective_h */ diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index 928ee46f8..b4a887fa6 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -109,12 +109,13 @@ public: using TArrayStack = btAlignedObjectArray >; btAlignedObjectArray m_softBodies; btDeformableRigidDynamicsWorld* m_world; - std::unordered_map m_indices; + const std::unordered_map* m_indices; const btScalar& m_dt; - btCGProjection(btAlignedObjectArray& softBodies, const btScalar& dt) + btCGProjection(btAlignedObjectArray& softBodies, const btScalar& dt, const std::unordered_map* indices) : m_softBodies(softBodies) , m_dt(dt) + , m_indices(indices) { } @@ -132,22 +133,6 @@ public: virtual void reinitialize(bool nodeUpdated) { - if (nodeUpdated) - updateId(); - } - - void updateId() - { - size_t index = 0; - m_indices.clear(); - for (int i = 0; i < m_softBodies.size(); ++i) - { - btSoftBody* psb = m_softBodies[i]; - for (int j = 0; j < psb->m_nodes.size(); ++j) - { - m_indices[&(psb->m_nodes[j])] = index++; - } - } } void setSoftBodies(btAlignedObjectArray softBodies) diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index 31b0905ac..acc9db75f 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -9,21 +9,22 @@ btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAlignedObjectArray& softBodies, const TVStack& backup_v) : m_softBodies(softBodies) -, projection(m_softBodies, m_dt) +, projection(m_softBodies, m_dt, &m_indices) , m_backupVelocity(backup_v) { // TODO: this should really be specified in initialization instead of here - btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(m_softBodies); - btDeformableGravityForce* gravity = new btDeformableGravityForce(m_softBodies, btVector3(0,-10,0)); +// btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(m_softBodies); +// btDeformableGravityForce* gravity = new btDeformableGravityForce(m_softBodies, btVector3(0,-10,0)); m_preconditioner = new DefaultPreconditioner(); - m_lf.push_back(mass_spring); - m_lf.push_back(gravity); +// m_lf.push_back(mass_spring); +// m_lf.push_back(gravity); } void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated) { if(nodeUpdated) { + updateId(); projection.setSoftBodies(m_softBodies); } for (int i = 0; i < m_lf.size(); ++i) @@ -69,7 +70,7 @@ void btDeformableBackwardEulerObjective::updateVelocity(const TVStack& dv) // only the velocity of the constrained nodes needs to be updated during CG solve for (auto it : projection.m_constraints) { - int i = projection.m_indices[it.first]; + int i = m_indices[it.first]; it.first->m_v = m_backupVelocity[i] + dv[i]; } } diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index bfd4ca3af..e22b42b0b 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -28,6 +28,7 @@ public: Preconditioner* m_preconditioner; btDeformableContactProjection projection; const TVStack& m_backupVelocity; + std::unordered_map m_indices; btDeformableBackwardEulerObjective(btAlignedObjectArray& softBodies, const TVStack& backup_v); @@ -95,6 +96,24 @@ public: m_world = world; projection.setWorld(world); } + + virtual void updateId() + { + size_t index = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + m_indices[&(psb->m_nodes[j])] = index++; + } + } + } + + std::unordered_map* getIndices() + { + return &m_indices; + } }; #endif /* btBackwardEulerObjective_h */ diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index 1a9cad120..4d6ea4e84 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -88,26 +88,27 @@ void btDeformableContactProjection::update() const btScalar* J_n = &c->jacobianData_normal.m_jacobians[0]; const btScalar* J_t1 = &c->jacobianData_t1.m_jacobians[0]; const btScalar* J_t2 = &c->jacobianData_t2.m_jacobians[0]; + const btScalar* local_v = multibodyLinkCol->m_multiBody->getVelocityVector(); deltaV_normal = &c->jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; - // add in the normal component of the va btScalar vel = 0.0; for (int k = 0; k < ndof; ++k) { - vel += multibodyLinkCol->m_multiBody->getVelocityVector()[k] * J_n[k]; + vel += local_v[k] * J_n[k]; } va = cti.m_normal * vel * m_dt; + // add in the tangential components of the va vel = 0.0; for (int k = 0; k < ndof; ++k) { - vel += multibodyLinkCol->m_multiBody->getVelocityVector()[k] * J_t1[k]; + vel += local_v[k] * J_t1[k]; } va += c->t1 * vel * m_dt; vel = 0.0; for (int k = 0; k < ndof; ++k) { - vel += multibodyLinkCol->m_multiBody->getVelocityVector()[k] * J_t2[k]; + vel += local_v[k] * J_t2[k]; } va += c->t2 * vel * m_dt; } @@ -177,7 +178,7 @@ void btDeformableContactProjection::update() // the following is equivalent /* - btVector3 dv = -impulse_normal * c->m_c2/m_dt + c->m_node->m_v - backupVelocity[m_indices[c->m_node]]; + btVector3 dv = -impulse_normal * c->m_c2/m_dt + c->m_node->m_v - backupVelocity[m_indices->at(c->m_node)]; btScalar dvn = dv.dot(cti.m_normal); */ @@ -196,9 +197,11 @@ void btDeformableContactProjection::update() { if (multibodyLinkCol) { + // apply normal component of the impulse multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_normal, impulse.dot(cti.m_normal)); if (incremental_tangent.norm() > SIMD_EPSILON) { + // apply tangential component of the impulse const btScalar* deltaV_t1 = &c->jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_t1, impulse.dot(c->t1)); const btScalar* deltaV_t2 = &c->jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; @@ -336,7 +339,7 @@ void btDeformableContactProjection::enforceConstraint(TVStack& x) for (auto& it : m_constraints) { const btAlignedObjectArray& constraints = it.second; - size_t i = m_indices[it.first]; + size_t i = m_indices->at(it.first); const btAlignedObjectArray& frictions = m_frictions[it.first]; btAssert(constraints.size() <= dim); btAssert(constraints.size() > 0); @@ -399,7 +402,7 @@ void btDeformableContactProjection::project(TVStack& x) for (auto& it : m_constraints) { const btAlignedObjectArray& constraints = it.second; - size_t i = m_indices[it.first]; + size_t i = m_indices->at(it.first); btAlignedObjectArray& frictions = m_frictions[it.first]; btAssert(constraints.size() <= dim); btAssert(constraints.size() > 0); diff --git a/src/BulletSoftBody/btDeformableContactProjection.h b/src/BulletSoftBody/btDeformableContactProjection.h index e73d8faa4..ea3b00f62 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.h +++ b/src/BulletSoftBody/btDeformableContactProjection.h @@ -18,8 +18,8 @@ public: std::unordered_map > m_constraints; std::unordered_map > m_frictions; - btDeformableContactProjection(btAlignedObjectArray& softBodies, const btScalar& dt) - : btCGProjection(softBodies, dt) + btDeformableContactProjection(btAlignedObjectArray& softBodies, const btScalar& dt, const std::unordered_map* indices) + : btCGProjection(softBodies, dt, indices) { } diff --git a/src/BulletSoftBody/btDeformableGravityForce.h b/src/BulletSoftBody/btDeformableGravityForce.h index d8571fa73..398662e1f 100644 --- a/src/BulletSoftBody/btDeformableGravityForce.h +++ b/src/BulletSoftBody/btDeformableGravityForce.h @@ -16,7 +16,7 @@ public: using TVStack = btDeformableLagrangianForce::TVStack; btVector3 m_gravity; - btDeformableGravityForce(const btAlignedObjectArray& softBodies, const btVector3& g) : btDeformableLagrangianForce(softBodies), m_gravity(g) + btDeformableGravityForce(const btVector3& g) : m_gravity(g) { } @@ -39,14 +39,14 @@ public: virtual void addScaledGravityForce(btScalar scale, TVStack& force) { int numNodes = getNumNodes(); - btAssert(numNodes == force.size()) + btAssert(numNodes <= force.size()) for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; for (int j = 0; j < psb->m_nodes.size(); ++j) { btSoftBody::Node& n = psb->m_nodes[j]; - size_t id = m_indices[&n]; + size_t id = m_indices->at(&n); btScalar mass = (n.m_im == 0) ? 0 : 1. / n.m_im; btVector3 scaled_force = scale * m_gravity * mass; force[id] += scaled_force; @@ -54,7 +54,10 @@ public: } } - + virtual btDeformableLagrangianForceType getForceType() + { + return BT_GRAVITY_FORCE; + } }; diff --git a/src/BulletSoftBody/btDeformableLagrangianForce.h b/src/BulletSoftBody/btDeformableLagrangianForce.h index acb9a28ff..fa4184a14 100644 --- a/src/BulletSoftBody/btDeformableLagrangianForce.h +++ b/src/BulletSoftBody/btDeformableLagrangianForce.h @@ -10,16 +10,20 @@ #include "btSoftBody.h" #include +enum btDeformableLagrangianForceType +{ + BT_GRAVITY_FORCE = 1, + BT_MASSSPRING_FORCE = 2 +}; class btDeformableLagrangianForce { public: using TVStack = btAlignedObjectArray; - const btAlignedObjectArray& m_softBodies; - std::unordered_map m_indices; + btAlignedObjectArray m_softBodies; + const std::unordered_map* m_indices; - btDeformableLagrangianForce(const btAlignedObjectArray& softBodies) - : m_softBodies(softBodies) + btDeformableLagrangianForce() { } @@ -31,23 +35,10 @@ public: virtual void addScaledExplicitForce(btScalar scale, TVStack& force) = 0; + virtual btDeformableLagrangianForceType getForceType() = 0; + virtual void reinitialize(bool nodeUpdated) { - if (nodeUpdated) - updateId(); - } - - virtual void updateId() - { - size_t index = 0; - for (int i = 0; i < m_softBodies.size(); ++i) - { - btSoftBody* psb = m_softBodies[i]; - for (int j = 0; j < psb->m_nodes.size(); ++j) - { - m_indices[&(psb->m_nodes[j])] = index++; - } - } } virtual int getNumNodes() @@ -59,5 +50,15 @@ public: } return numNodes; } + + virtual void addSoftBody(btSoftBody* psb) + { + m_softBodies.push_back(psb); + } + + virtual void setIndices(const std::unordered_map* indices) + { + m_indices = indices; + } }; #endif /* BT_DEFORMABLE_LAGRANGIAN_FORCE */ diff --git a/src/BulletSoftBody/btDeformableMassSpringForce.h b/src/BulletSoftBody/btDeformableMassSpringForce.h index 70ad6e69c..c9fca134c 100644 --- a/src/BulletSoftBody/btDeformableMassSpringForce.h +++ b/src/BulletSoftBody/btDeformableMassSpringForce.h @@ -14,15 +14,13 @@ class btDeformableMassSpringForce : public btDeformableLagrangianForce { public: using TVStack = btDeformableLagrangianForce::TVStack; - btDeformableMassSpringForce(const btAlignedObjectArray& softBodies) : btDeformableLagrangianForce(softBodies) + btDeformableMassSpringForce() { - } virtual void addScaledImplicitForce(btScalar scale, TVStack& force) { addScaledDampingForce(scale, force); -// addScaledElasticForce(scale, force); } virtual void addScaledExplicitForce(btScalar scale, TVStack& force) @@ -33,7 +31,7 @@ public: virtual void addScaledDampingForce(btScalar scale, TVStack& force) { int numNodes = getNumNodes(); - btAssert(numNodes == force.size()) + btAssert(numNodes <= force.size()) for (int i = 0; i < m_softBodies.size(); ++i) { const btSoftBody* psb = m_softBodies[i]; @@ -42,8 +40,8 @@ public: const auto& link = psb->m_links[j]; const auto node1 = link.m_n[0]; const auto node2 = link.m_n[1]; - size_t id1 = m_indices[node1]; - size_t id2 = m_indices[node2]; + size_t id1 = m_indices->at(node1); + size_t id2 = m_indices->at(node2); // damping force btVector3 v_diff = (node2->m_v - node1->m_v); @@ -58,7 +56,7 @@ public: virtual void addScaledElasticForce(btScalar scale, TVStack& force) { int numNodes = getNumNodes(); - btAssert(numNodes == force.size()) + btAssert(numNodes <= force.size()) for (int i = 0; i < m_softBodies.size(); ++i) { const btSoftBody* psb = m_softBodies[i]; @@ -69,8 +67,8 @@ public: const auto node2 = link.m_n[1]; btScalar kLST = link.Feature::m_material->m_kLST; btScalar r = link.m_rl; - size_t id1 = m_indices[node1]; - size_t id2 = m_indices[node2]; + size_t id1 = m_indices->at(node1); + size_t id2 = m_indices->at(node2); // elastic force // explicit elastic force @@ -95,8 +93,8 @@ public: const auto node1 = link.m_n[0]; const auto node2 = link.m_n[1]; btScalar k_damp = psb->m_dampingCoefficient; - size_t id1 = m_indices[node1]; - size_t id2 = m_indices[node2]; + size_t id1 = m_indices->at(node1); + size_t id2 = m_indices->at(node2); btVector3 local_scaled_df = scale * k_damp * (dv[id2] - dv[id1]); df[id1] += local_scaled_df; df[id2] -= local_scaled_df; @@ -104,6 +102,10 @@ public: } } + virtual btDeformableLagrangianForceType getForceType() + { + return BT_MASSSPRING_FORCE; + } }; diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp index f9c9968c9..b91d9d2c4 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp @@ -60,13 +60,12 @@ void btDeformableRigidDynamicsWorld::positionCorrection(btScalar dt) if (c == nullptr || c->m_node->m_im == 0) continue; const btSoftBody::sCti& cti = c->m_cti; - btRigidBody* rigidCol = 0; btVector3 va(0, 0, 0); // grab the velocity of the rigid body if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) { - rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + btRigidBody* rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c->m_c1)): btVector3(0, 0, 0); } else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) @@ -78,25 +77,25 @@ void btDeformableRigidDynamicsWorld::positionCorrection(btScalar dt) const btScalar* J_n = &c->jacobianData_normal.m_jacobians[0]; const btScalar* J_t1 = &c->jacobianData_t1.m_jacobians[0]; const btScalar* J_t2 = &c->jacobianData_t2.m_jacobians[0]; - + const btScalar* local_v = multibodyLinkCol->m_multiBody->getVelocityVector(); // add in the normal component of the va btScalar vel = 0.0; for (int k = 0; k < ndof; ++k) { - vel += multibodyLinkCol->m_multiBody->getVelocityVector()[k] * J_n[k]; + vel += local_v[k] * J_n[k]; } va = cti.m_normal * vel; vel = 0.0; for (int k = 0; k < ndof; ++k) { - vel += multibodyLinkCol->m_multiBody->getVelocityVector()[k] * J_t1[k]; + vel += local_v[k] * J_t1[k]; } va += c->t1 * vel; vel = 0.0; for (int k = 0; k < ndof; ++k) { - vel += multibodyLinkCol->m_multiBody->getVelocityVector()[k] * J_t2[k]; + vel += local_v[k] * J_t2[k]; } va += c->t2 * vel; } @@ -110,7 +109,6 @@ void btDeformableRigidDynamicsWorld::positionCorrection(btScalar dt) if (cti.m_colObj->hasContactResponse()) { btScalar dp = cti.m_offset; - rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); if (friction.m_static[j] == true) { c->m_node->m_v = va; @@ -214,3 +212,24 @@ void btDeformableRigidDynamicsWorld::afterSolverCallbacks(btScalar timeStep) for (int i = 0; i < m_beforeSolverCallbacks.size(); ++i) m_beforeSolverCallbacks[i](m_internalTime, this); } + +void btDeformableRigidDynamicsWorld::addForce(btSoftBody* psb, btDeformableLagrangianForce* force) +{ + btAlignedObjectArray& forces = m_deformableBodySolver->m_objective->m_lf; + bool added = false; + for (int i = 0; i < forces.size(); ++i) + { + if (forces[i]->getForceType() == force->getForceType()) + { + forces[i]->addSoftBody(psb); + added = true; + break; + } + } + if (!added) + { + force->addSoftBody(psb); + force->setIndices(m_deformableBodySolver->m_objective->getIndices()); + forces.push_back(force); + } +} diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h index f1be4fd85..c6b3dcbc6 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h @@ -126,6 +126,8 @@ public: void afterSolverCallbacks(btScalar timeStep); + void addForce(btSoftBody* psb, btDeformableLagrangianForce* force); + int getDrawFlags() const { return (m_drawFlags); } void setDrawFlags(int f) { m_drawFlags = f; } }; diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index bd7587c47..c31bdb7ed 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -2266,14 +2266,15 @@ btVector3 btSoftBody::evaluateCom() const bool btSoftBody::checkContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, - btSoftBody::sCti& cti) const + btSoftBody::sCti& cti, bool predict) const { btVector3 nrm; const btCollisionShape* shp = colObjWrap->getCollisionShape(); - const btRigidBody *tmpRigid = btRigidBody::upcast(colObjWrap->getCollisionObject()); + const btRigidBody *tmpRigid = btRigidBody::upcast(colObjWrap->getCollisionObject()); // get the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg - const btTransform &wtr = tmpRigid ? tmpRigid->getInterpolationWorldTransform() : colObjWrap->getWorldTransform(); + const btTransform &wtr = (tmpRigid&&predict) ? tmpRigid->getInterpolationWorldTransform() : colObjWrap->getWorldTransform(); +// const btTransform &wtr = predict ? colObjWrap->getInterpolationWorldTransform() : colObjWrap->getWorldTransform(); // TODO: get the correct transform for multibody btScalar dst = @@ -2282,11 +2283,10 @@ bool btSoftBody::checkContact(const btCollisionObjectWrapper* colObjWrap, shp, nrm, margin); - if (dst < 0) + if (dst < 0 || !predict) { cti.m_colObj = colObjWrap->getCollisionObject(); cti.m_normal = wtr.getBasis() * nrm; -// cti.m_offset = -btDot(cti.m_normal, x - cti.m_normal * dst); cti.m_offset = dst; return (true); } diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index 95249b093..5e33d74d0 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -1005,7 +1005,7 @@ public: btScalar& mint, eFeature::_& feature, int& index, bool bcountonly) const; void initializeFaceTree(); btVector3 evaluateCom() const; - bool checkContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti) const; + bool checkContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const; void updateNormals(); void updateBounds(); void updatePose(); diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index 8cf0ed3c0..2ec8c1b55 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -945,14 +945,17 @@ struct btSoftColliders if (!n.m_battach) { - if (psb->checkContact(m_colObj1Wrap, n.m_x, m, c.m_cti)) + // check for collision at x_{n+1}^* + if (psb->checkContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predicted = */ true)) +// if (psb->checkContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predicted = */ false)); { const btScalar ima = n.m_im; const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; const btScalar ms = ima + imb; if (ms > 0) { - psb->checkContact(m_colObj1Wrap, n.m_q, m, c.m_cti); + // resolve contact at x_n + psb->checkContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predicted = */ false); auto& cti = c.m_cti; c.m_node = &n; const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); @@ -982,8 +985,13 @@ struct btSoftColliders btVector3 t2 = btCross(normal, t1); btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2; findJacobian(multibodyLinkCol, jacobianData_normal, c.m_node->m_q, normal); - findJacobian(multibodyLinkCol, jacobianData_t1, c.m_node->m_q, t1); - findJacobian(multibodyLinkCol, jacobianData_t2, c.m_node->m_q, t2); + + // findJacobian is hella expensive, avoid calling if possible + if (fc != 0) + { + findJacobian(multibodyLinkCol, jacobianData_t1, c.m_node->m_q, t1); + findJacobian(multibodyLinkCol, jacobianData_t2, c.m_node->m_q, t2); + } btScalar* J_n = &jacobianData_normal.m_jacobians[0]; btScalar* J_t1 = &jacobianData_t1.m_jacobians[0]; @@ -995,16 +1003,7 @@ struct btSoftColliders btMatrix3x3 rot(normal, t1, t2); // world frame to local frame const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; - btVector3 u_dot_J(0,0,0); - for (int i = 0; i < ndof; ++i) - { - u_dot_J += btVector3(J_n[i] * u_n[i], J_t1[i] * u_t1[i], J_t2[i] * u_t2[i]); - } - btVector3 impulse_matrix_diag; btScalar dt = psb->m_sst.sdt; - impulse_matrix_diag.setX(1/((u_dot_J.getX() + n.m_im) * dt)); - impulse_matrix_diag.setY(1/((u_dot_J.getY() + n.m_im) * dt)); - impulse_matrix_diag.setZ(1/((u_dot_J.getZ() + n.m_im) * dt)); btMatrix3x3 local_impulse_matrix = Diagonal(1/dt) * (Diagonal(n.m_im) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse(); c.m_c0 = rot.transpose() * local_impulse_matrix * rot; c.jacobianData_normal = jacobianData_normal; From f1e7ce9ce14ce220c80a572c555eef0150f76df7 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 31 Jul 2019 20:40:22 -0700 Subject: [PATCH 024/389] add multibody interpolation transform so that collision detection is consistent with rigidbody --- .../Featherstone/btMultiBody.cpp | 130 +++++++++++++++++- src/BulletDynamics/Featherstone/btMultiBody.h | 25 +++- .../Featherstone/btMultiBodyDynamicsWorld.cpp | 22 ++- .../Featherstone/btMultiBodyDynamicsWorld.h | 4 +- .../Featherstone/btMultiBodyLink.h | 35 +++-- .../btDeformableBackwardEulerObjective.cpp | 5 - .../btDeformableContactProjection.cpp | 2 +- .../btDeformableRigidDynamicsWorld.cpp | 2 +- src/BulletSoftBody/btSoftBody.cpp | 8 +- src/BulletSoftBody/btSoftBodyInternals.h | 9 +- 10 files changed, 196 insertions(+), 46 deletions(-) diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp index 3e210d752..80ad19891 100644 --- a/src/BulletDynamics/Featherstone/btMultiBody.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp @@ -27,6 +27,7 @@ #include "btMultiBodyJointFeedback.h" #include "LinearMath/btTransformUtil.h" #include "LinearMath/btSerializer.h" +#include //#include "Bullet3Common/b3Logging.h" // #define INCLUDE_GYRO_TERM @@ -100,6 +101,8 @@ btMultiBody::btMultiBody(int n_links, m_baseName(0), m_basePos(0, 0, 0), m_baseQuat(0, 0, 0, 1), + m_basePos_interpolate(0, 0, 0), + m_baseQuat_interpolate(0, 0, 0, 1), m_baseMass(mass), m_baseInertia(inertia), @@ -449,6 +452,16 @@ const btQuaternion &btMultiBody::getParentToLocalRot(int i) const return m_links[i].m_cachedRotParentToThis; } +const btVector3 &btMultiBody::getInterpolateRVector(int i) const +{ + return m_links[i].m_cachedRVector_interpolate; +} + +const btQuaternion &btMultiBody::getInterpolateParentToLocalRot(int i) const +{ + return m_links[i].m_cachedRotParentToThis_interpolate; +} + btVector3 btMultiBody::localPosToWorld(int i, const btVector3 &local_pos) const { btAssert(i >= -1); @@ -1581,17 +1594,37 @@ void btMultiBody::calcAccelerationDeltasMultiDof(const btScalar *force, btScalar //printf("]\n"); ///////////////// } +void btMultiBody::predictPositionsMultiDof(btScalar dt) +{ + stepPositionsMultiDof(dt, 0, 0, true); +} -void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd) +void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd, bool predict) { int num_links = getNumLinks(); // step position by adding dt * velocity //btVector3 v = getBaseVel(); //m_basePos += dt * v; // - btScalar *pBasePos = (pq ? &pq[4] : m_basePos); - btScalar *pBaseVel = (pqd ? &pqd[3] : &m_realBuf[3]); //note: the !pqd case assumes m_realBuf holds with base velocity at 3,4,5 (should be wrapped for safety) - // + btScalar *pBasePos; + btScalar *pBaseVel = (pqd ? &pqd[3] : &m_realBuf[3]); //note: the !pqd case assumes m_realBuf holds with base velocity at 3,4,5 (should be wrapped for safety) + + if (!predict) + { + pBasePos = (pq ? &pq[4] : m_basePos); + } // + else + { + // reset to current position + for (int i = 0; i < 3; ++i) + { + m_basePos_interpolate[i] = m_basePos[i]; + } + pBasePos = m_basePos_interpolate; + } + + + pBasePos[0] += dt * pBaseVel[0]; pBasePos[1] += dt * pBaseVel[1]; pBasePos[2] += dt * pBaseVel[2]; @@ -1645,7 +1678,18 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd //pQuatUpdateFun(getBaseOmega(), m_baseQuat, true, dt); // - btScalar *pBaseQuat = pq ? pq : m_baseQuat; + btScalar *pBaseQuat; + if (!predict) + pBaseQuat = pq ? pq : m_baseQuat; + else + { + // reset to current orientation + for (int i = 0; i < 4; ++i) + { + m_baseQuat_interpolate[i] = m_baseQuat[i]; + } + pBaseQuat = m_baseQuat_interpolate; + } btScalar *pBaseOmega = pqd ? pqd : &m_realBuf[0]; //note: the !pqd case assumes m_realBuf starts with base omega (should be wrapped for safety) // btQuaternion baseQuat; @@ -1670,7 +1714,12 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd // Finally we can update m_jointPos for each of the m_links for (int i = 0; i < num_links; ++i) { - btScalar *pJointPos = (pq ? pq : &m_links[i].m_jointPos[0]); + btScalar *pJointPos; + if (!predict) + pJointPos= (pq ? pq : &m_links[i].m_jointPos[0]); + else + pJointPos = &m_links[i].m_jointPos_interpolate[0]; + btScalar *pJointVel = (pqd ? pqd : getJointVelMultiDof(i)); switch (m_links[i].m_jointType) @@ -1678,12 +1727,23 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd case btMultibodyLink::ePrismatic: case btMultibodyLink::eRevolute: { + //reset to current pos + if (predict) + { + pJointPos[0] = m_links[i].m_jointPos[0]; + } btScalar jointVel = pJointVel[0]; pJointPos[0] += dt * jointVel; break; } case btMultibodyLink::eSpherical: { + //reset to current pos + if (predict) + { + for (int i = 0; i < 4; ++i) + pJointPos[i] = m_links[i].m_jointPos[i]; + } btVector3 jointVel; jointVel.setValue(pJointVel[0], pJointVel[1], pJointVel[2]); btQuaternion jointOri; @@ -1697,6 +1757,11 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd } case btMultibodyLink::ePlanar: { + if (predict) + { + for (int i = 0; i < 3; ++i) + pJointPos[i] = m_links[i].m_jointPos[i]; + } pJointPos[0] += dt * getJointVelMultiDof(i)[0]; btVector3 q0_coors_qd1qd2 = getJointVelMultiDof(i)[1] * m_links[i].getAxisBottom(1) + getJointVelMultiDof(i)[2] * m_links[i].getAxisBottom(2); @@ -1711,7 +1776,7 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd } } - m_links[i].updateCacheMultiDof(pq); + m_links[i].updateCacheMultiDof(pq, predict); if (pq) pq += m_links[i].m_posVarCount; @@ -2006,6 +2071,57 @@ void btMultiBody::updateCollisionObjectWorldTransforms(btAlignedObjectArray &world_to_local, btAlignedObjectArray &local_origin) +{ + world_to_local.resize(getNumLinks() + 1); + local_origin.resize(getNumLinks() + 1); + + world_to_local[0] = getInterpolateWorldToBaseRot(); + local_origin[0] = getInterpolateBasePos(); + + if (getBaseCollider()) + { + btVector3 posr = local_origin[0]; + // float pos[4]={posr.x(),posr.y(),posr.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()}; + btTransform tr; + tr.setIdentity(); + tr.setOrigin(posr); + tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3])); + + getBaseCollider()->setInterpolationWorldTransform(tr); + } + + for (int k = 0; k < getNumLinks(); k++) + { + const int parent = getParent(k); + world_to_local[k + 1] = getInterpolateParentToLocalRot(k) * world_to_local[parent + 1]; + local_origin[k + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[k + 1].inverse(), getInterpolateRVector(k))); + } + + for (int m = 0; m < getNumLinks(); m++) + { + btMultiBodyLinkCollider *col = getLink(m).m_collider; + if (col) + { + int link = col->m_link; + btAssert(link == m); + + int index = link + 1; + + btVector3 posr = local_origin[index]; + // float pos[4]={posr.x(),posr.y(),posr.z(),1}; + btScalar quat[4] = {-world_to_local[index].x(), -world_to_local[index].y(), -world_to_local[index].z(), world_to_local[index].w()}; + btTransform tr; + tr.setIdentity(); + tr.setOrigin(posr); + tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3])); + + col->setInterpolationWorldTransform(tr); + } + } +} + int btMultiBody::calculateSerializeBufferSize() const { int sz = sizeof(btMultiBodyData); diff --git a/src/BulletDynamics/Featherstone/btMultiBody.h b/src/BulletDynamics/Featherstone/btMultiBody.h index c0b0d003b..fe60af991 100644 --- a/src/BulletDynamics/Featherstone/btMultiBody.h +++ b/src/BulletDynamics/Featherstone/btMultiBody.h @@ -193,12 +193,24 @@ public: const btQuaternion &getWorldToBaseRot() const { return m_baseQuat; - } // rotates world vectors into base frame + } + + const btVector3 &getInterpolateBasePos() const + { + return m_basePos_interpolate; + } // in world frame + const btQuaternion &getInterpolateWorldToBaseRot() const + { + return m_baseQuat_interpolate; + } + + // rotates world vectors into base frame btVector3 getBaseOmega() const { return btVector3(m_realBuf[0], m_realBuf[1], m_realBuf[2]); } // in world frame void setBasePos(const btVector3 &pos) { m_basePos = pos; + m_basePos_interpolate = pos; } void setBaseWorldTransform(const btTransform &tr) @@ -224,6 +236,7 @@ public: void setWorldToBaseRot(const btQuaternion &rot) { m_baseQuat = rot; //m_baseQuat asumed to ba alias!? + m_baseQuat_interpolate = rot; } void setBaseOmega(const btVector3 &omega) { @@ -273,6 +286,8 @@ public: const btVector3 &getRVector(int i) const; // vector from COM(parent(i)) to COM(i), in frame i's coords const btQuaternion &getParentToLocalRot(int i) const; // rotates vectors in frame parent(i) to vectors in frame i. + const btVector3 &getInterpolateRVector(int i) const; // vector from COM(parent(i)) to COM(i), in frame i's coords + const btQuaternion &getInterpolateParentToLocalRot(int i) const; // rotates vectors in frame parent(i) to vectors in frame i. // // transform vectors in local frame of link i to world frame (or vice versa) @@ -420,7 +435,10 @@ public: } // timestep the positions (given current velocities). - void stepPositionsMultiDof(btScalar dt, btScalar *pq = 0, btScalar *pqd = 0); + void stepPositionsMultiDof(btScalar dt, btScalar *pq = 0, btScalar *pqd = 0, bool predict = false); + + // predict the positions + void predictPositionsMultiDof(btScalar dt); // // contacts @@ -581,6 +599,7 @@ public: void compTreeLinkVelocities(btVector3 * omega, btVector3 * vel) const; void updateCollisionObjectWorldTransforms(btAlignedObjectArray & world_to_local, btAlignedObjectArray & local_origin); + void updateCollisionObjectInterpolationWorldTransforms(btAlignedObjectArray & world_to_local, btAlignedObjectArray & local_origin); virtual int calculateSerializeBufferSize() const; @@ -664,7 +683,9 @@ private: const char *m_baseName; //memory needs to be manager by user! btVector3 m_basePos; // position of COM of base (world frame) + btVector3 m_basePos_interpolate; // position of interpolated COM of base (world frame) btQuaternion m_baseQuat; // rotates world points into base frame + btQuaternion m_baseQuat_interpolate; btScalar m_baseMass; // mass of the base btVector3 m_baseInertia; // inertia of the base (in local frame; diagonal) diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp index d4a9a754f..d1ac5e26f 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp @@ -33,6 +33,12 @@ void btMultiBodyDynamicsWorld::removeMultiBody(btMultiBody* body) m_multiBodies.remove(body); } +void btMultiBodyDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) +{ + btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep); + integrateMultiBodyTransforms(timeStep, /*predict = */ true); + +} void btMultiBodyDynamicsWorld::calculateSimulationIslands() { BT_PROFILE("calculateSimulationIslands"); @@ -778,8 +784,11 @@ void btMultiBodyDynamicsWorld::solveExternalForces(btContactSolverInfo& solverIn void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) { btDiscreteDynamicsWorld::integrateTransforms(timeStep); + integrateMultiBodyTransforms(timeStep); +} - { +void btMultiBodyDynamicsWorld::integrateMultiBodyTransforms(btScalar timeStep, bool predict) +{ BT_PROFILE("btMultiBody stepPositions"); //integrate and update the Featherstone hierarchies @@ -802,7 +811,7 @@ void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) int nLinks = bod->getNumLinks(); ///base + num m_links - + if (!predict) { if (!bod->isPosUpdated()) bod->stepPositionsMultiDof(timeStep); @@ -815,18 +824,21 @@ void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) bod->setPosUpdated(false); } } + else + bod->predictPositionsMultiDof(timeStep); m_scratch_world_to_local.resize(nLinks + 1); m_scratch_local_origin.resize(nLinks + 1); - - bod->updateCollisionObjectWorldTransforms(m_scratch_world_to_local, m_scratch_local_origin); + if (predict) + bod->updateCollisionObjectInterpolationWorldTransforms(m_scratch_world_to_local, m_scratch_local_origin); + else + bod->updateCollisionObjectWorldTransforms(m_scratch_world_to_local, m_scratch_local_origin); } else { bod->clearVelocities(); } } - } } void btMultiBodyDynamicsWorld::addMultiBodyConstraint(btMultiBodyConstraint* constraint) diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h index 4f48f07d2..e82c17b31 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h @@ -96,7 +96,9 @@ public: virtual void removeMultiBodyConstraint(btMultiBodyConstraint* constraint); virtual void integrateTransforms(btScalar timeStep); - + void integrateMultiBodyTransforms(btScalar timeStep,bool predict = false); + + virtual void predictUnconstraintMotion(btScalar timeStep); virtual void debugDrawWorld(); virtual void debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint); diff --git a/src/BulletDynamics/Featherstone/btMultiBodyLink.h b/src/BulletDynamics/Featherstone/btMultiBodyLink.h index 92d41dfac..e7966b852 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyLink.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyLink.h @@ -111,6 +111,10 @@ struct btMultibodyLink btQuaternion m_cachedRotParentToThis; // rotates vectors in parent frame to vectors in local frame btVector3 m_cachedRVector; // vector from COM of parent to COM of this link, in local frame. + + // predicted verstion + btQuaternion m_cachedRotParentToThis_interpolate; // rotates vectors in parent frame to vectors in local frame + btVector3 m_cachedRVector_interpolate; // vector from COM of parent to COM of this link, in local frame. btVector3 m_appliedForce; // In WORLD frame btVector3 m_appliedTorque; // In WORLD frame @@ -119,6 +123,7 @@ struct btMultibodyLink btVector3 m_appliedConstraintTorque; // In WORLD frame btScalar m_jointPos[7]; + btScalar m_jointPos_interpolate[7]; //m_jointTorque is the joint torque applied by the user using 'addJointTorque'. //It gets set to zero after each internal stepSimulation call @@ -186,44 +191,50 @@ struct btMultibodyLink } // routine to update m_cachedRotParentToThis and m_cachedRVector - void updateCacheMultiDof(btScalar *pq = 0) + void updateCacheMultiDof(btScalar *pq = 0, bool predict = false) { - btScalar *pJointPos = (pq ? pq : &m_jointPos[0]); - + btScalar *pJointPos; + + if (!predict) + pJointPos = (pq ? pq : &m_jointPos[0]); + else + pJointPos = &m_jointPos_interpolate[0]; + btQuaternion& cachedRot = predict ? m_cachedRotParentToThis_interpolate : m_cachedRotParentToThis; + btVector3& cachedVector = predict ? m_cachedRVector_interpolate : m_cachedRVector; switch (m_jointType) { case eRevolute: { - m_cachedRotParentToThis = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis; - m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector); + cachedRot = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis; + cachedVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector); break; } case ePrismatic: { // m_cachedRotParentToThis never changes, so no need to update - m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector) + pJointPos[0] * getAxisBottom(0); + cachedVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector) + pJointPos[0] * getAxisBottom(0); break; } case eSpherical: { - m_cachedRotParentToThis = btQuaternion(pJointPos[0], pJointPos[1], pJointPos[2], -pJointPos[3]) * m_zeroRotParentToThis; - m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector); + cachedRot = btQuaternion(pJointPos[0], pJointPos[1], pJointPos[2], -pJointPos[3]) * m_zeroRotParentToThis; + cachedVector = m_dVector + quatRotate(cachedRot, m_eVector); break; } case ePlanar: { - m_cachedRotParentToThis = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis; - m_cachedRVector = quatRotate(btQuaternion(getAxisTop(0), -pJointPos[0]), pJointPos[1] * getAxisBottom(1) + pJointPos[2] * getAxisBottom(2)) + quatRotate(m_cachedRotParentToThis, m_eVector); + cachedRot = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis; + cachedVector = quatRotate(btQuaternion(getAxisTop(0), -pJointPos[0]), pJointPos[1] * getAxisBottom(1) + pJointPos[2] * getAxisBottom(2)) + quatRotate(cachedRot, m_eVector); break; } case eFixed: { - m_cachedRotParentToThis = m_zeroRotParentToThis; - m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector); + cachedRot = m_zeroRotParentToThis; + cachedVector = m_dVector + quatRotate(cachedRot, m_eVector); break; } diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index acc9db75f..9ffd63a3c 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -12,12 +12,7 @@ btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAligned , projection(m_softBodies, m_dt, &m_indices) , m_backupVelocity(backup_v) { - // TODO: this should really be specified in initialization instead of here -// btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(m_softBodies); -// btDeformableGravityForce* gravity = new btDeformableGravityForce(m_softBodies, btVector3(0,-10,0)); m_preconditioner = new DefaultPreconditioner(); -// m_lf.push_back(mass_spring); -// m_lf.push_back(gravity); } void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated) diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index 4d6ea4e84..734fbb451 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -44,7 +44,7 @@ static btVector3 generateUnitOrthogonalVector(const btVector3& u) void btDeformableContactProjection::update() { ///solve rigid body constraints - m_world->getSolverInfo().m_numIterations = 10; + m_world->getSolverInfo().m_numIterations = 1; m_world->btMultiBodyDynamicsWorld::solveInternalConstraints(m_world->getSolverInfo()); // loop through constraints to set constrained values diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp index b91d9d2c4..6ff5a9a41 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp @@ -161,7 +161,7 @@ void btDeformableRigidDynamicsWorld::addSoftBody(btSoftBody* body, int collision void btDeformableRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) { - btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep); + btMultiBodyDynamicsWorld::predictUnconstraintMotion(timeStep); m_deformableBodySolver->predictMotion(float(timeStep)); } diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index c31bdb7ed..06e0b41d0 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -2270,12 +2270,10 @@ bool btSoftBody::checkContact(const btCollisionObjectWrapper* colObjWrap, { btVector3 nrm; const btCollisionShape* shp = colObjWrap->getCollisionShape(); - const btRigidBody *tmpRigid = btRigidBody::upcast(colObjWrap->getCollisionObject()); - + const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject(); // get the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg - const btTransform &wtr = (tmpRigid&&predict) ? tmpRigid->getInterpolationWorldTransform() : colObjWrap->getWorldTransform(); -// const btTransform &wtr = predict ? colObjWrap->getInterpolationWorldTransform() : colObjWrap->getWorldTransform(); - // TODO: get the correct transform for multibody + const btTransform &wtr = (predict) ? tmpCollisionObj->getInterpolationWorldTransform() : colObjWrap->getWorldTransform(); +// const btTransform &wtr = colObjWrap->getWorldTransform(); btScalar dst = m_worldInfo->m_sparsesdf.Evaluate( diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index 2ec8c1b55..34302ccc4 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -985,13 +985,8 @@ struct btSoftColliders btVector3 t2 = btCross(normal, t1); btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2; findJacobian(multibodyLinkCol, jacobianData_normal, c.m_node->m_q, normal); - - // findJacobian is hella expensive, avoid calling if possible - if (fc != 0) - { - findJacobian(multibodyLinkCol, jacobianData_t1, c.m_node->m_q, t1); - findJacobian(multibodyLinkCol, jacobianData_t2, c.m_node->m_q, t2); - } + findJacobian(multibodyLinkCol, jacobianData_t1, c.m_node->m_q, t1); + findJacobian(multibodyLinkCol, jacobianData_t2, c.m_node->m_q, t2); btScalar* J_n = &jacobianData_normal.m_jacobians[0]; btScalar* J_t1 = &jacobianData_t1.m_jacobians[0]; From 3dc8abcf36b03aeeedb7643a4fea9c238a59bfba Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 2 Aug 2019 10:19:31 -0700 Subject: [PATCH 025/389] only call buildIslands once for multibody in each timestep --- .../CollisionDispatch/btSimulationIslandManager.cpp | 6 +++--- .../Featherstone/btMultiBodyDynamicsWorld.cpp | 8 ++++++-- .../Featherstone/btMultiBodyDynamicsWorld.h | 1 + src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp | 8 ++++++++ src/BulletSoftBody/btDeformableBackwardEulerObjective.h | 5 +---- src/BulletSoftBody/btDeformableBodySolver.cpp | 2 +- 6 files changed, 20 insertions(+), 10 deletions(-) diff --git a/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp index 11fa97cdd..57e1bb494 100644 --- a/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp +++ b/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp @@ -233,7 +233,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi // printf("error in island management\n"); } -// btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); if (colObj0->getIslandTag() == islandId) { if (colObj0->getActivationState() == ACTIVE_TAG || @@ -257,7 +257,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi // printf("error in island management\n"); } -// btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); if (colObj0->getIslandTag() == islandId) { @@ -278,7 +278,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi // printf("error in island management\n"); } -// btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); if (colObj0->getIslandTag() == islandId) diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp index d1ac5e26f..2e6dbc440 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp @@ -428,14 +428,18 @@ void btMultiBodyDynamicsWorld::forwardKinematics() void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) { solveExternalForces(solverInfo); + buildIslands(); solveInternalConstraints(solverInfo); } +void btMultiBodyDynamicsWorld::buildIslands() +{ + m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback); +} + void btMultiBodyDynamicsWorld::solveInternalConstraints(btContactSolverInfo& solverInfo) { /// solve all the constraints for this island - m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback); - m_solverMultiBodyIslandCallback->processConstraints(); m_constraintSolver->allSolved(solverInfo, m_debugDrawer); diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h index e82c17b31..04707bf2d 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h @@ -116,6 +116,7 @@ public: virtual void solveExternalForces(btContactSolverInfo& solverInfo); virtual void solveInternalConstraints(btContactSolverInfo& solverInfo); + void buildIslands(); }; #endif //BT_MULTIBODY_DYNAMICS_WORLD_H diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index 9ffd63a3c..7b084af0e 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -128,3 +128,11 @@ void btDeformableBackwardEulerObjective::initialGuess(TVStack& dv, const TVStack } } } + +//set constraints as projections +void btDeformableBackwardEulerObjective::setConstraints() +{ + // build islands for multibody solve + m_world->btMultiBodyDynamicsWorld::buildIslands(); + projection.setConstraints(); +} diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index e22b42b0b..a736315b7 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -73,10 +73,7 @@ public: void updateVelocity(const TVStack& dv); //set constraints as projections - void setConstraints() - { - projection.setConstraints(); - } + void setConstraints(); // update the projections and project the residual void project(TVStack& r) diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index e3009dcbb..a1616a460 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -31,7 +31,7 @@ void btDeformableBodySolver::solveConstraints(float solverdt) backupVelocity(); m_objective->computeResidual(solverdt, m_residual); -// m_objective->initialGuess(m_dv, m_residual); + computeStep(m_dv, m_residual); updateVelocity(); } From 54303e02b10f3fd5bb3624e0cc0ccdfc0de23016 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 2 Aug 2019 13:21:06 -0700 Subject: [PATCH 026/389] perform position correction only when objects are penetrating --- src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp | 10 ++++++---- src/BulletSoftBody/btSoftBody.cpp | 9 +++++---- src/BulletSoftBody/btSoftBodyInternals.h | 1 - 3 files changed, 11 insertions(+), 9 deletions(-) diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp index 6ff5a9a41..0b8807366 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp @@ -109,12 +109,14 @@ void btDeformableRigidDynamicsWorld::positionCorrection(btScalar dt) if (cti.m_colObj->hasContactResponse()) { btScalar dp = cti.m_offset; - if (friction.m_static[j] == true) - { - c->m_node->m_v = va; - } + + // only perform position correction when penetrating if (dp < 0) { + if (friction.m_static[j] == true) + { + c->m_node->m_v = va; + } c->m_node->m_v -= dp * cti.m_normal / dt; } } diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 06e0b41d0..8a62d31bb 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -2271,9 +2271,9 @@ bool btSoftBody::checkContact(const btCollisionObjectWrapper* colObjWrap, btVector3 nrm; const btCollisionShape* shp = colObjWrap->getCollisionShape(); const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject(); - // get the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg + // use the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg for collision detect + // but resolve contact at x_n const btTransform &wtr = (predict) ? tmpCollisionObj->getInterpolationWorldTransform() : colObjWrap->getWorldTransform(); -// const btTransform &wtr = colObjWrap->getWorldTransform(); btScalar dst = m_worldInfo->m_sparsesdf.Evaluate( @@ -2281,13 +2281,14 @@ bool btSoftBody::checkContact(const btCollisionObjectWrapper* colObjWrap, shp, nrm, margin); - if (dst < 0 || !predict) + if (!predict) { cti.m_colObj = colObjWrap->getCollisionObject(); cti.m_normal = wtr.getBasis() * nrm; cti.m_offset = dst; - return (true); } + if (dst < 0) + return true; return (false); } diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index 34302ccc4..61dff4234 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -947,7 +947,6 @@ struct btSoftColliders { // check for collision at x_{n+1}^* if (psb->checkContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predicted = */ true)) -// if (psb->checkContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predicted = */ false)); { const btScalar ima = n.m_im; const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; From 8cc7cb59d7af86084018608968cf5f6e5c5b18dd Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 2 Aug 2019 14:06:42 -0700 Subject: [PATCH 027/389] clean up examples --- examples/BasicDemo/BasicExample.cpp | 6 +++--- examples/ExampleBrowser/ExampleEntries.cpp | 13 +++++++------ src/BulletDynamics/Featherstone/btMultiBody.cpp | 1 - src/BulletSoftBody/btDeformableBodySolver.h | 2 +- src/BulletSoftBody/btDeformableContactProjection.h | 1 - src/BulletSoftBody/btSoftBodyInternals.h | 1 - 6 files changed, 11 insertions(+), 13 deletions(-) diff --git a/examples/BasicDemo/BasicExample.cpp b/examples/BasicDemo/BasicExample.cpp index 136aefb20..67f670d07 100644 --- a/examples/BasicDemo/BasicExample.cpp +++ b/examples/BasicDemo/BasicExample.cpp @@ -16,9 +16,9 @@ subject to the following restrictions: #include "BasicExample.h" #include "btBulletDynamicsCommon.h" -#define ARRAY_SIZE_Y 1 -#define ARRAY_SIZE_X 1 -#define ARRAY_SIZE_Z 1 +#define ARRAY_SIZE_Y 5 +#define ARRAY_SIZE_X 5 +#define ARRAY_SIZE_Z 5 #include "LinearMath/btVector3.h" #include "LinearMath/btAlignedObjectArray.h" diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index 1bbadd941..f186f642a 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -122,12 +122,6 @@ static ExampleEntry gDefaultExamples[] = ExampleEntry(1, "Basic Example", "Create some rigid bodies using box collision shapes. This is a good example to familiarize with the basic initialization of Bullet. The Basic Example can also be compiled without graphical user interface, as a console application. Press W for wireframe, A to show AABBs, I to suspend/restart physics simulation. Press D to toggle auto-deactivation of the simulation. ", BasicExampleCreateFunc), 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-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(0, "MultiBody Baseline", "MultiBody Baseline", MultiBodyBaselineCreateFunc), 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), @@ -201,6 +195,13 @@ static ExampleEntry gDefaultExamples[] = ExampleEntry(1, "Spheres & Plane C-API (Bullet2)", "Collision C-API using Bullet 2.x backend", CollisionTutorialBullet2CreateFunc, TUT_SPHERE_PLANE_BULLET2), //ExampleEntry(1, "Spheres & Plane C-API (Bullet3)", "Collision C-API using Bullet 3.x backend", CollisionTutorialBullet2CreateFunc,TUT_SPHERE_PLANE_RTB3), + ExampleEntry(0, "Deformabe Body"), + ExampleEntry(1, "Deformable-RigidBody Contact", "Deformable test", DeformableCreateFunc), + ExampleEntry(1, "Grasp Deformable Cube", "Grasping test", PinchCreateFunc), + ExampleEntry(1, "Volumetric Deformable Objects", "Volumetric Deformable test", VolumetricDeformableCreateFunc), + ExampleEntry(1, "Deformable-MultiBody Contact", "MultiBody and Deformable contact", DeformableContactCreateFunc), + // ExampleEntry(1, "MultiBody Baseline", "MultiBody Baseline", MultiBodyBaselineCreateFunc), + #ifdef INCLUDE_CLOTH_DEMOS ExampleEntry(0, "Soft Body"), ExampleEntry(1, "Cloth", "Simulate a patch of cloth.", SoftDemoCreateFunc, 0), diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp index 80ad19891..1857bd55f 100644 --- a/src/BulletDynamics/Featherstone/btMultiBody.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp @@ -27,7 +27,6 @@ #include "btMultiBodyJointFeedback.h" #include "LinearMath/btTransformUtil.h" #include "LinearMath/btSerializer.h" -#include //#include "Bullet3Common/b3Logging.h" // #define INCLUDE_GYRO_TERM diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index 0b4a4819f..d721869a1 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -8,7 +8,7 @@ #ifndef BT_DEFORMABLE_BODY_SOLVERS_H #define BT_DEFORMABLE_BODY_SOLVERS_H -#include + #include "btSoftBodySolvers.h" #include "btDeformableBackwardEulerObjective.h" #include "btDeformableRigidDynamicsWorld.h" diff --git a/src/BulletSoftBody/btDeformableContactProjection.h b/src/BulletSoftBody/btDeformableContactProjection.h index ea3b00f62..2ca571195 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.h +++ b/src/BulletSoftBody/btDeformableContactProjection.h @@ -11,7 +11,6 @@ #include "btSoftBody.h" #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" -#include class btDeformableContactProjection : public btCGProjection { public: diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index 61dff4234..5756fffc7 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -28,7 +28,6 @@ subject to the following restrictions: #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" #include //for memset -#include static void findJacobian(const btMultiBodyLinkCollider* multibodyLinkCol, btMultiBodyJacobianData& jacobianData, const btVector3& contact_point, From 753b2d9f156bfa7fcf35be0da3c3fbc0b9c85ee3 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 2 Aug 2019 15:02:15 -0700 Subject: [PATCH 028/389] add new demos to CMakeList --- examples/ExampleBrowser/CMakeLists.txt | 8 ++++++++ examples/ExampleBrowser/premake4.lua | 4 ++++ 2 files changed, 12 insertions(+) diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt index a04e9f9b4..cfae5fcc5 100644 --- a/examples/ExampleBrowser/CMakeLists.txt +++ b/examples/ExampleBrowser/CMakeLists.txt @@ -359,6 +359,14 @@ SET(BulletExampleBrowser_SRCS ../MultiBody/MultiBodyConstraintFeedback.cpp ../SoftDemo/SoftDemo.cpp ../SoftDemo/SoftDemo.h + ../Pinch/Pinch.cpp + ../Pinch/Pinch.h + ../DeformableContact/DeformableContact.cpp + ../DeformableContact/DeformableContact.h + ../DeformableDemo/DeformableDemo.cpp + ../DeformableDemo/DeformableDemo.h + ../VolumetricDeformable/VolumetricDeformable.cpp + ../VolumetricDeformable/VolumetricDeformable.h ../MultiBody/MultiDofDemo.cpp ../MultiBody/MultiDofDemo.h ../RigidBody/RigidBodySoftContact.cpp diff --git a/examples/ExampleBrowser/premake4.lua b/examples/ExampleBrowser/premake4.lua index b976136df..ff81b34b7 100644 --- a/examples/ExampleBrowser/premake4.lua +++ b/examples/ExampleBrowser/premake4.lua @@ -188,6 +188,10 @@ project "App_BulletExampleBrowser" "../RenderingExamples/*", "../VoronoiFracture/*", "../SoftDemo/*", + "../DeformableDemo/*", + "../DeformableContact/*", + "../VolumetricDeformable/*", + "../Pinch/*", "../RollingFrictionDemo/*", "../rbdl/*", "../FractureDemo/*", From f624b60c198ca4f39f349ece1230ba5ce60ee7e6 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 2 Aug 2019 15:19:37 -0700 Subject: [PATCH 029/389] get rid of auto --- .../btDeformableBackwardEulerObjective.cpp | 2 +- .../btDeformableContactProjection.cpp | 1 + .../btDeformableMassSpringForce.h | 18 +++++++++--------- .../btDeformableRigidDynamicsWorld.cpp | 2 +- src/BulletSoftBody/btSoftBodyInternals.h | 3 ++- 5 files changed, 14 insertions(+), 12 deletions(-) diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index 7b084af0e..a9b77e368 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -47,7 +47,7 @@ void btDeformableBackwardEulerObjective::multiply(const TVStack& x, TVStack& b) btSoftBody* psb = m_softBodies[i]; for (int j = 0; j < psb->m_nodes.size(); ++j) { - const auto& node = psb->m_nodes[j]; + const btSoftBody::Node& node = psb->m_nodes[j]; b[counter] += (node.m_im == 0) ? btVector3(0,0,0) : x[counter] / node.m_im; ++counter; } diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index 734fbb451..4ae07290c 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -8,6 +8,7 @@ #include "btDeformableContactProjection.h" #include "btDeformableRigidDynamicsWorld.h" #include +#include static void findJacobian(const btMultiBodyLinkCollider* multibodyLinkCol, btMultiBodyJacobianData& jacobianData, const btVector3& contact_point, diff --git a/src/BulletSoftBody/btDeformableMassSpringForce.h b/src/BulletSoftBody/btDeformableMassSpringForce.h index c9fca134c..549985321 100644 --- a/src/BulletSoftBody/btDeformableMassSpringForce.h +++ b/src/BulletSoftBody/btDeformableMassSpringForce.h @@ -37,9 +37,9 @@ public: const btSoftBody* psb = m_softBodies[i]; for (int j = 0; j < psb->m_links.size(); ++j) { - const auto& link = psb->m_links[j]; - const auto node1 = link.m_n[0]; - const auto node2 = link.m_n[1]; + const btSoftBody::Link& link = psb->m_links[j]; + btSoftBody::Node* node1 = link.m_n[0]; + btSoftBody::Node* node2 = link.m_n[1]; size_t id1 = m_indices->at(node1); size_t id2 = m_indices->at(node2); @@ -62,9 +62,9 @@ public: const btSoftBody* psb = m_softBodies[i]; for (int j = 0; j < psb->m_links.size(); ++j) { - const auto& link = psb->m_links[j]; - const auto node1 = link.m_n[0]; - const auto node2 = link.m_n[1]; + const btSoftBody::Link& link = psb->m_links[j]; + btSoftBody::Node* node1 = link.m_n[0]; + btSoftBody::Node* node2 = link.m_n[1]; btScalar kLST = link.Feature::m_material->m_kLST; btScalar r = link.m_rl; size_t id1 = m_indices->at(node1); @@ -89,9 +89,9 @@ public: const btSoftBody* psb = m_softBodies[i]; for (int j = 0; j < psb->m_links.size(); ++j) { - const auto& link = psb->m_links[j]; - const auto node1 = link.m_n[0]; - const auto node2 = link.m_n[1]; + const btSoftBody::Link& link = psb->m_links[j]; + btSoftBody::Node* node1 = link.m_n[0]; + btSoftBody::Node* node2 = link.m_n[1]; btScalar k_damp = psb->m_dampingCoefficient; size_t id1 = m_indices->at(node1); size_t id2 = m_indices->at(node2); diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp index 0b8807366..78c5f24a9 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp @@ -136,7 +136,7 @@ void btDeformableRigidDynamicsWorld::integrateTransforms(btScalar dt) btSoftBody* psb = m_softBodies[i]; for (int j = 0; j < psb->m_nodes.size(); ++j) { - auto& node = psb->m_nodes[j]; + btSoftBody::Node& node = psb->m_nodes[j]; node.m_x = node.m_q + dt * node.m_v; } } diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index 5756fffc7..9c732250b 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -28,6 +28,7 @@ subject to the following restrictions: #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" #include //for memset +#include static void findJacobian(const btMultiBodyLinkCollider* multibodyLinkCol, btMultiBodyJacobianData& jacobianData, const btVector3& contact_point, @@ -954,7 +955,7 @@ struct btSoftColliders { // resolve contact at x_n psb->checkContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predicted = */ false); - auto& cti = c.m_cti; + btSoftBody::sCti& cti = c.m_cti; c.m_node = &n; const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); c.m_c2 = ima * psb->m_sst.sdt; From 7f33d8cdb9acde79144030544c7f039403c113c6 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 2 Aug 2019 15:27:10 -0700 Subject: [PATCH 030/389] get rid of 'using' --- src/BulletSoftBody/btCGProjection.h | 9 ++++++--- src/BulletSoftBody/btConjugateGradient.h | 3 ++- src/BulletSoftBody/btDeformableBackwardEulerObjective.h | 3 ++- src/BulletSoftBody/btDeformableBodySolver.h | 3 ++- src/BulletSoftBody/btDeformableGravityForce.h | 3 ++- src/BulletSoftBody/btDeformableLagrangianForce.h | 3 ++- src/BulletSoftBody/btDeformableMassSpringForce.h | 3 ++- src/BulletSoftBody/btDeformableRigidDynamicsWorld.h | 3 ++- src/BulletSoftBody/btPreconditioner.h | 3 ++- 9 files changed, 22 insertions(+), 11 deletions(-) diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index b4a887fa6..ca7417f8f 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -104,9 +104,12 @@ class btCGProjection { public: // static const int dim = 3; - using TVStack = btAlignedObjectArray; - using TVArrayStack = btAlignedObjectArray >; - using TArrayStack = btAlignedObjectArray >; + typedef btAlignedObjectArray TVStack; + typedef btAlignedObjectArray > TVArrayStack; + typedef btAlignedObjectArray > TArrayStack; +// using TVStack = btAlignedObjectArray; +// using TVArrayStack = btAlignedObjectArray >; +// using TArrayStack = btAlignedObjectArray >; btAlignedObjectArray m_softBodies; btDeformableRigidDynamicsWorld* m_world; const std::unordered_map* m_indices; diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h index 0c8384a00..fdef6b22d 100644 --- a/src/BulletSoftBody/btConjugateGradient.h +++ b/src/BulletSoftBody/btConjugateGradient.h @@ -15,7 +15,8 @@ template class btConjugateGradient { - using TVStack = btAlignedObjectArray; +// using TVStack = btAlignedObjectArray; + typedef btAlignedObjectArray TVStack; TVStack r,p,z,temp; int max_iterations; diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index a736315b7..22a685631 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -20,7 +20,8 @@ class btDeformableRigidDynamicsWorld; class btDeformableBackwardEulerObjective { public: - using TVStack = btAlignedObjectArray; +// using TVStack = btAlignedObjectArray; + typedef btAlignedObjectArray TVStack; btScalar m_dt; btDeformableRigidDynamicsWorld* m_world; btAlignedObjectArray m_lf; diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index d721869a1..5528d8f84 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -21,7 +21,8 @@ class btDeformableRigidDynamicsWorld; class btDeformableBodySolver : public btSoftBodySolver { - using TVStack = btAlignedObjectArray; +// using TVStack = btAlignedObjectArray; + typedef btAlignedObjectArray TVStack; protected: int m_numNodes; TVStack m_dv; diff --git a/src/BulletSoftBody/btDeformableGravityForce.h b/src/BulletSoftBody/btDeformableGravityForce.h index 398662e1f..88d9107e1 100644 --- a/src/BulletSoftBody/btDeformableGravityForce.h +++ b/src/BulletSoftBody/btDeformableGravityForce.h @@ -13,7 +13,8 @@ class btDeformableGravityForce : public btDeformableLagrangianForce { public: - using TVStack = btDeformableLagrangianForce::TVStack; +// using TVStack = btDeformableLagrangianForce::TVStack; + typedef btAlignedObjectArray TVStack; btVector3 m_gravity; btDeformableGravityForce(const btVector3& g) : m_gravity(g) diff --git a/src/BulletSoftBody/btDeformableLagrangianForce.h b/src/BulletSoftBody/btDeformableLagrangianForce.h index fa4184a14..ff75eeb1c 100644 --- a/src/BulletSoftBody/btDeformableLagrangianForce.h +++ b/src/BulletSoftBody/btDeformableLagrangianForce.h @@ -19,7 +19,8 @@ enum btDeformableLagrangianForceType class btDeformableLagrangianForce { public: - using TVStack = btAlignedObjectArray; +// using TVStack = btAlignedObjectArray; + typedef btAlignedObjectArray TVStack; btAlignedObjectArray m_softBodies; const std::unordered_map* m_indices; diff --git a/src/BulletSoftBody/btDeformableMassSpringForce.h b/src/BulletSoftBody/btDeformableMassSpringForce.h index 549985321..d3ccd70dc 100644 --- a/src/BulletSoftBody/btDeformableMassSpringForce.h +++ b/src/BulletSoftBody/btDeformableMassSpringForce.h @@ -13,7 +13,8 @@ class btDeformableMassSpringForce : public btDeformableLagrangianForce { public: - using TVStack = btDeformableLagrangianForce::TVStack; +// using TVStack = btDeformableLagrangianForce::TVStack; + typedef btAlignedObjectArray TVStack; btDeformableMassSpringForce() { } diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h index c6b3dcbc6..779a88ee3 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h @@ -30,7 +30,8 @@ typedef btAlignedObjectArray btSoftBodyArray; class btDeformableRigidDynamicsWorld : public btMultiBodyDynamicsWorld { - using TVStack = btAlignedObjectArray; + typedef btAlignedObjectArray TVStack; +// using TVStack = btAlignedObjectArray; ///Solver classes that encapsulate multiple deformable bodies for solving btDeformableBodySolver* m_deformableBodySolver; btSoftBodyArray m_softBodies; diff --git a/src/BulletSoftBody/btPreconditioner.h b/src/BulletSoftBody/btPreconditioner.h index ad190a3a8..97cec43c5 100644 --- a/src/BulletSoftBody/btPreconditioner.h +++ b/src/BulletSoftBody/btPreconditioner.h @@ -11,7 +11,8 @@ class Preconditioner { public: - using TVStack = btAlignedObjectArray; + typedef btAlignedObjectArray TVStack; +// using TVStack = btAlignedObjectArray; virtual void operator()(const TVStack& x, TVStack& b) = 0; virtual void reinitialize(bool nodeUpdated) = 0; }; From 9a5ef6c8494668c54ced7a523a07934678049cf3 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 2 Aug 2019 15:41:10 -0700 Subject: [PATCH 031/389] update CMakeList --- src/BulletSoftBody/CMakeLists.txt | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/src/BulletSoftBody/CMakeLists.txt b/src/BulletSoftBody/CMakeLists.txt index d43df1c67..ec5fd447e 100644 --- a/src/BulletSoftBody/CMakeLists.txt +++ b/src/BulletSoftBody/CMakeLists.txt @@ -17,6 +17,11 @@ SET(BulletSoftBody_SRCS btSoftSoftCollisionAlgorithm.cpp btDefaultSoftBodySolver.cpp + btDeformableBackwardEulerObjective.cpp + btDeformableBodySolver.cpp + btDeformableContactProjection.cpp + btDeformableRigidDynamicsWorld.cpp + ) SET(BulletSoftBody_HDRS @@ -33,6 +38,18 @@ SET(BulletSoftBody_HDRS btSoftBodySolvers.h btDefaultSoftBodySolver.h + + btCGrojection.h + btConjugateGradient.h + btDeformableGravityForce.h + btDeformableMassSpringForce.h + btDeformableLagrangianForce.h + btPreconditioner.h + + btDeformableBackwardEulerObjective.h + btDeformableBodySolver.h + btDeformableContactProjection.h + btDeformableRigidDynamicsWorld.h btSoftBodySolverVertexBuffer.h ) From dae230912b2ddc69f8ce5ec813fa6178e1269449 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 2 Aug 2019 15:51:38 -0700 Subject: [PATCH 032/389] typo fix --- src/BulletSoftBody/CMakeLists.txt | 2 +- src/BulletSoftBody/btSoftBodyInternals.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/BulletSoftBody/CMakeLists.txt b/src/BulletSoftBody/CMakeLists.txt index ec5fd447e..40155786e 100644 --- a/src/BulletSoftBody/CMakeLists.txt +++ b/src/BulletSoftBody/CMakeLists.txt @@ -39,7 +39,7 @@ SET(BulletSoftBody_HDRS btSoftBodySolvers.h btDefaultSoftBodySolver.h - btCGrojection.h + btCGProjection.h btConjugateGradient.h btDeformableGravityForce.h btDeformableMassSpringForce.h diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index 9c732250b..77bcdc5d8 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -28,7 +28,7 @@ subject to the following restrictions: #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" #include //for memset -#include +#include static void findJacobian(const btMultiBodyLinkCollider* multibodyLinkCol, btMultiBodyJacobianData& jacobianData, const btVector3& contact_point, From 8c04a78c9b84bfd13235c1a1333c70f32d231059 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 2 Aug 2019 17:46:26 -0700 Subject: [PATCH 033/389] switch from std::unordered_map to btHashMap --- src/BulletSoftBody/btCGProjection.h | 14 +++---- .../btDeformableBackwardEulerObjective.cpp | 9 +++-- .../btDeformableBackwardEulerObjective.h | 13 ++++--- src/BulletSoftBody/btDeformableBodySolver.cpp | 2 +- src/BulletSoftBody/btDeformableBodySolver.h | 1 + .../btDeformableContactProjection.cpp | 38 +++++++++---------- .../btDeformableContactProjection.h | 13 +++++-- src/BulletSoftBody/btDeformableGravityForce.h | 2 +- .../btDeformableLagrangianForce.h | 9 +++-- .../btDeformableMassSpringForce.h | 12 +++--- .../btDeformableRigidDynamicsWorld.cpp | 7 ++-- src/BulletSoftBody/btSoftBody.h | 1 + src/BulletSoftBody/btSoftBodyInternals.h | 4 +- 13 files changed, 68 insertions(+), 57 deletions(-) diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index ca7417f8f..144208908 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -10,7 +10,6 @@ #include "btSoftBody.h" #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" -#include class btDeformableRigidDynamicsWorld; @@ -21,6 +20,7 @@ struct DeformableContactConstraint btAlignedObjectArray m_value; // the magnitude of the total impulse the node applied to the rb in the normal direction in the cg solve btAlignedObjectArray m_accumulated_normal_impulse; + btSoftBody::Node* node; DeformableContactConstraint(const btSoftBody::RContact& rcontact) { @@ -58,7 +58,6 @@ struct DeformableContactConstraint struct DeformableFrictionConstraint { - btAlignedObjectArray m_static; // whether the friction is static btAlignedObjectArray m_impulse; // the impulse magnitude the node feels btAlignedObjectArray m_dv; // the dv magnitude of the node @@ -75,6 +74,7 @@ struct DeformableFrictionConstraint // the total impulse the node applied to the rb in the tangential direction in the cg solve btAlignedObjectArray m_accumulated_tangent_impulse; + btSoftBody::Node* node; DeformableFrictionConstraint() { @@ -103,22 +103,18 @@ struct DeformableFrictionConstraint class btCGProjection { public: -// static const int dim = 3; typedef btAlignedObjectArray TVStack; typedef btAlignedObjectArray > TVArrayStack; typedef btAlignedObjectArray > TArrayStack; -// using TVStack = btAlignedObjectArray; -// using TVArrayStack = btAlignedObjectArray >; -// using TArrayStack = btAlignedObjectArray >; btAlignedObjectArray m_softBodies; btDeformableRigidDynamicsWorld* m_world; - const std::unordered_map* m_indices; + const btAlignedObjectArray* m_nodes; const btScalar& m_dt; - btCGProjection(btAlignedObjectArray& softBodies, const btScalar& dt, const std::unordered_map* indices) + btCGProjection(btAlignedObjectArray& softBodies, const btScalar& dt, const btAlignedObjectArray* nodes) : m_softBodies(softBodies) , m_dt(dt) - , m_indices(indices) + , m_nodes(nodes) { } diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index a9b77e368..50db01ec9 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -9,7 +9,7 @@ btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAlignedObjectArray& softBodies, const TVStack& backup_v) : m_softBodies(softBodies) -, projection(m_softBodies, m_dt, &m_indices) +, projection(m_softBodies, m_dt, &m_nodes) , m_backupVelocity(backup_v) { m_preconditioner = new DefaultPreconditioner(); @@ -63,10 +63,11 @@ void btDeformableBackwardEulerObjective::multiply(const TVStack& x, TVStack& b) void btDeformableBackwardEulerObjective::updateVelocity(const TVStack& dv) { // only the velocity of the constrained nodes needs to be updated during CG solve - for (auto it : projection.m_constraints) +// for (auto it : projection.m_constraints) + for (int i = 0; i < projection.m_constraints.size(); ++i) { - int i = m_indices[it.first]; - it.first->m_v = m_backupVelocity[i] + dv[i]; + int index = projection.m_constraints.getKeyAtIndex(i).getUid1(); + m_nodes[index]->m_v = m_backupVelocity[index] + dv[index]; } } diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index 22a685631..42d85f538 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -29,7 +29,7 @@ public: Preconditioner* m_preconditioner; btDeformableContactProjection projection; const TVStack& m_backupVelocity; - std::unordered_map m_indices; + btAlignedObjectArray m_nodes; btDeformableBackwardEulerObjective(btAlignedObjectArray& softBodies, const TVStack& backup_v); @@ -97,20 +97,23 @@ public: virtual void updateId() { - size_t index = 0; + size_t id = 0; + m_nodes.clear(); for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; for (int j = 0; j < psb->m_nodes.size(); ++j) { - m_indices[&(psb->m_nodes[j])] = index++; + psb->m_nodes[j].index = id; + m_nodes.push_back(&psb->m_nodes[j]); + ++id; } } } - std::unordered_map* getIndices() + const btAlignedObjectArray* getIndices() const { - return &m_indices; + return &m_nodes; } }; diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index a1616a460..4be5d4680 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -50,6 +50,7 @@ void btDeformableBodySolver::reinitialize(const btAlignedObjectArray cg; + public: btDeformableBackwardEulerObjective* m_objective; diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index 4ae07290c..5a3f9e555 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -8,7 +8,7 @@ #include "btDeformableContactProjection.h" #include "btDeformableRigidDynamicsWorld.h" #include -#include +#include static void findJacobian(const btMultiBodyLinkCollider* multibodyLinkCol, btMultiBodyJacobianData& jacobianData, const btVector3& contact_point, @@ -49,10 +49,10 @@ void btDeformableContactProjection::update() m_world->btMultiBodyDynamicsWorld::solveInternalConstraints(m_world->getSolverInfo()); // loop through constraints to set constrained values - for (auto& it : m_constraints) + for (int index = 0; index < m_constraints.size(); ++index) { - btAlignedObjectArray& frictions = m_frictions[it.first]; - btAlignedObjectArray& constraints = it.second; + btAlignedObjectArray& frictions = *m_frictions[m_constraints.getKeyAtIndex(index)]; + btAlignedObjectArray& constraints = *m_constraints.getAtIndex(index); for (int i = 0; i < constraints.size(); ++i) { DeformableContactConstraint& constraint = constraints[i]; @@ -230,13 +230,13 @@ void btDeformableContactProjection::setConstraints() c.push_back(DeformableContactConstraint(btVector3(1,0,0))); c.push_back(DeformableContactConstraint(btVector3(0,1,0))); c.push_back(DeformableContactConstraint(btVector3(0,0,1))); - m_constraints[&(psb->m_nodes[j])] = c; + m_constraints.insert(psb->m_nodes[j].index, c); btAlignedObjectArray f; f.push_back(DeformableFrictionConstraint()); f.push_back(DeformableFrictionConstraint()); f.push_back(DeformableFrictionConstraint()); - m_frictions[&(psb->m_nodes[j])] = f; + m_frictions.insert(psb->m_nodes[j].index, f); } } } @@ -290,22 +290,22 @@ void btDeformableContactProjection::setConstraints() const btScalar dn = btDot(vr, cti.m_normal); if (dn < SIMD_EPSILON) { - if (m_constraints.find(c.m_node) == m_constraints.end()) + if (m_constraints.find(c.m_node->index) == NULL) { btAlignedObjectArray constraints; constraints.push_back(DeformableContactConstraint(c)); - m_constraints[c.m_node] = constraints; + m_constraints.insert(c.m_node->index,constraints); btAlignedObjectArray frictions; frictions.push_back(DeformableFrictionConstraint()); - m_frictions[c.m_node] = frictions; + m_frictions.insert(c.m_node->index,frictions); } else { // group colinear constraints into one const btScalar angle_epsilon = 0.015192247; // less than 10 degree bool merged = false; - btAlignedObjectArray& constraints = m_constraints[c.m_node]; - btAlignedObjectArray& frictions = m_frictions[c.m_node]; + btAlignedObjectArray& constraints = *m_constraints[c.m_node->index]; + btAlignedObjectArray& frictions = *m_frictions[c.m_node->index]; for (int j = 0; j < constraints.size(); ++j) { const btAlignedObjectArray& dirs = constraints[j].m_direction; @@ -337,11 +337,11 @@ void btDeformableContactProjection::setConstraints() void btDeformableContactProjection::enforceConstraint(TVStack& x) { const int dim = 3; - for (auto& it : m_constraints) + for (int index = 0; index < m_constraints.size(); ++index) { - const btAlignedObjectArray& constraints = it.second; - size_t i = m_indices->at(it.first); - const btAlignedObjectArray& frictions = m_frictions[it.first]; + const btAlignedObjectArray& constraints = *m_constraints.getAtIndex(index); + size_t i = m_constraints.getKeyAtIndex(index).getUid1(); + const btAlignedObjectArray& frictions = *m_frictions[m_constraints.getKeyAtIndex(index)]; btAssert(constraints.size() <= dim); btAssert(constraints.size() > 0); if (constraints.size() == 1) @@ -400,11 +400,11 @@ void btDeformableContactProjection::enforceConstraint(TVStack& x) void btDeformableContactProjection::project(TVStack& x) { const int dim = 3; - for (auto& it : m_constraints) + for (int index = 0; index < m_constraints.size(); ++index) { - const btAlignedObjectArray& constraints = it.second; - size_t i = m_indices->at(it.first); - btAlignedObjectArray& frictions = m_frictions[it.first]; + const btAlignedObjectArray& constraints = *m_constraints.getAtIndex(index); + size_t i = m_constraints.getKeyAtIndex(index).getUid1(); + btAlignedObjectArray& frictions = *m_frictions[m_constraints.getKeyAtIndex(index)]; btAssert(constraints.size() <= dim); btAssert(constraints.size() > 0); if (constraints.size() == 1) diff --git a/src/BulletSoftBody/btDeformableContactProjection.h b/src/BulletSoftBody/btDeformableContactProjection.h index 2ca571195..9e61fed34 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.h +++ b/src/BulletSoftBody/btDeformableContactProjection.h @@ -11,14 +11,19 @@ #include "btSoftBody.h" #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" +#include "LinearMath/btHashMap.h" class btDeformableContactProjection : public btCGProjection { public: - std::unordered_map > m_constraints; - std::unordered_map > m_frictions; +// std::unordered_map > m_constraints; +// std::unordered_map > m_frictions; - btDeformableContactProjection(btAlignedObjectArray& softBodies, const btScalar& dt, const std::unordered_map* indices) - : btCGProjection(softBodies, dt, indices) + // map from node index to constraints + btHashMap > m_constraints; + btHashMap >m_frictions; + + btDeformableContactProjection(btAlignedObjectArray& softBodies, const btScalar& dt, const btAlignedObjectArray* nodes) + : btCGProjection(softBodies, dt, nodes) { } diff --git a/src/BulletSoftBody/btDeformableGravityForce.h b/src/BulletSoftBody/btDeformableGravityForce.h index 88d9107e1..0c2ae535d 100644 --- a/src/BulletSoftBody/btDeformableGravityForce.h +++ b/src/BulletSoftBody/btDeformableGravityForce.h @@ -47,7 +47,7 @@ public: for (int j = 0; j < psb->m_nodes.size(); ++j) { btSoftBody::Node& n = psb->m_nodes[j]; - size_t id = m_indices->at(&n); + size_t id = n.index; btScalar mass = (n.m_im == 0) ? 0 : 1. / n.m_im; btVector3 scaled_force = scale * m_gravity * mass; force[id] += scaled_force; diff --git a/src/BulletSoftBody/btDeformableLagrangianForce.h b/src/BulletSoftBody/btDeformableLagrangianForce.h index ff75eeb1c..6e1c54352 100644 --- a/src/BulletSoftBody/btDeformableLagrangianForce.h +++ b/src/BulletSoftBody/btDeformableLagrangianForce.h @@ -9,7 +9,8 @@ #define BT_DEFORMABLE_LAGRANGIAN_FORCE_H #include "btSoftBody.h" -#include +#include + enum btDeformableLagrangianForceType { BT_GRAVITY_FORCE = 1, @@ -22,7 +23,7 @@ public: // using TVStack = btAlignedObjectArray; typedef btAlignedObjectArray TVStack; btAlignedObjectArray m_softBodies; - const std::unordered_map* m_indices; + const btAlignedObjectArray* m_nodes; btDeformableLagrangianForce() { @@ -57,9 +58,9 @@ public: m_softBodies.push_back(psb); } - virtual void setIndices(const std::unordered_map* indices) + virtual void setIndices(const btAlignedObjectArray* nodes) { - m_indices = indices; + m_nodes = nodes; } }; #endif /* BT_DEFORMABLE_LAGRANGIAN_FORCE */ diff --git a/src/BulletSoftBody/btDeformableMassSpringForce.h b/src/BulletSoftBody/btDeformableMassSpringForce.h index d3ccd70dc..841101c8f 100644 --- a/src/BulletSoftBody/btDeformableMassSpringForce.h +++ b/src/BulletSoftBody/btDeformableMassSpringForce.h @@ -41,8 +41,8 @@ public: const btSoftBody::Link& link = psb->m_links[j]; btSoftBody::Node* node1 = link.m_n[0]; btSoftBody::Node* node2 = link.m_n[1]; - size_t id1 = m_indices->at(node1); - size_t id2 = m_indices->at(node2); + size_t id1 = node1->index; + size_t id2 = node2->index; // damping force btVector3 v_diff = (node2->m_v - node1->m_v); @@ -68,8 +68,8 @@ public: btSoftBody::Node* node2 = link.m_n[1]; btScalar kLST = link.Feature::m_material->m_kLST; btScalar r = link.m_rl; - size_t id1 = m_indices->at(node1); - size_t id2 = m_indices->at(node2); + size_t id1 = node1->index; + size_t id2 = node2->index; // elastic force // explicit elastic force @@ -94,8 +94,8 @@ public: btSoftBody::Node* node1 = link.m_n[0]; btSoftBody::Node* node2 = link.m_n[1]; btScalar k_damp = psb->m_dampingCoefficient; - size_t id1 = m_indices->at(node1); - size_t id2 = m_indices->at(node2); + size_t id1 = node1->index; + size_t id2 = node2->index; btVector3 local_scaled_df = scale * k_damp * (dv[id2] - dv[id1]); df[id1] += local_scaled_df; df[id2] -= local_scaled_df; diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp index 78c5f24a9..6e1ed75bd 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp @@ -45,10 +45,11 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS void btDeformableRigidDynamicsWorld::positionCorrection(btScalar dt) { // perform position correction for all constraints - for (auto& it : m_deformableBodySolver->m_objective->projection.m_constraints) +// for (auto& it : m_deformableBodySolver->m_objective->projection.m_constraints) + for (int index = 0; index < m_deformableBodySolver->m_objective->projection.m_constraints.size(); ++index) { - btAlignedObjectArray& frictions = m_deformableBodySolver->m_objective->projection.m_frictions[it.first]; - btAlignedObjectArray& constraints = it.second; + btAlignedObjectArray& frictions = *m_deformableBodySolver->m_objective->projection.m_frictions[m_deformableBodySolver->m_objective->projection.m_constraints.getKeyAtIndex(index)]; + btAlignedObjectArray& constraints = *m_deformableBodySolver->m_objective->projection.m_constraints.getAtIndex(index); for (int i = 0; i < constraints.size(); ++i) { DeformableContactConstraint& constraint = constraints[i]; diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index 5e33d74d0..87633a83c 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -258,6 +258,7 @@ public: btScalar m_area; // Area btDbvtNode* m_leaf; // Leaf data int m_battach : 1; // Attached + int index; }; /* Link */ ATTRIBUTE_ALIGNED16(struct) diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index 77bcdc5d8..eb487a56f 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -995,7 +995,9 @@ struct btSoftColliders btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; - btMatrix3x3 rot(normal, t1, t2); // world frame to local frame + btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(), + t1.getX(), t1.getY(), t1.getZ(), + t2.getX(), t2.getY(), t2.getZ()); // world frame to local frame const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; btScalar dt = psb->m_sst.sdt; btMatrix3x3 local_impulse_matrix = Diagonal(1/dt) * (Diagonal(n.m_im) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse(); From 021cbb2a0ea0e5e7a4b19908bfd8663b2300b82a Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 2 Aug 2019 23:50:15 -0700 Subject: [PATCH 034/389] include numeric_limits --- src/BulletSoftBody/btDeformableBodySolver.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 4be5d4680..df12c213a 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -6,6 +6,7 @@ // #include +#include #include "btDeformableBodySolver.h" btDeformableBodySolver::btDeformableBodySolver() From c5d84c1a0b5f1120f0a392b8894b0d685193864b Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Sat, 3 Aug 2019 00:10:36 -0700 Subject: [PATCH 035/389] get rid of nullptr and std::function --- examples/Pinch/Pinch.cpp | 2 +- src/BulletSoftBody/btCGProjection.h | 4 ++-- .../btDeformableContactProjection.cpp | 2 +- .../btDeformableRigidDynamicsWorld.cpp | 20 ++++++++++++++----- .../btDeformableRigidDynamicsWorld.h | 10 +++++++++- 5 files changed, 28 insertions(+), 10 deletions(-) diff --git a/examples/Pinch/Pinch.cpp b/examples/Pinch/Pinch.cpp index 4252a47b8..1e4afb748 100644 --- a/examples/Pinch/Pinch.cpp +++ b/examples/Pinch/Pinch.cpp @@ -256,7 +256,7 @@ void Pinch::initPhysics() m_dynamicsWorld->setGravity(gravity); getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; - getDeformableDynamicsWorld()->m_beforeSolverCallbacks.push_back(dynamics); + getDeformableDynamicsWorld()->setSolverCallback(dynamics); m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); //create a ground diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index 144208908..e11ecf817 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -29,7 +29,7 @@ struct DeformableContactConstraint DeformableContactConstraint(const btVector3 dir) { - m_contact.push_back(nullptr); + m_contact.push_back(NULL); m_direction.push_back(dir); m_value.push_back(0); m_accumulated_normal_impulse.push_back(0); @@ -37,7 +37,7 @@ struct DeformableContactConstraint DeformableContactConstraint() { - m_contact.push_back(nullptr); + m_contact.push_back(NULL); m_direction.push_back(btVector3(0,0,0)); m_value.push_back(0); m_accumulated_normal_impulse.push_back(0); diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index 5a3f9e555..edee3126e 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -59,7 +59,7 @@ void btDeformableContactProjection::update() DeformableFrictionConstraint& friction = frictions[i]; for (int j = 0; j < constraint.m_contact.size(); ++j) { - if (constraint.m_contact[j] == nullptr) + if (constraint.m_contact[j] == NULL) { // nothing needs to be done for dirichelet constraints continue; diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp index 6e1ed75bd..de39778ad 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp @@ -58,7 +58,7 @@ void btDeformableRigidDynamicsWorld::positionCorrection(btScalar dt) { const btSoftBody::RContact* c = constraint.m_contact[j]; // skip anchor points - if (c == nullptr || c->m_node->m_im == 0) + if (c == NULL || c->m_node->m_im == 0) continue; const btSoftBody::sCti& cti = c->m_cti; btVector3 va(0, 0, 0); @@ -206,14 +206,24 @@ void btDeformableRigidDynamicsWorld::beforeSolverCallbacks(btScalar timeStep) { (*m_internalTickCallback)(this, timeStep); } - for (int i = 0; i < m_beforeSolverCallbacks.size(); ++i) - m_beforeSolverCallbacks[i](m_internalTime, this); + + if (0 != m_solverCallback) + { + (*m_solverCallback)(m_internalTime, this); + } + +// for (int i = 0; i < m_beforeSolverCallbacks.size(); ++i) +// m_beforeSolverCallbacks[i](m_internalTime, this); } void btDeformableRigidDynamicsWorld::afterSolverCallbacks(btScalar timeStep) { - for (int i = 0; i < m_beforeSolverCallbacks.size(); ++i) - m_beforeSolverCallbacks[i](m_internalTime, this); + if (0 != m_solverCallback) + { + (*m_solverCallback)(m_internalTime, this); + } +// for (int i = 0; i < m_beforeSolverCallbacks.size(); ++i) +// m_beforeSolverCallbacks[i](m_internalTime, this); } void btDeformableRigidDynamicsWorld::addForce(btSoftBody* psb, btDeformableLagrangianForce* force) diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h index 779a88ee3..47284e7fb 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h @@ -75,7 +75,15 @@ public: m_sbi.m_sparsesdf.Initialize(); m_internalTime = 0.0; } - btAlignedObjectArray > m_beforeSolverCallbacks; +// btAlignedObjectArray > m_beforeSolverCallbacks; + typedef void (*btSolverCallback)(btScalar time, btDeformableRigidDynamicsWorld* world); + btSolverCallback m_solverCallback; + + void setSolverCallback(btSolverCallback cb) + { + m_solverCallback = cb; + } + virtual ~btDeformableRigidDynamicsWorld() { } From 02d3a9469f7431d9e4e120eafcf7ccba76596e6a Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 5 Aug 2019 11:54:17 -0700 Subject: [PATCH 036/389] code clean up + Zlib copyright header --- src/BulletSoftBody/btCGProjection.h | 19 +++++++----- src/BulletSoftBody/btConjugateGradient.h | 22 +++++++++----- .../btDeformableBackwardEulerObjective.cpp | 21 +++++++++----- .../btDeformableBackwardEulerObjective.h | 18 ++++++++---- src/BulletSoftBody/btDeformableBodySolver.cpp | 22 +++++++++----- src/BulletSoftBody/btDeformableBodySolver.h | 20 ++++++++----- .../btDeformableContactProjection.cpp | 18 ++++++++---- .../btDeformableContactProjection.h | 21 ++++++++------ src/BulletSoftBody/btDeformableGravityForce.h | 21 ++++++++------ .../btDeformableLagrangianForce.h | 18 ++++++++---- .../btDeformableMassSpringForce.h | 18 ++++++++---- .../btDeformableRigidDynamicsWorld.cpp | 29 +++++++++---------- .../btDeformableRigidDynamicsWorld.h | 8 +++-- src/BulletSoftBody/btPreconditioner.h | 18 ++++++++---- 14 files changed, 170 insertions(+), 103 deletions(-) diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index e11ecf817..667c715c0 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -1,8 +1,15 @@ -// btCGProjection.h -// BulletSoftBody -// -// Created by Xuchen Han on 7/4/19. -// +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2016 Google Inc. http://bulletphysics.org + 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 BT_CG_PROJECTION_H #define BT_CG_PROJECTION_H @@ -20,7 +27,6 @@ struct DeformableContactConstraint btAlignedObjectArray m_value; // the magnitude of the total impulse the node applied to the rb in the normal direction in the cg solve btAlignedObjectArray m_accumulated_normal_impulse; - btSoftBody::Node* node; DeformableContactConstraint(const btSoftBody::RContact& rcontact) { @@ -74,7 +80,6 @@ struct DeformableFrictionConstraint // the total impulse the node applied to the rb in the tangential direction in the cg solve btAlignedObjectArray m_accumulated_tangent_impulse; - btSoftBody::Node* node; DeformableFrictionConstraint() { diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h index fdef6b22d..dfec3dde5 100644 --- a/src/BulletSoftBody/btConjugateGradient.h +++ b/src/BulletSoftBody/btConjugateGradient.h @@ -1,9 +1,15 @@ -// -// btConjugateGradient.h -// BulletSoftBody -// -// Created by Xuchen Han on 7/1/19. -// +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2016 Google Inc. http://bulletphysics.org + 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 BT_CONJUGATE_GRADIENT_H #define BT_CONJUGATE_GRADIENT_H @@ -12,7 +18,7 @@ #include #include -template +template class btConjugateGradient { // using TVStack = btAlignedObjectArray; @@ -29,7 +35,7 @@ public: virtual ~btConjugateGradient(){} // return the number of iterations taken - int solve(TM& A, TVStack& x, const TVStack& b, btScalar tolerance) + int solve(MatrixX& A, TVStack& x, const TVStack& b, btScalar tolerance) { btAssert(x.size() == b.size()); reinitialize(b); diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index 50db01ec9..618648b47 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -1,9 +1,15 @@ -// -// btDeformableBackwardEulerObjective.cpp -// BulletSoftBody -// -// Created by Xuchen Han on 7/9/19. -// +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2016 Google Inc. http://bulletphysics.org + 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. + */ #include "btDeformableBackwardEulerObjective.h" @@ -63,7 +69,6 @@ void btDeformableBackwardEulerObjective::multiply(const TVStack& x, TVStack& b) void btDeformableBackwardEulerObjective::updateVelocity(const TVStack& dv) { // only the velocity of the constrained nodes needs to be updated during CG solve -// for (auto it : projection.m_constraints) for (int i = 0; i < projection.m_constraints.size(); ++i) { int index = projection.m_constraints.getKeyAtIndex(i).getUid1(); @@ -112,7 +117,9 @@ btScalar btDeformableBackwardEulerObjective::computeNorm(const TVStack& residual void btDeformableBackwardEulerObjective::applyExplicitForce(TVStack& force) { for (int i = 0; i < m_lf.size(); ++i) + { m_lf[i]->addScaledExplicitForce(m_dt, force); + } applyForce(force, true); } diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index 42d85f538..db448ebe9 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -1,9 +1,15 @@ -// -// btDeformableBackwardEulerObjective.h -// BulletSoftBody -// -// Created by Xuchen Han on 7/1/19. -// +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2016 Google Inc. http://bulletphysics.org + 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 BT_BACKWARD_EULER_OBJECTIVE_H #define BT_BACKWARD_EULER_OBJECTIVE_H diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index df12c213a..27cb8e467 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -1,9 +1,15 @@ -// -// btDeformableBodySolver.cpp -// BulletSoftBody -// -// Created by Xuchen Han on 7/9/19. -// +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2016 Google Inc. http://bulletphysics.org + 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. + */ #include #include @@ -11,7 +17,7 @@ btDeformableBodySolver::btDeformableBodySolver() : m_numNodes(0) -, cg(10) +, m_cg(10) { m_objective = new btDeformableBackwardEulerObjective(m_softBodySet, m_backupVelocity); } @@ -40,7 +46,7 @@ void btDeformableBodySolver::solveConstraints(float solverdt) void btDeformableBodySolver::computeStep(TVStack& dv, const TVStack& residual) { btScalar tolerance = std::numeric_limits::epsilon()* 1024 * m_objective->computeNorm(residual); - cg.solve(*m_objective, dv, residual, tolerance); + m_cg.solve(*m_objective, dv, residual, tolerance); } void btDeformableBodySolver::reinitialize(const btAlignedObjectArray& softBodies) diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index 9f1216eab..7186f8fb2 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -1,9 +1,15 @@ -// -// btDeformableBodySolver.h -// BulletSoftBody -// -// Created by Xuchen Han on 7/1/19. -// +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2016 Google Inc. http://bulletphysics.org + 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 BT_DEFORMABLE_BODY_SOLVERS_H #define BT_DEFORMABLE_BODY_SOLVERS_H @@ -31,7 +37,7 @@ protected: btAlignedObjectArray m_backupVelocity; btScalar m_dt; - btConjugateGradient cg; + btConjugateGradient m_cg; public: diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index edee3126e..dff5398c9 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -1,9 +1,15 @@ -// -// btDeformableContactProjection.cpp -// BulletSoftBody -// -// Created by Xuchen Han on 7/4/19. -// +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2016 Google Inc. http://bulletphysics.org + 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. + */ #include "btDeformableContactProjection.h" #include "btDeformableRigidDynamicsWorld.h" diff --git a/src/BulletSoftBody/btDeformableContactProjection.h b/src/BulletSoftBody/btDeformableContactProjection.h index 9e61fed34..51ea92689 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.h +++ b/src/BulletSoftBody/btDeformableContactProjection.h @@ -1,9 +1,15 @@ -// -// btDeformableContactProjection.h -// BulletSoftBody -// -// Created by Xuchen Han on 7/4/19. -// +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2016 Google Inc. http://bulletphysics.org + 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 BT_CONTACT_PROJECTION_H #define BT_CONTACT_PROJECTION_H @@ -15,9 +21,6 @@ class btDeformableContactProjection : public btCGProjection { public: -// std::unordered_map > m_constraints; -// std::unordered_map > m_frictions; - // map from node index to constraints btHashMap > m_constraints; btHashMap >m_frictions; diff --git a/src/BulletSoftBody/btDeformableGravityForce.h b/src/BulletSoftBody/btDeformableGravityForce.h index 0c2ae535d..d18eac57d 100644 --- a/src/BulletSoftBody/btDeformableGravityForce.h +++ b/src/BulletSoftBody/btDeformableGravityForce.h @@ -1,9 +1,15 @@ -// -// btDeformableGravityForce.h -// BulletSoftBody -// -// Created by Xuchen Han on 7/21/19. -// +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2016 Google Inc. http://bulletphysics.org + 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 BT_DEFORMABLE_GRAVITY_FORCE_H #define BT_DEFORMABLE_GRAVITY_FORCE_H @@ -13,18 +19,15 @@ class btDeformableGravityForce : public btDeformableLagrangianForce { public: -// using TVStack = btDeformableLagrangianForce::TVStack; typedef btAlignedObjectArray TVStack; btVector3 m_gravity; btDeformableGravityForce(const btVector3& g) : m_gravity(g) { - } virtual void addScaledImplicitForce(btScalar scale, TVStack& force) { -// addScaledGravityForce(scale, force); } virtual void addScaledExplicitForce(btScalar scale, TVStack& force) diff --git a/src/BulletSoftBody/btDeformableLagrangianForce.h b/src/BulletSoftBody/btDeformableLagrangianForce.h index 6e1c54352..d2bbcef40 100644 --- a/src/BulletSoftBody/btDeformableLagrangianForce.h +++ b/src/BulletSoftBody/btDeformableLagrangianForce.h @@ -1,9 +1,15 @@ -// -// btDeformableLagrangianForce.h -// BulletSoftBody -// -// Created by Xuchen Han on 7/1/19. -// +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2016 Google Inc. http://bulletphysics.org + 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 BT_DEFORMABLE_LAGRANGIAN_FORCE_H #define BT_DEFORMABLE_LAGRANGIAN_FORCE_H diff --git a/src/BulletSoftBody/btDeformableMassSpringForce.h b/src/BulletSoftBody/btDeformableMassSpringForce.h index 841101c8f..2d70ef0ae 100644 --- a/src/BulletSoftBody/btDeformableMassSpringForce.h +++ b/src/BulletSoftBody/btDeformableMassSpringForce.h @@ -1,9 +1,15 @@ -// -// btDeformableMassSpringForce.h -// BulletSoftBody -// -// Created by Xuchen Gan on 7/1/19. -// +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2016 Google Inc. http://bulletphysics.org + 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 BT_MASS_SPRING_H #define BT_MASS_SPRING_H diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp index de39778ad..ef48f97b1 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp @@ -1,9 +1,15 @@ -// -// btDeformableRigidDynamicsWorld.cpp -// BulletSoftBody -// -// Created by Xuchen Han on 7/1/19. -// +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2016 Google Inc. http://bulletphysics.org + 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. + */ #include #include "btDeformableRigidDynamicsWorld.h" @@ -13,7 +19,6 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) { reinitialize(timeStep); -// beforeSolverCallbacks(timeStep); // add gravity to velocity of rigid and multi bodys applyRigidBodyGravity(timeStep); @@ -165,7 +170,7 @@ void btDeformableRigidDynamicsWorld::addSoftBody(btSoftBody* body, int collision void btDeformableRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) { btMultiBodyDynamicsWorld::predictUnconstraintMotion(timeStep); - m_deformableBodySolver->predictMotion(float(timeStep)); + m_deformableBodySolver->predictMotion(timeStep); } void btDeformableRigidDynamicsWorld::reinitialize(btScalar timeStep) @@ -181,8 +186,7 @@ void btDeformableRigidDynamicsWorld::reinitialize(btScalar timeStep) void btDeformableRigidDynamicsWorld::applyRigidBodyGravity(btScalar timeStep) { - // TODO: This is an ugly hack to get the desired gravity behavior. - // gravity is applied in stepSimulation and then cleared here and then applied here and then cleared here again + // Gravity is applied in stepSimulation and then cleared here and then applied here and then cleared here again // so that 1) gravity is applied to velocity before constraint solve and 2) gravity is applied in each substep // when there are multiple substeps clearForces(); @@ -211,9 +215,6 @@ void btDeformableRigidDynamicsWorld::beforeSolverCallbacks(btScalar timeStep) { (*m_solverCallback)(m_internalTime, this); } - -// for (int i = 0; i < m_beforeSolverCallbacks.size(); ++i) -// m_beforeSolverCallbacks[i](m_internalTime, this); } void btDeformableRigidDynamicsWorld::afterSolverCallbacks(btScalar timeStep) @@ -222,8 +223,6 @@ void btDeformableRigidDynamicsWorld::afterSolverCallbacks(btScalar timeStep) { (*m_solverCallback)(m_internalTime, this); } -// for (int i = 0; i < m_beforeSolverCallbacks.size(); ++i) -// m_beforeSolverCallbacks[i](m_internalTime, this); } void btDeformableRigidDynamicsWorld::addForce(btSoftBody* psb, btDeformableLagrangianForce* force) diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h index 47284e7fb..7d771d455 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h @@ -43,6 +43,9 @@ class btDeformableRigidDynamicsWorld : public btMultiBodyDynamicsWorld bool m_ownsSolver; btScalar m_internalTime; + typedef void (*btSolverCallback)(btScalar time, btDeformableRigidDynamicsWorld* world); + btSolverCallback m_solverCallback; + protected: virtual void internalSingleStepSimulation(btScalar timeStep); @@ -55,7 +58,7 @@ protected: public: btDeformableRigidDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0) : btMultiBodyDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration), - m_deformableBodySolver(deformableBodySolver) + m_deformableBodySolver(deformableBodySolver), m_solverCallback(0) { m_drawFlags = fDrawFlags::Std; m_drawNodeTree = true; @@ -76,8 +79,7 @@ public: m_internalTime = 0.0; } // btAlignedObjectArray > m_beforeSolverCallbacks; - typedef void (*btSolverCallback)(btScalar time, btDeformableRigidDynamicsWorld* world); - btSolverCallback m_solverCallback; + void setSolverCallback(btSolverCallback cb) { diff --git a/src/BulletSoftBody/btPreconditioner.h b/src/BulletSoftBody/btPreconditioner.h index 97cec43c5..8860a8cfe 100644 --- a/src/BulletSoftBody/btPreconditioner.h +++ b/src/BulletSoftBody/btPreconditioner.h @@ -1,9 +1,15 @@ -// -// btPreconditioner.h -// BulletSoftBody -// -// Created by Xuchen Han on 7/18/19. -// +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2016 Google Inc. http://bulletphysics.org + 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 BT_PRECONDITIONER_H #define BT_PRECONDITIONER_H From 73f5eb6a8f477c46b18a61476e81dc4dd9cb6612 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 5 Aug 2019 16:49:04 -0700 Subject: [PATCH 037/389] add profiling and code clean up --- src/BulletSoftBody/btConjugateGradient.h | 5 ++--- .../btDeformableBackwardEulerObjective.cpp | 11 ++++++----- .../btDeformableBackwardEulerObjective.h | 5 +++-- src/BulletSoftBody/btDeformableBodySolver.cpp | 3 +++ src/BulletSoftBody/btDeformableContactProjection.cpp | 8 +++++--- src/BulletSoftBody/btDeformableMassSpringForce.h | 4 ++-- src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp | 7 +++++-- src/BulletSoftBody/btDeformableRigidDynamicsWorld.h | 4 +--- 8 files changed, 27 insertions(+), 20 deletions(-) diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h index dfec3dde5..b8dac7184 100644 --- a/src/BulletSoftBody/btConjugateGradient.h +++ b/src/BulletSoftBody/btConjugateGradient.h @@ -17,15 +17,13 @@ #include #include #include - +#include "LinearMath/btQuickprof.h" template class btConjugateGradient { -// using TVStack = btAlignedObjectArray; typedef btAlignedObjectArray TVStack; TVStack r,p,z,temp; int max_iterations; - public: btConjugateGradient(const int max_it_in) : max_iterations(max_it_in) @@ -37,6 +35,7 @@ public: // return the number of iterations taken int solve(MatrixX& A, TVStack& x, const TVStack& b, btScalar tolerance) { + BT_PROFILE("CGSolve"); btAssert(x.size() == b.size()); reinitialize(b); diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index 618648b47..44783fb3d 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -12,6 +12,7 @@ */ #include "btDeformableBackwardEulerObjective.h" +#include "LinearMath/btQuickprof.h" btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAlignedObjectArray& softBodies, const TVStack& backup_v) : m_softBodies(softBodies) @@ -23,6 +24,7 @@ btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAligned void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated) { + BT_PROFILE("reinitialize"); if(nodeUpdated) { updateId(); @@ -43,9 +45,7 @@ void btDeformableBackwardEulerObjective::setDt(btScalar dt) void btDeformableBackwardEulerObjective::multiply(const TVStack& x, TVStack& b) const { - for (int i = 0; i < b.size(); ++i) - b[i].setZero(); - + BT_PROFILE("multiply"); // add in the mass term size_t counter = 0; for (int i = 0; i < m_softBodies.size(); ++i) @@ -54,11 +54,11 @@ void btDeformableBackwardEulerObjective::multiply(const TVStack& x, TVStack& b) for (int j = 0; j < psb->m_nodes.size(); ++j) { const btSoftBody::Node& node = psb->m_nodes[j]; - b[counter] += (node.m_im == 0) ? btVector3(0,0,0) : x[counter] / node.m_im; + b[counter] = (node.m_im == 0) ? btVector3(0,0,0) : x[counter] / node.m_im; ++counter; } } - + for (int i = 0; i < m_lf.size(); ++i) { // add damping matrix @@ -97,6 +97,7 @@ void btDeformableBackwardEulerObjective::applyForce(TVStack& force, bool setZero void btDeformableBackwardEulerObjective::computeResidual(btScalar dt, TVStack &residual) const { + BT_PROFILE("computeResidual"); // add implicit force for (int i = 0; i < m_lf.size(); ++i) { diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index db448ebe9..82af57f6d 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -13,7 +13,6 @@ #ifndef BT_BACKWARD_EULER_OBJECTIVE_H #define BT_BACKWARD_EULER_OBJECTIVE_H -#include #include "btConjugateGradient.h" #include "btDeformableLagrangianForce.h" #include "btDeformableMassSpringForce.h" @@ -21,6 +20,7 @@ #include "btDeformableContactProjection.h" #include "btPreconditioner.h" #include "btDeformableRigidDynamicsWorld.h" +#include "LinearMath/btQuickprof.h" class btDeformableRigidDynamicsWorld; class btDeformableBackwardEulerObjective @@ -36,7 +36,6 @@ public: btDeformableContactProjection projection; const TVStack& m_backupVelocity; btAlignedObjectArray m_nodes; - btDeformableBackwardEulerObjective(btAlignedObjectArray& softBodies, const TVStack& backup_v); virtual ~btDeformableBackwardEulerObjective() {} @@ -72,6 +71,7 @@ public: // enforce constraints in CG solve void enforceConstraint(TVStack& x) { + BT_PROFILE("enforceConstraint"); projection.enforceConstraint(x); updateVelocity(x); } @@ -85,6 +85,7 @@ public: // update the projections and project the residual void project(TVStack& r) { + BT_PROFILE("project"); projection.update(); projection.project(r); } diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 27cb8e467..9382106e9 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -14,6 +14,7 @@ #include #include #include "btDeformableBodySolver.h" +#include "LinearMath/btQuickprof.h" btDeformableBodySolver::btDeformableBodySolver() : m_numNodes(0) @@ -29,6 +30,7 @@ btDeformableBodySolver::~btDeformableBodySolver() void btDeformableBodySolver::solveConstraints(float solverdt) { + BT_PROFILE("solveConstraints"); m_objective->setDt(solverdt); // add constraints to the solver @@ -70,6 +72,7 @@ void btDeformableBodySolver::reinitialize(const btAlignedObjectArraysetConstraints(); } diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index dff5398c9..7470c7a93 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -224,6 +224,7 @@ void btDeformableContactProjection::update() void btDeformableContactProjection::setConstraints() { + BT_PROFILE("setConstraints"); // set Dirichlet constraint for (int i = 0; i < m_softBodies.size(); ++i) { @@ -233,12 +234,14 @@ void btDeformableContactProjection::setConstraints() if (psb->m_nodes[j].m_im == 0) { btAlignedObjectArray c; + c.reserve(3); c.push_back(DeformableContactConstraint(btVector3(1,0,0))); c.push_back(DeformableContactConstraint(btVector3(0,1,0))); c.push_back(DeformableContactConstraint(btVector3(0,0,1))); m_constraints.insert(psb->m_nodes[j].index, c); btAlignedObjectArray f; + f.reserve(3); f.push_back(DeformableFrictionConstraint()); f.push_back(DeformableFrictionConstraint()); f.push_back(DeformableFrictionConstraint()); @@ -246,13 +249,12 @@ void btDeformableContactProjection::setConstraints() } } } - for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; btMultiBodyJacobianData jacobianData_normal; btMultiBodyJacobianData jacobianData_complementary; - + std::cout <m_rcontacts.size() << std::endl; for (int j = 0; j < psb->m_rcontacts.size(); ++j) { const btSoftBody::RContact& c = psb->m_rcontacts[j]; @@ -296,6 +298,7 @@ void btDeformableContactProjection::setConstraints() const btScalar dn = btDot(vr, cti.m_normal); if (dn < SIMD_EPSILON) { + if (m_constraints.find(c.m_node->index) == NULL) { btAlignedObjectArray constraints; @@ -369,7 +372,6 @@ void btDeformableContactProjection::enforceConstraint(TVStack& x) x[i] += constraints[j].m_value[k] * constraints[j].m_direction[k]; } } - } else { diff --git a/src/BulletSoftBody/btDeformableMassSpringForce.h b/src/BulletSoftBody/btDeformableMassSpringForce.h index 2d70ef0ae..ca8ddf983 100644 --- a/src/BulletSoftBody/btDeformableMassSpringForce.h +++ b/src/BulletSoftBody/btDeformableMassSpringForce.h @@ -94,15 +94,15 @@ public: for (int i = 0; i < m_softBodies.size(); ++i) { const btSoftBody* psb = m_softBodies[i]; + btScalar scaled_k_damp = psb->m_dampingCoefficient * scale; for (int j = 0; j < psb->m_links.size(); ++j) { const btSoftBody::Link& link = psb->m_links[j]; btSoftBody::Node* node1 = link.m_n[0]; btSoftBody::Node* node2 = link.m_n[1]; - btScalar k_damp = psb->m_dampingCoefficient; size_t id1 = node1->index; size_t id2 = node2->index; - btVector3 local_scaled_df = scale * k_damp * (dv[id2] - dv[id1]); + btVector3 local_scaled_df = scaled_k_damp * (dv[id2] - dv[id1]); df[id1] += local_scaled_df; df[id2] -= local_scaled_df; } diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp index ef48f97b1..116d4e0bc 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp @@ -14,10 +14,11 @@ #include #include "btDeformableRigidDynamicsWorld.h" #include "btDeformableBodySolver.h" - +#include "LinearMath/btQuickprof.h" void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) { + BT_PROFILE("internalSingleStepSimulation"); reinitialize(timeStep); // add gravity to velocity of rigid and multi bodys applyRigidBodyGravity(timeStep); @@ -50,7 +51,7 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS void btDeformableRigidDynamicsWorld::positionCorrection(btScalar dt) { // perform position correction for all constraints -// for (auto& it : m_deformableBodySolver->m_objective->projection.m_constraints) + BT_PROFILE("positionCorrection"); for (int index = 0; index < m_deformableBodySolver->m_objective->projection.m_constraints.size(); ++index) { btAlignedObjectArray& frictions = *m_deformableBodySolver->m_objective->projection.m_frictions[m_deformableBodySolver->m_objective->projection.m_constraints.getKeyAtIndex(index)]; @@ -134,6 +135,7 @@ void btDeformableRigidDynamicsWorld::positionCorrection(btScalar dt) void btDeformableRigidDynamicsWorld::integrateTransforms(btScalar dt) { + BT_PROFILE("integrateTransforms"); m_deformableBodySolver->backupVelocity(); positionCorrection(dt); btMultiBodyDynamicsWorld::integrateTransforms(dt); @@ -169,6 +171,7 @@ void btDeformableRigidDynamicsWorld::addSoftBody(btSoftBody* body, int collision void btDeformableRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) { + BT_PROFILE("predictUnconstraintMotion"); btMultiBodyDynamicsWorld::predictUnconstraintMotion(timeStep); m_deformableBodySolver->predictMotion(timeStep); } diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h index 7d771d455..cc4fdae05 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h @@ -78,9 +78,7 @@ public: m_sbi.m_sparsesdf.Initialize(); m_internalTime = 0.0; } -// btAlignedObjectArray > m_beforeSolverCallbacks; - - + void setSolverCallback(btSolverCallback cb) { m_solverCallback = cb; From 6a599bde87e53c22fb71cb6d35c718e9ea8083dc Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 6 Aug 2019 10:16:56 -0700 Subject: [PATCH 038/389] setDt in reinitialize and remove unused variables --- src/BulletSoftBody/btCGProjection.h | 6 +++--- .../btDeformableBackwardEulerObjective.cpp | 2 +- src/BulletSoftBody/btDeformableBodySolver.cpp | 20 ++++++------------- src/BulletSoftBody/btDeformableBodySolver.h | 2 +- .../btDeformableContactProjection.cpp | 1 - .../btDeformableContactProjection.h | 4 ++-- .../btDeformableRigidDynamicsWorld.cpp | 2 +- 7 files changed, 14 insertions(+), 23 deletions(-) diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index 667c715c0..430327ea0 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -113,13 +113,13 @@ public: typedef btAlignedObjectArray > TArrayStack; btAlignedObjectArray m_softBodies; btDeformableRigidDynamicsWorld* m_world; - const btAlignedObjectArray* m_nodes; +// const btAlignedObjectArray* m_nodes; const btScalar& m_dt; - btCGProjection(btAlignedObjectArray& softBodies, const btScalar& dt, const btAlignedObjectArray* nodes) + btCGProjection(btAlignedObjectArray& softBodies, const btScalar& dt) : m_softBodies(softBodies) , m_dt(dt) - , m_nodes(nodes) +// , m_nodes(nodes) { } diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index 44783fb3d..3e6656c0d 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -16,7 +16,7 @@ btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAlignedObjectArray& softBodies, const TVStack& backup_v) : m_softBodies(softBodies) -, projection(m_softBodies, m_dt, &m_nodes) +, projection(m_softBodies, m_dt) , m_backupVelocity(backup_v) { m_preconditioner = new DefaultPreconditioner(); diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 9382106e9..242b0a882 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -31,8 +31,6 @@ btDeformableBodySolver::~btDeformableBodySolver() void btDeformableBodySolver::solveConstraints(float solverdt) { BT_PROFILE("solveConstraints"); - m_objective->setDt(solverdt); - // add constraints to the solver setConstraints(); @@ -51,22 +49,16 @@ void btDeformableBodySolver::computeStep(TVStack& dv, const TVStack& residual) m_cg.solve(*m_objective, dv, residual, tolerance); } -void btDeformableBodySolver::reinitialize(const btAlignedObjectArray& softBodies) +void btDeformableBodySolver::reinitialize(const btAlignedObjectArray& softBodies, btScalar dt) { + m_objective->setDt(dt); m_softBodySet.copyFromArray(softBodies); bool nodeUpdated = updateNodes(); - if (nodeUpdated) - { - m_dv.resize(m_numNodes); - m_residual.resize(m_numNodes); - m_backupVelocity.resize(m_numNodes); - } - for (int i = 0; i < m_dv.size(); ++i) - { - m_dv[i].setZero(); - m_residual[i].setZero(); - } + m_dv.resize(m_numNodes, btVector3(0,0,0)); + m_residual.resize(m_numNodes, btVector3(0,0,0)); + m_backupVelocity.resize(m_numNodes, btVector3(0,0,0)); + m_objective->reinitialize(nodeUpdated); } diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index 7186f8fb2..cdcc6ed80 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -60,7 +60,7 @@ public: virtual void solveConstraints(float solverdt); - void reinitialize(const btAlignedObjectArray& softBodies); + void reinitialize(const btAlignedObjectArray& softBodies, btScalar dt); void setConstraints(); diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index 7470c7a93..27fee5cf8 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -254,7 +254,6 @@ void btDeformableContactProjection::setConstraints() btSoftBody* psb = m_softBodies[i]; btMultiBodyJacobianData jacobianData_normal; btMultiBodyJacobianData jacobianData_complementary; - std::cout <m_rcontacts.size() << std::endl; for (int j = 0; j < psb->m_rcontacts.size(); ++j) { const btSoftBody::RContact& c = psb->m_rcontacts[j]; diff --git a/src/BulletSoftBody/btDeformableContactProjection.h b/src/BulletSoftBody/btDeformableContactProjection.h index 51ea92689..9589b165e 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.h +++ b/src/BulletSoftBody/btDeformableContactProjection.h @@ -25,8 +25,8 @@ public: btHashMap > m_constraints; btHashMap >m_frictions; - btDeformableContactProjection(btAlignedObjectArray& softBodies, const btScalar& dt, const btAlignedObjectArray* nodes) - : btCGProjection(softBodies, dt, nodes) + btDeformableContactProjection(btAlignedObjectArray& softBodies, const btScalar& dt) + : btCGProjection(softBodies, dt) { } diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp index 116d4e0bc..5afc88323 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp @@ -179,7 +179,7 @@ void btDeformableRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep void btDeformableRigidDynamicsWorld::reinitialize(btScalar timeStep) { m_internalTime += timeStep; - m_deformableBodySolver->reinitialize(m_softBodies); + m_deformableBodySolver->reinitialize(m_softBodies, timeStep); btDispatcherInfo& dispatchInfo = btMultiBodyDynamicsWorld::getDispatchInfo(); dispatchInfo.m_timeStep = timeStep; dispatchInfo.m_stepCount = 0; From e5231b5cc57d617a38bb0144e5a34661b54a8811 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 6 Aug 2019 10:52:19 -0700 Subject: [PATCH 039/389] restore behaviors of btSoftBody --- .../DeformableContact/DeformableContact.cpp | 1 + examples/DeformableDemo/DeformableDemo.cpp | 1 + examples/Pinch/Pinch.cpp | 1 + .../VolumetricDeformable.cpp | 1 + .../btDeformableBackwardEulerObjective.h | 1 - src/BulletSoftBody/btDeformableBodySolver.cpp | 3 - src/BulletSoftBody/btSoftBody.cpp | 262 +++++++++++------- src/BulletSoftBody/btSoftBody.h | 4 +- src/BulletSoftBody/btSoftBodyInternals.h | 60 +++- 9 files changed, 221 insertions(+), 113 deletions(-) diff --git a/examples/DeformableContact/DeformableContact.cpp b/examples/DeformableContact/DeformableContact.cpp index c40564867..102ad40a9 100644 --- a/examples/DeformableContact/DeformableContact.cpp +++ b/examples/DeformableContact/DeformableContact.cpp @@ -228,6 +228,7 @@ void DeformableContact::initPhysics() 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; + psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addSoftBody(psb); getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce()); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); diff --git a/examples/DeformableDemo/DeformableDemo.cpp b/examples/DeformableDemo/DeformableDemo.cpp index 2411670cf..a3cdbf847 100644 --- a/examples/DeformableDemo/DeformableDemo.cpp +++ b/examples/DeformableDemo/DeformableDemo.cpp @@ -235,6 +235,7 @@ void DeformableDemo::initPhysics() 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; + psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addSoftBody(psb); getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce()); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); diff --git a/examples/Pinch/Pinch.cpp b/examples/Pinch/Pinch.cpp index 1e4afb748..c6e26ddb1 100644 --- a/examples/Pinch/Pinch.cpp +++ b/examples/Pinch/Pinch.cpp @@ -342,6 +342,7 @@ void Pinch::initPhysics() psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb->m_cfg.kCHR = 1; // collision hardness with rigid body psb->m_cfg.kDF = 2; + psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addSoftBody(psb); getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce()); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); diff --git a/examples/VolumetricDeformable/VolumetricDeformable.cpp b/examples/VolumetricDeformable/VolumetricDeformable.cpp index 15fb712f6..b30e4ac4d 100644 --- a/examples/VolumetricDeformable/VolumetricDeformable.cpp +++ b/examples/VolumetricDeformable/VolumetricDeformable.cpp @@ -241,6 +241,7 @@ void VolumetricDeformable::initPhysics() 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; + psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce()); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); } diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index 82af57f6d..30c2d995e 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -26,7 +26,6 @@ class btDeformableRigidDynamicsWorld; class btDeformableBackwardEulerObjective { public: -// using TVStack = btAlignedObjectArray; typedef btAlignedObjectArray TVStack; btScalar m_dt; btDeformableRigidDynamicsWorld* m_world; diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 242b0a882..fc792bd7f 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -75,7 +75,6 @@ void btDeformableBodySolver::setWorld(btDeformableRigidDynamicsWorld* world) void btDeformableBodySolver::updateVelocity() { - // serial implementation int counter = 0; for (int i = 0; i < m_softBodySet.size(); ++i) { @@ -90,7 +89,6 @@ void btDeformableBodySolver::updateVelocity() void btDeformableBodySolver::backupVelocity() { - // serial implementation int counter = 0; for (int i = 0; i < m_softBodySet.size(); ++i) { @@ -104,7 +102,6 @@ void btDeformableBodySolver::backupVelocity() void btDeformableBodySolver::revertVelocity() { - // serial implementation int counter = 0; for (int i = 0; i < m_softBodySet.size(); ++i) { diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 8a62d31bb..86a48bf62 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -1758,115 +1758,115 @@ void btSoftBody::setSolver(eSolverPresets::_ preset) } } -// void btSoftBody::predictMotion(btScalar dt) { - int i, ni; - - /* Update */ - if (m_bUpdateRtCst) - { - m_bUpdateRtCst = false; - updateConstants(); - m_fdbvt.clear(); - if (m_cfg.collisions & fCollision::VF_SS) - { - initializeFaceTree(); - } - } - - /* Prepare */ - m_sst.sdt = dt * m_cfg.timescale; - m_sst.isdt = 1 / m_sst.sdt; - m_sst.velmrg = m_sst.sdt * 3; - m_sst.radmrg = getCollisionShape()->getMargin(); - m_sst.updmrg = m_sst.radmrg * (btScalar)0.25; - /* Forces */ -// addVelocity(m_worldInfo->m_gravity * m_sst.sdt); - applyForces(); - /* Integrate */ - for (i = 0, ni = m_nodes.size(); i < ni; ++i) - { - Node& n = m_nodes[i]; - n.m_q = n.m_x; - btVector3 deltaV = n.m_f * n.m_im * m_sst.sdt; - { - btScalar maxDisplacement = m_worldInfo->m_maxDisplacement; - btScalar clampDeltaV = maxDisplacement / m_sst.sdt; - for (int c = 0; c < 3; c++) - { - if (deltaV[c] > clampDeltaV) - { - deltaV[c] = clampDeltaV; - } - if (deltaV[c] < -clampDeltaV) - { - deltaV[c] = -clampDeltaV; - } - } - } + int i, ni; + + /* Update */ + if (m_bUpdateRtCst) + { + m_bUpdateRtCst = false; + updateConstants(); + m_fdbvt.clear(); + if (m_cfg.collisions & fCollision::VF_SS) + { + initializeFaceTree(); + } + } + + /* Prepare */ + m_sst.sdt = dt * m_cfg.timescale; + m_sst.isdt = 1 / m_sst.sdt; + m_sst.velmrg = m_sst.sdt * 3; + m_sst.radmrg = getCollisionShape()->getMargin(); + m_sst.updmrg = m_sst.radmrg * (btScalar)0.25; + /* Forces */ + addVelocity(m_worldInfo->m_gravity * m_sst.sdt); + applyForces(); + /* Integrate */ + for (i = 0, ni = m_nodes.size(); i < ni; ++i) + { + Node& n = m_nodes[i]; + n.m_q = n.m_x; + btVector3 deltaV = n.m_f * n.m_im * m_sst.sdt; + { + btScalar maxDisplacement = m_worldInfo->m_maxDisplacement; + btScalar clampDeltaV = maxDisplacement / m_sst.sdt; + for (int c = 0; c < 3; c++) + { + if (deltaV[c] > clampDeltaV) + { + deltaV[c] = clampDeltaV; + } + if (deltaV[c] < -clampDeltaV) + { + deltaV[c] = -clampDeltaV; + } + } + } n.m_v += deltaV; n.m_x += n.m_v * m_sst.sdt; - n.m_f = btVector3(0, 0, 0); - } - /* Clusters */ - updateClusters(); - /* Bounds */ - updateBounds(); - /* Nodes */ - ATTRIBUTE_ALIGNED16(btDbvtVolume) - vol; - for (i = 0, ni = m_nodes.size(); i < ni; ++i) - { - Node& n = m_nodes[i]; - vol = btDbvtVolume::FromCR(n.m_x, m_sst.radmrg); - m_ndbvt.update(n.m_leaf, - vol, - n.m_v * m_sst.velmrg, - m_sst.updmrg); - } - /* Faces */ - if (!m_fdbvt.empty()) - { - for (int i = 0; i < m_faces.size(); ++i) - { - Face& f = m_faces[i]; - const btVector3 v = (f.m_n[0]->m_v + - f.m_n[1]->m_v + - f.m_n[2]->m_v) / - 3; - vol = VolumeOf(f, m_sst.radmrg); - m_fdbvt.update(f.m_leaf, - vol, - v * m_sst.velmrg, - m_sst.updmrg); - } - } - /* Pose */ - updatePose(); - /* Match */ - if (m_pose.m_bframe && (m_cfg.kMT > 0)) - { - const btMatrix3x3 posetrs = m_pose.m_rot; - for (int i = 0, ni = m_nodes.size(); i < ni; ++i) - { - Node& n = m_nodes[i]; - if (n.m_im > 0) - { - const btVector3 x = posetrs * m_pose.m_pos[i] + m_pose.m_com; - n.m_x = Lerp(n.m_x, x, m_cfg.kMT); - } - } - } - /* Clear contacts */ - m_rcontacts.resize(0); - m_scontacts.resize(0); - /* Optimize dbvt's */ - m_ndbvt.optimizeIncremental(1); - m_fdbvt.optimizeIncremental(1); - m_cdbvt.optimizeIncremental(1); + n.m_f = btVector3(0, 0, 0); + } + /* Clusters */ + updateClusters(); + /* Bounds */ + updateBounds(); + /* Nodes */ + ATTRIBUTE_ALIGNED16(btDbvtVolume) + vol; + for (i = 0, ni = m_nodes.size(); i < ni; ++i) + { + Node& n = m_nodes[i]; + vol = btDbvtVolume::FromCR(n.m_x, m_sst.radmrg); + m_ndbvt.update(n.m_leaf, + vol, + n.m_v * m_sst.velmrg, + m_sst.updmrg); + } + /* Faces */ + if (!m_fdbvt.empty()) + { + for (int i = 0; i < m_faces.size(); ++i) + { + Face& f = m_faces[i]; + const btVector3 v = (f.m_n[0]->m_v + + f.m_n[1]->m_v + + f.m_n[2]->m_v) / + 3; + vol = VolumeOf(f, m_sst.radmrg); + m_fdbvt.update(f.m_leaf, + vol, + v * m_sst.velmrg, + m_sst.updmrg); + } + } + /* Pose */ + updatePose(); + /* Match */ + if (m_pose.m_bframe && (m_cfg.kMT > 0)) + { + const btMatrix3x3 posetrs = m_pose.m_rot; + for (int i = 0, ni = m_nodes.size(); i < ni; ++i) + { + Node& n = m_nodes[i]; + if (n.m_im > 0) + { + const btVector3 x = posetrs * m_pose.m_pos[i] + m_pose.m_com; + n.m_x = Lerp(n.m_x, x, m_cfg.kMT); + } + } + } + /* Clear contacts */ + m_rcontacts.resize(0); + m_scontacts.resize(0); + /* Optimize dbvt's */ + m_ndbvt.optimizeIncremental(1); + m_fdbvt.optimizeIncremental(1); + m_cdbvt.optimizeIncremental(1); } + // void btSoftBody::solveConstraints() { @@ -2262,8 +2262,35 @@ btVector3 btSoftBody::evaluateCom() const return (com); } -// bool btSoftBody::checkContact(const btCollisionObjectWrapper* colObjWrap, + const btVector3& x, + btScalar margin, + btSoftBody::sCti& cti) const +{ + btVector3 nrm; + const btCollisionShape* shp = colObjWrap->getCollisionShape(); + // const btRigidBody *tmpRigid = btRigidBody::upcast(colObjWrap->getCollisionObject()); + //const btTransform &wtr = tmpRigid ? tmpRigid->getWorldTransform() : colObjWrap->getWorldTransform(); + const btTransform& wtr = colObjWrap->getWorldTransform(); + //todo: check which transform is needed here + + btScalar dst = + m_worldInfo->m_sparsesdf.Evaluate( + wtr.invXform(x), + shp, + nrm, + margin); + if (dst < 0) + { + cti.m_colObj = colObjWrap->getCollisionObject(); + cti.m_normal = wtr.getBasis() * nrm; + cti.m_offset = -btDot(cti.m_normal, x - cti.m_normal * dst); + return (true); + } + return (false); +} +// +bool btSoftBody::checkDeformableContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti, bool predict) const @@ -3262,6 +3289,33 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap collider.ProcessColObj(this, pcoWrap); } break; + case fCollision::SDF_RD: + { + btSoftColliders::CollideSDF_RD docollide; + btRigidBody* prb1 = (btRigidBody*)btRigidBody::upcast(pcoWrap->getCollisionObject()); + btTransform wtr = pcoWrap->getWorldTransform(); + + const btTransform ctr = pcoWrap->getWorldTransform(); + const btScalar timemargin = (wtr.getOrigin() - ctr.getOrigin()).length(); + const btScalar basemargin = getCollisionShape()->getMargin(); + btVector3 mins; + btVector3 maxs; + ATTRIBUTE_ALIGNED16(btDbvtVolume) + volume; + pcoWrap->getCollisionShape()->getAabb(pcoWrap->getWorldTransform(), + mins, + maxs); + volume = btDbvtVolume::FromMM(mins, maxs); + volume.Expand(btVector3(basemargin, basemargin, basemargin)); + docollide.psb = this; + docollide.m_colObj1Wrap = pcoWrap; + docollide.m_rigidBody = prb1; + + docollide.dynmargin = basemargin + timemargin; + docollide.stamargin = basemargin; + m_ndbvt.collideTV(m_ndbvt.m_root, volume, docollide); + } + break; } } diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index 87633a83c..f2934c94a 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -160,6 +160,7 @@ public: RVSmask = 0x000f, ///Rigid versus soft mask SDF_RS = 0x0001, ///SDF based rigid vs soft CL_RS = 0x0002, ///Cluster vs convex rigid vs soft + SDF_RD = 0x0003, ///DF based rigid vs deformable SVSmask = 0x0030, ///Rigid versus soft mask VF_SS = 0x0010, ///Vertex vs face soft vs soft handling @@ -1006,7 +1007,8 @@ public: btScalar& mint, eFeature::_& feature, int& index, bool bcountonly) const; void initializeFaceTree(); btVector3 evaluateCom() const; - bool checkContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const; + bool checkDeformableContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const; + bool checkContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti) const; void updateNormals(); void updateBounds(); void updatePose(); diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index eb487a56f..80545ebad 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -928,10 +928,62 @@ struct btSoftColliders psa->m_cdbvt.collideTT(psa->m_cdbvt.m_root, psb->m_cdbvt.m_root, *this); } }; + // + // CollideSDF_RS + // + struct CollideSDF_RS : btDbvt::ICollide + { + void Process(const btDbvtNode* leaf) + { + btSoftBody::Node* node = (btSoftBody::Node*)leaf->data; + DoNode(*node); + } + void DoNode(btSoftBody::Node& n) const + { + const btScalar m = n.m_im > 0 ? dynmargin : stamargin; + btSoftBody::RContact c; + + if ((!n.m_battach) && + psb->checkContact(m_colObj1Wrap, n.m_x, m, c.m_cti)) + { + const btScalar ima = n.m_im; + const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; + const btScalar ms = ima + imb; + if (ms > 0) + { + const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform(); + static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0); + const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic; + const btVector3 ra = n.m_x - wtr.getOrigin(); + const btVector3 va = m_rigidBody ? m_rigidBody->getVelocityInLocalPoint(ra) * psb->m_sst.sdt : btVector3(0, 0, 0); + const btVector3 vb = n.m_x - n.m_q; + const btVector3 vr = vb - va; + const btScalar dn = btDot(vr, c.m_cti.m_normal); + const btVector3 fv = vr - c.m_cti.m_normal * dn; + const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); + c.m_node = &n; + c.m_c0 = ImpulseMatrix(psb->m_sst.sdt, ima, imb, iwi, ra); + c.m_c1 = ra; + c.m_c2 = ima * psb->m_sst.sdt; + c.m_c3 = fv.length2() < (dn * fc * dn * fc) ? 0 : 1 - fc; + c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR; + psb->m_rcontacts.push_back(c); + if (m_rigidBody) + m_rigidBody->activate(); + } + } + } + btSoftBody* psb; + const btCollisionObjectWrapper* m_colObj1Wrap; + btRigidBody* m_rigidBody; + btScalar dynmargin; + btScalar stamargin; + }; + // - // CollideSDF_RS + // CollideSDF_RD // - struct CollideSDF_RS : btDbvt::ICollide + struct CollideSDF_RD : btDbvt::ICollide { void Process(const btDbvtNode* leaf) { @@ -946,7 +998,7 @@ struct btSoftColliders if (!n.m_battach) { // check for collision at x_{n+1}^* - if (psb->checkContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predicted = */ true)) + if (psb->checkDeformableContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predicted = */ true)) { const btScalar ima = n.m_im; const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; @@ -954,7 +1006,7 @@ struct btSoftColliders if (ms > 0) { // resolve contact at x_n - psb->checkContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predicted = */ false); + psb->checkDeformableContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predicted = */ false); btSoftBody::sCti& cti = c.m_cti; c.m_node = &n; const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); From 02c5b99b2f894252205b39bc46405c7a3b9a2084 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 6 Aug 2019 11:42:48 -0700 Subject: [PATCH 040/389] add algorithm overview --- .../btDeformableRigidDynamicsWorld.cpp | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp index 5afc88323..2fce9e7a5 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp @@ -11,6 +11,22 @@ 3. This notice may not be removed or altered from any source distribution. */ +/* ====== Overview of the Deformable Algorithm ====== */ + +/* +A single step of the deformable body simulation contains the following main components: +1. Update velocity to a temporary state v_{n+1}^* = v_n + explicit_force * dt / mass, where explicit forces include gravity and elastic forces. +2. Detect collisions between rigid and deformable bodies at position x_{n+1}^* = x_n + dt * v_{n+1}^*. +3. Then velocities of deformable bodies v_{n+1} are solved in + M(v_{n+1} - v_{n+1}^*) = damping_force * dt / mass, + by a conjugate gradient solver, where the damping force is implicit and depends on v_{n+1}. +4. Contact constraints are solved as projections as in the paper by Baraff and Witkin https://www.cs.cmu.edu/~baraff/papers/sig98.pdf. Dynamic frictions are treated as a force and added to the rhs of the CG solve, whereas static frictions are treated as constraints similar to contact. +5. Position is updated via x_{n+1} = x_n + dt * v_{n+1}. +6. Apply position correction to prevent numerical drift. + +The algorithm also closely resembles the one in http://physbam.stanford.edu/~fedkiw/papers/stanford2008-03.pdf + */ + #include #include "btDeformableRigidDynamicsWorld.h" #include "btDeformableBodySolver.h" From 9a7e30d09ffe20a533ad76b1729e66232aa5de89 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 8 Aug 2019 15:00:55 -0700 Subject: [PATCH 041/389] move deformable examples to a single folder and rename them; change license to google 2016 --- examples/CMakeLists.txt | 2 +- .../DeformableContact/DeformableContact.h | 20 -------- examples/DeformableDemo/DeformableDemo.h | 20 -------- .../DeformableMultibody.cpp} | 48 +++++++++---------- examples/DeformableDemo/DeformableMultibody.h | 19 ++++++++ ...DeformableDemo.cpp => DeformableRigid.cpp} | 42 ++++++++-------- examples/DeformableDemo/DeformableRigid.h | 19 ++++++++ examples/{Pinch => DeformableDemo}/Pinch.cpp | 24 +++++----- examples/DeformableDemo/Pinch.h | 19 ++++++++ .../VolumetricDeformable.cpp | 24 +++++----- .../DeformableDemo/VolumetricDeformable.h | 19 ++++++++ examples/ExampleBrowser/CMakeLists.txt | 16 +++---- examples/ExampleBrowser/ExampleEntries.cpp | 13 +++-- examples/ExampleBrowser/premake4.lua | 3 -- examples/Pinch/Pinch.h | 20 -------- .../VolumetricDeformable.h | 20 -------- .../btDeformableRigidDynamicsWorld.h | 4 +- 17 files changed, 157 insertions(+), 175 deletions(-) delete mode 100644 examples/DeformableContact/DeformableContact.h delete mode 100644 examples/DeformableDemo/DeformableDemo.h rename examples/{DeformableContact/DeformableContact.cpp => DeformableDemo/DeformableMultibody.cpp} (88%) create mode 100644 examples/DeformableDemo/DeformableMultibody.h rename examples/DeformableDemo/{DeformableDemo.cpp => DeformableRigid.cpp} (88%) create mode 100644 examples/DeformableDemo/DeformableRigid.h rename examples/{Pinch => DeformableDemo}/Pinch.cpp (93%) create mode 100644 examples/DeformableDemo/Pinch.h rename examples/{VolumetricDeformable => DeformableDemo}/VolumetricDeformable.cpp (92%) create mode 100644 examples/DeformableDemo/VolumetricDeformable.h delete mode 100644 examples/Pinch/Pinch.h delete mode 100644 examples/VolumetricDeformable/VolumetricDeformable.h diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt index 1918a9003..ba9efac19 100644 --- a/examples/CMakeLists.txt +++ b/examples/CMakeLists.txt @@ -1,4 +1,4 @@ -SUBDIRS( HelloWorld BasicDemo ) +SUBDIRS( HelloWorld BasicDemo) IF(BUILD_BULLET3) SUBDIRS( ExampleBrowser RobotSimulator SharedMemory ThirdPartyLibs/Gwen ThirdPartyLibs/BussIK ThirdPartyLibs/clsocket OpenGLWindow TwoJoint ) ENDIF() diff --git a/examples/DeformableContact/DeformableContact.h b/examples/DeformableContact/DeformableContact.h deleted file mode 100644 index 591c6bab1..000000000 --- a/examples/DeformableContact/DeformableContact.h +++ /dev/null @@ -1,20 +0,0 @@ -/* -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 diff --git a/examples/DeformableDemo/DeformableDemo.h b/examples/DeformableDemo/DeformableDemo.h deleted file mode 100644 index c688cea9d..000000000 --- a/examples/DeformableDemo/DeformableDemo.h +++ /dev/null @@ -1,20 +0,0 @@ -/* -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_DEMO_H -#define _DEFORMABLE_DEMO_H - -class CommonExampleInterface* DeformableCreateFunc(struct CommonExampleOptions& options); - -#endif //_DEFORMABLE_DEMO_H diff --git a/examples/DeformableContact/DeformableContact.cpp b/examples/DeformableDemo/DeformableMultibody.cpp similarity index 88% rename from examples/DeformableContact/DeformableContact.cpp rename to examples/DeformableDemo/DeformableMultibody.cpp index 102ad40a9..78adf7bf1 100644 --- a/examples/DeformableContact/DeformableContact.cpp +++ b/examples/DeformableDemo/DeformableMultibody.cpp @@ -1,17 +1,15 @@ /* -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. -*/ + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2016 Google Inc. http://bulletphysics.org + 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 @@ -27,7 +25,7 @@ subject to the following restrictions: #define START_POS_Y -5 #define START_POS_Z -3 -#include "DeformableContact.h" +#include "DeformableMultibody.h" ///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. #include "btBulletDynamicsCommon.h" #include "BulletSoftBody/btDeformableRigidDynamicsWorld.h" @@ -46,20 +44,20 @@ subject to the following restrictions: #include "../CommonInterfaces/CommonMultiBodyBase.h" #include "../Utils/b3ResourcePath.h" -///The DeformableContact demo deformable bodies self-collision +///The DeformableMultibody demo deformable bodies self-collision static bool g_floatingBase = true; static float friction = 1.; -class DeformableContact : public CommonMultiBodyBase +class DeformableMultibody : public CommonMultiBodyBase { btMultiBody* m_multiBody; btAlignedObjectArray m_jointFeedbacks; public: - DeformableContact(struct GUIHelperInterface* helper) + DeformableMultibody(struct GUIHelperInterface* helper) : CommonMultiBodyBase(helper) { } - virtual ~DeformableContact() + virtual ~DeformableMultibody() { } @@ -109,7 +107,7 @@ public: } }; -void DeformableContact::initPhysics() +void DeformableMultibody::initPhysics() { m_guiHelper->setUpAxis(1); @@ -237,7 +235,7 @@ void DeformableContact::initPhysics() m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); } -void DeformableContact::exitPhysics() +void DeformableMultibody::exitPhysics() { //cleanup in the reverse order of creation/initialization @@ -274,14 +272,14 @@ void DeformableContact::exitPhysics() delete m_collisionConfiguration; } -void DeformableContact::stepSimulation(float deltaTime) +void DeformableMultibody::stepSimulation(float deltaTime) { // getDeformableDynamicsWorld()->getMultiBodyDynamicsWorld()->stepSimulation(deltaTime); m_dynamicsWorld->stepSimulation(deltaTime, 5, 1./250.); } -btMultiBody* DeformableContact::createFeatherstoneMultiBody_testMultiDof(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool floating) +btMultiBody* DeformableMultibody::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); @@ -341,7 +339,7 @@ btMultiBody* DeformableContact::createFeatherstoneMultiBody_testMultiDof(btMulti return pMultiBody; } -void DeformableContact::addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents) +void DeformableMultibody::addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents) { btAlignedObjectArray world_to_local; world_to_local.resize(pMultiBody->getNumLinks() + 1); @@ -403,9 +401,9 @@ void DeformableContact::addColliders_testMultiDof(btMultiBody* pMultiBody, btMul pMultiBody->getLink(i).m_collider = col; } } -class CommonExampleInterface* DeformableContactCreateFunc(struct CommonExampleOptions& options) +class CommonExampleInterface* DeformableMultibodyCreateFunc(struct CommonExampleOptions& options) { - return new DeformableContact(options.m_guiHelper); + return new DeformableMultibody(options.m_guiHelper); } diff --git a/examples/DeformableDemo/DeformableMultibody.h b/examples/DeformableDemo/DeformableMultibody.h new file mode 100644 index 000000000..8bc9020f3 --- /dev/null +++ b/examples/DeformableDemo/DeformableMultibody.h @@ -0,0 +1,19 @@ +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2016 Google Inc. http://bulletphysics.org + 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_MULTIBODY_H +#define _DEFORMABLE_MULTIBODY_H + +class CommonExampleInterface* DeformableMultibodyCreateFunc(struct CommonExampleOptions& options); + +#endif //_DEFORMABLE_MULTIBODY_H diff --git a/examples/DeformableDemo/DeformableDemo.cpp b/examples/DeformableDemo/DeformableRigid.cpp similarity index 88% rename from examples/DeformableDemo/DeformableDemo.cpp rename to examples/DeformableDemo/DeformableRigid.cpp index a3cdbf847..c26bcc7d5 100644 --- a/examples/DeformableDemo/DeformableDemo.cpp +++ b/examples/DeformableDemo/DeformableRigid.cpp @@ -1,17 +1,15 @@ /* -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. -*/ + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2016 Google Inc. http://bulletphysics.org + 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 @@ -27,7 +25,7 @@ subject to the following restrictions: #define START_POS_Y -5 #define START_POS_Z -3 -#include "DeformableDemo.h" +#include "DeformableRigid.h" ///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. #include "btBulletDynamicsCommon.h" #include "BulletSoftBody/btDeformableRigidDynamicsWorld.h" @@ -41,17 +39,17 @@ subject to the following restrictions: #include "../CommonInterfaces/CommonRigidBodyBase.h" #include "../Utils/b3ResourcePath.h" -///The DeformableDemo shows the use of rolling friction. +///The DeformableRigid 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). -class DeformableDemo : public CommonRigidBodyBase +class DeformableRigid : public CommonRigidBodyBase { public: - DeformableDemo(struct GUIHelperInterface* helper) + DeformableRigid(struct GUIHelperInterface* helper) : CommonRigidBodyBase(helper) { } - virtual ~DeformableDemo() + virtual ~DeformableRigid() { } void initPhysics(); @@ -148,7 +146,7 @@ public: } }; -void DeformableDemo::initPhysics() +void DeformableRigid::initPhysics() { m_guiHelper->setUpAxis(1); @@ -246,7 +244,7 @@ void DeformableDemo::initPhysics() m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); } -void DeformableDemo::exitPhysics() +void DeformableRigid::exitPhysics() { //cleanup in the reverse order of creation/initialization @@ -285,9 +283,9 @@ void DeformableDemo::exitPhysics() -class CommonExampleInterface* DeformableCreateFunc(struct CommonExampleOptions& options) +class CommonExampleInterface* DeformableRigidCreateFunc(struct CommonExampleOptions& options) { - return new DeformableDemo(options.m_guiHelper); + return new DeformableRigid(options.m_guiHelper); } diff --git a/examples/DeformableDemo/DeformableRigid.h b/examples/DeformableDemo/DeformableRigid.h new file mode 100644 index 000000000..1f2bb0911 --- /dev/null +++ b/examples/DeformableDemo/DeformableRigid.h @@ -0,0 +1,19 @@ +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2016 Google Inc. http://bulletphysics.org + 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_RIGID_H +#define _DEFORMABLE_RIGID_H + +class CommonExampleInterface* DeformableRigidCreateFunc(struct CommonExampleOptions& options); + +#endif //_DEFORMABLE_RIGID_H diff --git a/examples/Pinch/Pinch.cpp b/examples/DeformableDemo/Pinch.cpp similarity index 93% rename from examples/Pinch/Pinch.cpp rename to examples/DeformableDemo/Pinch.cpp index c6e26ddb1..aaae1df3f 100644 --- a/examples/Pinch/Pinch.cpp +++ b/examples/DeformableDemo/Pinch.cpp @@ -1,17 +1,15 @@ /* -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. -*/ + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2016 Google Inc. http://bulletphysics.org + 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 diff --git a/examples/DeformableDemo/Pinch.h b/examples/DeformableDemo/Pinch.h new file mode 100644 index 000000000..3d01b262f --- /dev/null +++ b/examples/DeformableDemo/Pinch.h @@ -0,0 +1,19 @@ +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2016 Google Inc. http://bulletphysics.org + 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 diff --git a/examples/VolumetricDeformable/VolumetricDeformable.cpp b/examples/DeformableDemo/VolumetricDeformable.cpp similarity index 92% rename from examples/VolumetricDeformable/VolumetricDeformable.cpp rename to examples/DeformableDemo/VolumetricDeformable.cpp index b30e4ac4d..6f2b88f8d 100644 --- a/examples/VolumetricDeformable/VolumetricDeformable.cpp +++ b/examples/DeformableDemo/VolumetricDeformable.cpp @@ -1,17 +1,15 @@ /* -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. -*/ + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2016 Google Inc. http://bulletphysics.org + 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 diff --git a/examples/DeformableDemo/VolumetricDeformable.h b/examples/DeformableDemo/VolumetricDeformable.h new file mode 100644 index 000000000..04e30d9c6 --- /dev/null +++ b/examples/DeformableDemo/VolumetricDeformable.h @@ -0,0 +1,19 @@ +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2016 Google Inc. http://bulletphysics.org + 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 diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt index cfae5fcc5..19334b2db 100644 --- a/examples/ExampleBrowser/CMakeLists.txt +++ b/examples/ExampleBrowser/CMakeLists.txt @@ -359,14 +359,14 @@ SET(BulletExampleBrowser_SRCS ../MultiBody/MultiBodyConstraintFeedback.cpp ../SoftDemo/SoftDemo.cpp ../SoftDemo/SoftDemo.h - ../Pinch/Pinch.cpp - ../Pinch/Pinch.h - ../DeformableContact/DeformableContact.cpp - ../DeformableContact/DeformableContact.h - ../DeformableDemo/DeformableDemo.cpp - ../DeformableDemo/DeformableDemo.h - ../VolumetricDeformable/VolumetricDeformable.cpp - ../VolumetricDeformable/VolumetricDeformable.h + ../DeformableDemo/Pinch.cpp + ../DeformableDemo/Pinch.h + ../DeformableDemo/DeformableMultibody.cpp + ../DeformableDemo/DeformableMultibody.h + ../DeformableDemo/DeformableRigid.cpp + ../DeformableDemo/DeformableRigid.h + ../DeformableDemo/VolumetricDeformable.cpp + ../DeformableDemo/VolumetricDeformable.h ../MultiBody/MultiDofDemo.cpp ../MultiBody/MultiDofDemo.h ../RigidBody/RigidBodySoftContact.cpp diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index f186f642a..481d36c5d 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -47,11 +47,10 @@ #include "../FractureDemo/FractureDemo.h" #include "../DynamicControlDemo/MotorDemo.h" #include "../RollingFrictionDemo/RollingFrictionDemo.h" -#include "../DeformableDemo/DeformableDemo.h" -#include "../Pinch/Pinch.h" -#include "../DeformableContact/DeformableContact.h" -#include "../MultiBodyBaseline/MultiBodyBaseline.h" -#include "../VolumetricDeformable/VolumetricDeformable.h" +#include "../DeformableDemo/DeformableRigid.h" +#include "../DeformableDemo/Pinch.h" +#include "../DeformableDemo/DeformableMultibody.h" +#include "../DeformableDemo/VolumetricDeformable.h" #include "../SharedMemory/PhysicsServerExampleBullet2.h" #include "../SharedMemory/PhysicsServerExample.h" #include "../SharedMemory/PhysicsClientExample.h" @@ -196,10 +195,10 @@ static ExampleEntry gDefaultExamples[] = //ExampleEntry(1, "Spheres & Plane C-API (Bullet3)", "Collision C-API using Bullet 3.x backend", CollisionTutorialBullet2CreateFunc,TUT_SPHERE_PLANE_RTB3), ExampleEntry(0, "Deformabe Body"), - ExampleEntry(1, "Deformable-RigidBody Contact", "Deformable test", DeformableCreateFunc), + ExampleEntry(1, "Deformable-RigidBody Contact", "Deformable test", DeformableRigidCreateFunc), ExampleEntry(1, "Grasp Deformable Cube", "Grasping test", PinchCreateFunc), ExampleEntry(1, "Volumetric Deformable Objects", "Volumetric Deformable test", VolumetricDeformableCreateFunc), - ExampleEntry(1, "Deformable-MultiBody Contact", "MultiBody and Deformable contact", DeformableContactCreateFunc), + ExampleEntry(1, "Deformable-MultiBody Contact", "MultiBody and Deformable contact", DeformableMultibodyCreateFunc), // ExampleEntry(1, "MultiBody Baseline", "MultiBody Baseline", MultiBodyBaselineCreateFunc), #ifdef INCLUDE_CLOTH_DEMOS diff --git a/examples/ExampleBrowser/premake4.lua b/examples/ExampleBrowser/premake4.lua index ff81b34b7..985a0457b 100644 --- a/examples/ExampleBrowser/premake4.lua +++ b/examples/ExampleBrowser/premake4.lua @@ -189,9 +189,6 @@ project "App_BulletExampleBrowser" "../VoronoiFracture/*", "../SoftDemo/*", "../DeformableDemo/*", - "../DeformableContact/*", - "../VolumetricDeformable/*", - "../Pinch/*", "../RollingFrictionDemo/*", "../rbdl/*", "../FractureDemo/*", diff --git a/examples/Pinch/Pinch.h b/examples/Pinch/Pinch.h deleted file mode 100644 index 6c7e2fb3c..000000000 --- a/examples/Pinch/Pinch.h +++ /dev/null @@ -1,20 +0,0 @@ -/* -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 diff --git a/examples/VolumetricDeformable/VolumetricDeformable.h b/examples/VolumetricDeformable/VolumetricDeformable.h deleted file mode 100644 index af1cc38b6..000000000 --- a/examples/VolumetricDeformable/VolumetricDeformable.h +++ /dev/null @@ -1,20 +0,0 @@ -/* -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 diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h index cc4fdae05..6489d6ebc 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h @@ -1,13 +1,11 @@ /* Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - + Copyright (c) 2016 Google Inc. http://bulletphysics.org 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. From 96e8dcef0f57c730ea1f268d6cd575dac22f5d7e Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 8 Aug 2019 16:45:19 -0700 Subject: [PATCH 042/389] fix bug caused by not reseting to zero --- src/BulletSoftBody/btDeformableBodySolver.cpp | 16 +++++++++++++--- 1 file changed, 13 insertions(+), 3 deletions(-) diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index fc792bd7f..4dd45edc8 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -55,9 +55,19 @@ void btDeformableBodySolver::reinitialize(const btAlignedObjectArrayreinitialize(nodeUpdated); } From 436b6c6963d4639599908d4643d4b5f341f86f6c Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 8 Aug 2019 17:14:13 -0700 Subject: [PATCH 043/389] separate multibody position prediction into standalone function --- .../Featherstone/btMultiBody.cpp | 204 +++++++++++++----- src/BulletDynamics/Featherstone/btMultiBody.h | 2 +- .../Featherstone/btMultiBodyDynamicsWorld.cpp | 67 ++++-- .../Featherstone/btMultiBodyDynamicsWorld.h | 3 +- .../Featherstone/btMultiBodyLink.h | 64 +++++- 5 files changed, 259 insertions(+), 81 deletions(-) diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp index 1857bd55f..4d634b699 100644 --- a/src/BulletDynamics/Featherstone/btMultiBody.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp @@ -1595,35 +1595,167 @@ void btMultiBody::calcAccelerationDeltasMultiDof(const btScalar *force, btScalar } void btMultiBody::predictPositionsMultiDof(btScalar dt) { - stepPositionsMultiDof(dt, 0, 0, true); + int num_links = getNumLinks(); + // step position by adding dt * velocity + //btVector3 v = getBaseVel(); + //m_basePos += dt * v; + // + btScalar *pBasePos; + btScalar *pBaseVel = &m_realBuf[3]; //note: the !pqd case assumes m_realBuf holds with base velocity at 3,4,5 (should be wrapped for safety) + + // reset to current position + for (int i = 0; i < 3; ++i) + { + m_basePos_interpolate[i] = m_basePos[i]; + } + pBasePos = m_basePos_interpolate; + + pBasePos[0] += dt * pBaseVel[0]; + pBasePos[1] += dt * pBaseVel[1]; + pBasePos[2] += dt * pBaseVel[2]; + + /////////////////////////////// + //local functor for quaternion integration (to avoid error prone redundancy) + struct + { + //"exponential map" based on btTransformUtil::integrateTransform(..) + void operator()(const btVector3 &omega, btQuaternion &quat, bool baseBody, btScalar dt) + { + //baseBody => quat is alias and omega is global coor + //!baseBody => quat is alibi and omega is local coor + + btVector3 axis; + btVector3 angvel; + + if (!baseBody) + angvel = quatRotate(quat, omega); //if quat is not m_baseQuat, it is alibi => ok + else + angvel = omega; + + btScalar fAngle = angvel.length(); + //limit the angular motion + if (fAngle * dt > ANGULAR_MOTION_THRESHOLD) + { + fAngle = btScalar(0.5) * SIMD_HALF_PI / dt; + } + + if (fAngle < btScalar(0.001)) + { + // use Taylor's expansions of sync function + axis = angvel * (btScalar(0.5) * dt - (dt * dt * dt) * (btScalar(0.020833333333)) * fAngle * fAngle); + } + else + { + // sync(fAngle) = sin(c*fAngle)/t + axis = angvel * (btSin(btScalar(0.5) * fAngle * dt) / fAngle); + } + + if (!baseBody) + quat = btQuaternion(axis.x(), axis.y(), axis.z(), btCos(fAngle * dt * btScalar(0.5))) * quat; + else + quat = quat * btQuaternion(-axis.x(), -axis.y(), -axis.z(), btCos(fAngle * dt * btScalar(0.5))); + //equivalent to: quat = (btQuaternion(axis.x(),axis.y(),axis.z(),btCos( fAngle*dt*btScalar(0.5) )) * quat.inverse()).inverse(); + + quat.normalize(); + } + } pQuatUpdateFun; + /////////////////////////////// + + //pQuatUpdateFun(getBaseOmega(), m_baseQuat, true, dt); + // + btScalar *pBaseQuat; + + // reset to current orientation + for (int i = 0; i < 4; ++i) + { + m_baseQuat_interpolate[i] = m_baseQuat[i]; + } + pBaseQuat = m_baseQuat_interpolate; + + btScalar *pBaseOmega = &m_realBuf[0]; //note: the !pqd case assumes m_realBuf starts with base omega (should be wrapped for safety) + // + btQuaternion baseQuat; + baseQuat.setValue(pBaseQuat[0], pBaseQuat[1], pBaseQuat[2], pBaseQuat[3]); + btVector3 baseOmega; + baseOmega.setValue(pBaseOmega[0], pBaseOmega[1], pBaseOmega[2]); + pQuatUpdateFun(baseOmega, baseQuat, true, dt); + pBaseQuat[0] = baseQuat.x(); + pBaseQuat[1] = baseQuat.y(); + pBaseQuat[2] = baseQuat.z(); + pBaseQuat[3] = baseQuat.w(); + + // Finally we can update m_jointPos for each of the m_links + for (int i = 0; i < num_links; ++i) + { + btScalar *pJointPos; + pJointPos = &m_links[i].m_jointPos_interpolate[0]; + + btScalar *pJointVel = getJointVelMultiDof(i); + + switch (m_links[i].m_jointType) + { + case btMultibodyLink::ePrismatic: + case btMultibodyLink::eRevolute: + { + //reset to current pos + pJointPos[0] = m_links[i].m_jointPos[0]; + btScalar jointVel = pJointVel[0]; + pJointPos[0] += dt * jointVel; + break; + } + case btMultibodyLink::eSpherical: + { + //reset to current pos + + for (int i = 0; i < 4; ++i) + { + pJointPos[i] = m_links[i].m_jointPos[i]; + } + + btVector3 jointVel; + jointVel.setValue(pJointVel[0], pJointVel[1], pJointVel[2]); + btQuaternion jointOri; + jointOri.setValue(pJointPos[0], pJointPos[1], pJointPos[2], pJointPos[3]); + pQuatUpdateFun(jointVel, jointOri, false, dt); + pJointPos[0] = jointOri.x(); + pJointPos[1] = jointOri.y(); + pJointPos[2] = jointOri.z(); + pJointPos[3] = jointOri.w(); + break; + } + case btMultibodyLink::ePlanar: + { + for (int i = 0; i < 3; ++i) + { + pJointPos[i] = m_links[i].m_jointPos[i]; + } + pJointPos[0] += dt * getJointVelMultiDof(i)[0]; + + btVector3 q0_coors_qd1qd2 = getJointVelMultiDof(i)[1] * m_links[i].getAxisBottom(1) + getJointVelMultiDof(i)[2] * m_links[i].getAxisBottom(2); + btVector3 no_q0_coors_qd1qd2 = quatRotate(btQuaternion(m_links[i].getAxisTop(0), pJointPos[0]), q0_coors_qd1qd2); + pJointPos[1] += m_links[i].getAxisBottom(1).dot(no_q0_coors_qd1qd2) * dt; + pJointPos[2] += m_links[i].getAxisBottom(2).dot(no_q0_coors_qd1qd2) * dt; + break; + } + default: + { + } + } + + m_links[i].updateInterpolationCacheMultiDof(); + } } -void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd, bool predict) +void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd) { int num_links = getNumLinks(); // step position by adding dt * velocity //btVector3 v = getBaseVel(); //m_basePos += dt * v; // - btScalar *pBasePos; + btScalar *pBasePos = (pq ? &pq[4] : m_basePos); btScalar *pBaseVel = (pqd ? &pqd[3] : &m_realBuf[3]); //note: the !pqd case assumes m_realBuf holds with base velocity at 3,4,5 (should be wrapped for safety) - if (!predict) - { - pBasePos = (pq ? &pq[4] : m_basePos); - } // - else - { - // reset to current position - for (int i = 0; i < 3; ++i) - { - m_basePos_interpolate[i] = m_basePos[i]; - } - pBasePos = m_basePos_interpolate; - } - - - pBasePos[0] += dt * pBaseVel[0]; pBasePos[1] += dt * pBaseVel[1]; pBasePos[2] += dt * pBaseVel[2]; @@ -1677,18 +1809,7 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd //pQuatUpdateFun(getBaseOmega(), m_baseQuat, true, dt); // - btScalar *pBaseQuat; - if (!predict) - pBaseQuat = pq ? pq : m_baseQuat; - else - { - // reset to current orientation - for (int i = 0; i < 4; ++i) - { - m_baseQuat_interpolate[i] = m_baseQuat[i]; - } - pBaseQuat = m_baseQuat_interpolate; - } + btScalar *pBaseQuat = pq ? pq : m_baseQuat; btScalar *pBaseOmega = pqd ? pqd : &m_realBuf[0]; //note: the !pqd case assumes m_realBuf starts with base omega (should be wrapped for safety) // btQuaternion baseQuat; @@ -1714,10 +1835,7 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd for (int i = 0; i < num_links; ++i) { btScalar *pJointPos; - if (!predict) - pJointPos= (pq ? pq : &m_links[i].m_jointPos[0]); - else - pJointPos = &m_links[i].m_jointPos_interpolate[0]; + pJointPos= (pq ? pq : &m_links[i].m_jointPos[0]); btScalar *pJointVel = (pqd ? pqd : getJointVelMultiDof(i)); @@ -1727,10 +1845,6 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd case btMultibodyLink::eRevolute: { //reset to current pos - if (predict) - { - pJointPos[0] = m_links[i].m_jointPos[0]; - } btScalar jointVel = pJointVel[0]; pJointPos[0] += dt * jointVel; break; @@ -1738,11 +1852,6 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd case btMultibodyLink::eSpherical: { //reset to current pos - if (predict) - { - for (int i = 0; i < 4; ++i) - pJointPos[i] = m_links[i].m_jointPos[i]; - } btVector3 jointVel; jointVel.setValue(pJointVel[0], pJointVel[1], pJointVel[2]); btQuaternion jointOri; @@ -1756,11 +1865,6 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd } case btMultibodyLink::ePlanar: { - if (predict) - { - for (int i = 0; i < 3; ++i) - pJointPos[i] = m_links[i].m_jointPos[i]; - } pJointPos[0] += dt * getJointVelMultiDof(i)[0]; btVector3 q0_coors_qd1qd2 = getJointVelMultiDof(i)[1] * m_links[i].getAxisBottom(1) + getJointVelMultiDof(i)[2] * m_links[i].getAxisBottom(2); @@ -1775,7 +1879,7 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd } } - m_links[i].updateCacheMultiDof(pq, predict); + m_links[i].updateCacheMultiDof(pq); if (pq) pq += m_links[i].m_posVarCount; diff --git a/src/BulletDynamics/Featherstone/btMultiBody.h b/src/BulletDynamics/Featherstone/btMultiBody.h index fe60af991..91b5c3edb 100644 --- a/src/BulletDynamics/Featherstone/btMultiBody.h +++ b/src/BulletDynamics/Featherstone/btMultiBody.h @@ -435,7 +435,7 @@ public: } // timestep the positions (given current velocities). - void stepPositionsMultiDof(btScalar dt, btScalar *pq = 0, btScalar *pqd = 0, bool predict = false); + void stepPositionsMultiDof(btScalar dt, btScalar *pq = 0, btScalar *pqd = 0); // predict the positions void predictPositionsMultiDof(btScalar dt); diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp index 2e6dbc440..1be76ad86 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp @@ -36,7 +36,7 @@ void btMultiBodyDynamicsWorld::removeMultiBody(btMultiBody* body) void btMultiBodyDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) { btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep); - integrateMultiBodyTransforms(timeStep, /*predict = */ true); + predictMultiBodyTransforms(timeStep); } void btMultiBodyDynamicsWorld::calculateSimulationIslands() @@ -791,7 +791,7 @@ void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) integrateMultiBodyTransforms(timeStep); } -void btMultiBodyDynamicsWorld::integrateMultiBodyTransforms(btScalar timeStep, bool predict) +void btMultiBodyDynamicsWorld::integrateMultiBodyTransforms(btScalar timeStep) { BT_PROFILE("btMultiBody stepPositions"); //integrate and update the Featherstone hierarchies @@ -815,28 +815,21 @@ void btMultiBodyDynamicsWorld::integrateMultiBodyTransforms(btScalar timeStep, b int nLinks = bod->getNumLinks(); ///base + num m_links - if (!predict) - { - if (!bod->isPosUpdated()) - bod->stepPositionsMultiDof(timeStep); - else - { - btScalar* pRealBuf = const_cast(bod->getVelocityVector()); - pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs(); - - bod->stepPositionsMultiDof(1, 0, pRealBuf); - bod->setPosUpdated(false); - } - } + if (!bod->isPosUpdated()) + bod->stepPositionsMultiDof(timeStep); else - bod->predictPositionsMultiDof(timeStep); + { + btScalar* pRealBuf = const_cast(bod->getVelocityVector()); + pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs(); + + bod->stepPositionsMultiDof(1, 0, pRealBuf); + bod->setPosUpdated(false); + } + m_scratch_world_to_local.resize(nLinks + 1); m_scratch_local_origin.resize(nLinks + 1); - if (predict) - bod->updateCollisionObjectInterpolationWorldTransforms(m_scratch_world_to_local, m_scratch_local_origin); - else - bod->updateCollisionObjectWorldTransforms(m_scratch_world_to_local, m_scratch_local_origin); + bod->updateCollisionObjectWorldTransforms(m_scratch_world_to_local, m_scratch_local_origin); } else { @@ -845,6 +838,40 @@ void btMultiBodyDynamicsWorld::integrateMultiBodyTransforms(btScalar timeStep, b } } +void btMultiBodyDynamicsWorld::predictMultiBodyTransforms(btScalar timeStep) +{ + BT_PROFILE("btMultiBody stepPositions"); + //integrate and update the Featherstone hierarchies + + for (int b = 0; b < m_multiBodies.size(); b++) + { + btMultiBody* bod = m_multiBodies[b]; + bool isSleeping = false; + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + int nLinks = bod->getNumLinks(); + bod->predictPositionsMultiDof(timeStep); + m_scratch_world_to_local.resize(nLinks + 1); + m_scratch_local_origin.resize(nLinks + 1); + bod->updateCollisionObjectInterpolationWorldTransforms(m_scratch_world_to_local, m_scratch_local_origin); + } + else + { + bod->clearVelocities(); + } + } +} + void btMultiBodyDynamicsWorld::addMultiBodyConstraint(btMultiBodyConstraint* constraint) { m_multiBodyConstraints.push_back(constraint); diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h index 04707bf2d..653ec36ca 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h @@ -96,7 +96,8 @@ public: virtual void removeMultiBodyConstraint(btMultiBodyConstraint* constraint); virtual void integrateTransforms(btScalar timeStep); - void integrateMultiBodyTransforms(btScalar timeStep,bool predict = false); + void integrateMultiBodyTransforms(btScalar timeStep); + void predictMultiBodyTransforms(btScalar timeStep); virtual void predictUnconstraintMotion(btScalar timeStep); virtual void debugDrawWorld(); diff --git a/src/BulletDynamics/Featherstone/btMultiBodyLink.h b/src/BulletDynamics/Featherstone/btMultiBodyLink.h index e7966b852..1cd6b8c07 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyLink.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyLink.h @@ -191,16 +191,11 @@ struct btMultibodyLink } // routine to update m_cachedRotParentToThis and m_cachedRVector - void updateCacheMultiDof(btScalar *pq = 0, bool predict = false) + void updateCacheMultiDof(btScalar *pq = 0) { - btScalar *pJointPos; - - if (!predict) - pJointPos = (pq ? pq : &m_jointPos[0]); - else - pJointPos = &m_jointPos_interpolate[0]; - btQuaternion& cachedRot = predict ? m_cachedRotParentToThis_interpolate : m_cachedRotParentToThis; - btVector3& cachedVector = predict ? m_cachedRVector_interpolate : m_cachedRVector; + btScalar *pJointPos = (pq ? pq : &m_jointPos[0]); + btQuaternion& cachedRot = m_cachedRotParentToThis; + btVector3& cachedVector =m_cachedRVector; switch (m_jointType) { case eRevolute: @@ -245,6 +240,57 @@ struct btMultibodyLink } } } + + void updateInterpolationCacheMultiDof() + { + btScalar *pJointPos = &m_jointPos_interpolate[0]; + + btQuaternion& cachedRot = m_cachedRotParentToThis_interpolate; + btVector3& cachedVector = m_cachedRVector_interpolate; + switch (m_jointType) + { + case eRevolute: + { + cachedRot = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis; + cachedVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector); + + break; + } + case ePrismatic: + { + // m_cachedRotParentToThis never changes, so no need to update + cachedVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector) + pJointPos[0] * getAxisBottom(0); + + break; + } + case eSpherical: + { + cachedRot = btQuaternion(pJointPos[0], pJointPos[1], pJointPos[2], -pJointPos[3]) * m_zeroRotParentToThis; + cachedVector = m_dVector + quatRotate(cachedRot, m_eVector); + + break; + } + case ePlanar: + { + cachedRot = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis; + cachedVector = quatRotate(btQuaternion(getAxisTop(0), -pJointPos[0]), pJointPos[1] * getAxisBottom(1) + pJointPos[2] * getAxisBottom(2)) + quatRotate(cachedRot, m_eVector); + + break; + } + case eFixed: + { + cachedRot = m_zeroRotParentToThis; + cachedVector = m_dVector + quatRotate(cachedRot, m_eVector); + + break; + } + default: + { + //invalid type + btAssert(0); + } + } + } }; #endif //BT_MULTIBODY_LINK_H From 817e64a769219621de0debc4979630953dbee60b Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 8 Aug 2019 17:26:19 -0700 Subject: [PATCH 044/389] 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zso|%m$aGPOk-ewNZLlN4F$SKtvaf>rH4onxUAk*~ebWORuJBM$-7?TQmQ`-Bx3t3N zXf$4k7=x^^2D2Tu(b!xnzP74#>5t~tSGH(>Q$VNp$8=bXf3)v20Q@hPAoBp(UujE#xYtm=pzbGIg+jTm<^FB3 z6WO?-ebweCHt&KZ(dI{&DQlPjGY1Ev(MOusJh5$nI^|l7>*?$3R^D%DYg72q@q!< z41`eg&h;D7V_VT<)BrPjC32?4Sz2n$lcY-huI TVStack; typedef btAlignedObjectArray > TVArrayStack; typedef btAlignedObjectArray > TArrayStack; - btAlignedObjectArray m_softBodies; + btAlignedObjectArray& m_softBodies; btDeformableRigidDynamicsWorld* m_world; // const btAlignedObjectArray* m_nodes; const btScalar& m_dt; @@ -119,7 +119,6 @@ public: btCGProjection(btAlignedObjectArray& softBodies, const btScalar& dt) : m_softBodies(softBodies) , m_dt(dt) -// , m_nodes(nodes) { } @@ -139,11 +138,6 @@ public: { } - void setSoftBodies(btAlignedObjectArray softBodies) - { - m_softBodies.copyFromArray(softBodies); - } - virtual void setWorld(btDeformableRigidDynamicsWorld* world) { m_world = world; diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index 3e6656c0d..fbc663f35 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -22,13 +22,13 @@ btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAligned m_preconditioner = new DefaultPreconditioner(); } -void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated) +void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated, btScalar dt) { BT_PROFILE("reinitialize"); + setDt(dt); if(nodeUpdated) { updateId(); - projection.setSoftBodies(m_softBodies); } for (int i = 0; i < m_lf.size(); ++i) { diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index 30c2d995e..c681300a7 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -62,8 +62,8 @@ public: // set initial guess for CG solve void initialGuess(TVStack& dv, const TVStack& residual); - // reset data structure - void reinitialize(bool nodeUpdated); + // reset data structure and reset dt + void reinitialize(bool nodeUpdated, btScalar dt); void setDt(btScalar dt); diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 4dd45edc8..b77ba9da3 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -51,7 +51,6 @@ void btDeformableBodySolver::computeStep(TVStack& dv, const TVStack& residual) void btDeformableBodySolver::reinitialize(const btAlignedObjectArray& softBodies, btScalar dt) { - m_objective->setDt(dt); m_softBodySet.copyFromArray(softBodies); bool nodeUpdated = updateNodes(); @@ -69,7 +68,7 @@ void btDeformableBodySolver::reinitialize(const btAlignedObjectArrayreinitialize(nodeUpdated); + m_objective->reinitialize(nodeUpdated, dt); } void btDeformableBodySolver::setConstraints() From 7adb6fdff3bd182f27668836a5b9d0ecc109856a Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 8 Aug 2019 17:43:49 -0700 Subject: [PATCH 045/389] 2016 -> 2019 --- examples/DeformableDemo/DeformableMultibody.cpp | 2 +- examples/DeformableDemo/DeformableMultibody.h | 2 +- examples/DeformableDemo/DeformableRigid.cpp | 2 +- examples/DeformableDemo/DeformableRigid.h | 2 +- examples/DeformableDemo/Pinch.cpp | 2 +- examples/DeformableDemo/Pinch.h | 2 +- examples/DeformableDemo/VolumetricDeformable.cpp | 2 +- examples/DeformableDemo/VolumetricDeformable.h | 2 +- src/BulletSoftBody/btCGProjection.h | 2 +- src/BulletSoftBody/btConjugateGradient.h | 2 +- src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp | 2 +- src/BulletSoftBody/btDeformableBackwardEulerObjective.h | 2 +- src/BulletSoftBody/btDeformableBodySolver.cpp | 2 +- src/BulletSoftBody/btDeformableBodySolver.h | 2 +- src/BulletSoftBody/btDeformableContactProjection.cpp | 2 +- src/BulletSoftBody/btDeformableContactProjection.h | 2 +- src/BulletSoftBody/btDeformableGravityForce.h | 2 +- src/BulletSoftBody/btDeformableLagrangianForce.h | 2 +- src/BulletSoftBody/btDeformableMassSpringForce.h | 2 +- src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp | 2 +- src/BulletSoftBody/btDeformableRigidDynamicsWorld.h | 2 +- src/BulletSoftBody/btPreconditioner.h | 2 +- 22 files changed, 22 insertions(+), 22 deletions(-) diff --git a/examples/DeformableDemo/DeformableMultibody.cpp b/examples/DeformableDemo/DeformableMultibody.cpp index 78adf7bf1..e947a5585 100644 --- a/examples/DeformableDemo/DeformableMultibody.cpp +++ b/examples/DeformableDemo/DeformableMultibody.cpp @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2016 Google Inc. http://bulletphysics.org + Copyright (c) 2019 Google Inc. http://bulletphysics.org 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, diff --git a/examples/DeformableDemo/DeformableMultibody.h b/examples/DeformableDemo/DeformableMultibody.h index 8bc9020f3..acd9d421d 100644 --- a/examples/DeformableDemo/DeformableMultibody.h +++ b/examples/DeformableDemo/DeformableMultibody.h @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2016 Google Inc. http://bulletphysics.org + Copyright (c) 2019 Google Inc. http://bulletphysics.org 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, diff --git a/examples/DeformableDemo/DeformableRigid.cpp b/examples/DeformableDemo/DeformableRigid.cpp index c26bcc7d5..403ce4907 100644 --- a/examples/DeformableDemo/DeformableRigid.cpp +++ b/examples/DeformableDemo/DeformableRigid.cpp @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2016 Google Inc. http://bulletphysics.org + Copyright (c) 2019 Google Inc. http://bulletphysics.org 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, diff --git a/examples/DeformableDemo/DeformableRigid.h b/examples/DeformableDemo/DeformableRigid.h index 1f2bb0911..0d0e0dc5e 100644 --- a/examples/DeformableDemo/DeformableRigid.h +++ b/examples/DeformableDemo/DeformableRigid.h @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2016 Google Inc. http://bulletphysics.org + Copyright (c) 2019 Google Inc. http://bulletphysics.org 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, diff --git a/examples/DeformableDemo/Pinch.cpp b/examples/DeformableDemo/Pinch.cpp index aaae1df3f..df0964447 100644 --- a/examples/DeformableDemo/Pinch.cpp +++ b/examples/DeformableDemo/Pinch.cpp @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2016 Google Inc. http://bulletphysics.org + Copyright (c) 2019 Google Inc. http://bulletphysics.org 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, diff --git a/examples/DeformableDemo/Pinch.h b/examples/DeformableDemo/Pinch.h index 3d01b262f..1616ec39a 100644 --- a/examples/DeformableDemo/Pinch.h +++ b/examples/DeformableDemo/Pinch.h @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2016 Google Inc. http://bulletphysics.org + Copyright (c) 2019 Google Inc. http://bulletphysics.org 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, diff --git a/examples/DeformableDemo/VolumetricDeformable.cpp b/examples/DeformableDemo/VolumetricDeformable.cpp index 6f2b88f8d..74d9678a8 100644 --- a/examples/DeformableDemo/VolumetricDeformable.cpp +++ b/examples/DeformableDemo/VolumetricDeformable.cpp @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2016 Google Inc. http://bulletphysics.org + Copyright (c) 2019 Google Inc. http://bulletphysics.org 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, diff --git a/examples/DeformableDemo/VolumetricDeformable.h b/examples/DeformableDemo/VolumetricDeformable.h index 04e30d9c6..fe5d326a5 100644 --- a/examples/DeformableDemo/VolumetricDeformable.h +++ b/examples/DeformableDemo/VolumetricDeformable.h @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2016 Google Inc. http://bulletphysics.org + Copyright (c) 2019 Google Inc. http://bulletphysics.org 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, diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index 6b5caf581..f38fa545c 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2016 Google Inc. http://bulletphysics.org + Copyright (c) 2019 Google Inc. http://bulletphysics.org 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, diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h index b8dac7184..22a9f3ada 100644 --- a/src/BulletSoftBody/btConjugateGradient.h +++ b/src/BulletSoftBody/btConjugateGradient.h @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2016 Google Inc. http://bulletphysics.org + Copyright (c) 2019 Google Inc. http://bulletphysics.org 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, diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index fbc663f35..746048562 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2016 Google Inc. http://bulletphysics.org + Copyright (c) 2019 Google Inc. http://bulletphysics.org 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, diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index c681300a7..f87f7f509 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2016 Google Inc. http://bulletphysics.org + Copyright (c) 2019 Google Inc. http://bulletphysics.org 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, diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index b77ba9da3..eb8e62237 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2016 Google Inc. http://bulletphysics.org + Copyright (c) 2019 Google Inc. http://bulletphysics.org 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, diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index cdcc6ed80..94102afa9 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2016 Google Inc. http://bulletphysics.org + Copyright (c) 2019 Google Inc. http://bulletphysics.org 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, diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index 27fee5cf8..84d35c062 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2016 Google Inc. http://bulletphysics.org + Copyright (c) 2019 Google Inc. http://bulletphysics.org 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, diff --git a/src/BulletSoftBody/btDeformableContactProjection.h b/src/BulletSoftBody/btDeformableContactProjection.h index 9589b165e..64d448b5e 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.h +++ b/src/BulletSoftBody/btDeformableContactProjection.h @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2016 Google Inc. http://bulletphysics.org + Copyright (c) 2019 Google Inc. http://bulletphysics.org 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, diff --git a/src/BulletSoftBody/btDeformableGravityForce.h b/src/BulletSoftBody/btDeformableGravityForce.h index d18eac57d..270222b7e 100644 --- a/src/BulletSoftBody/btDeformableGravityForce.h +++ b/src/BulletSoftBody/btDeformableGravityForce.h @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2016 Google Inc. http://bulletphysics.org + Copyright (c) 2019 Google Inc. http://bulletphysics.org 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, diff --git a/src/BulletSoftBody/btDeformableLagrangianForce.h b/src/BulletSoftBody/btDeformableLagrangianForce.h index d2bbcef40..eb4d032bf 100644 --- a/src/BulletSoftBody/btDeformableLagrangianForce.h +++ b/src/BulletSoftBody/btDeformableLagrangianForce.h @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2016 Google Inc. http://bulletphysics.org + Copyright (c) 2019 Google Inc. http://bulletphysics.org 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, diff --git a/src/BulletSoftBody/btDeformableMassSpringForce.h b/src/BulletSoftBody/btDeformableMassSpringForce.h index ca8ddf983..f97ef0a03 100644 --- a/src/BulletSoftBody/btDeformableMassSpringForce.h +++ b/src/BulletSoftBody/btDeformableMassSpringForce.h @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2016 Google Inc. http://bulletphysics.org + Copyright (c) 2019 Google Inc. http://bulletphysics.org 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, diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp index 2fce9e7a5..3b3b62edc 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2016 Google Inc. http://bulletphysics.org + Copyright (c) 2019 Google Inc. http://bulletphysics.org 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, diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h index 6489d6ebc..de5eb7ef4 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2016 Google Inc. http://bulletphysics.org + Copyright (c) 2019 Google Inc. http://bulletphysics.org 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, diff --git a/src/BulletSoftBody/btPreconditioner.h b/src/BulletSoftBody/btPreconditioner.h index 8860a8cfe..663731a58 100644 --- a/src/BulletSoftBody/btPreconditioner.h +++ b/src/BulletSoftBody/btPreconditioner.h @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2016 Google Inc. http://bulletphysics.org + Copyright (c) 2019 Google Inc. http://bulletphysics.org 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, From 12653f9f191c1706d8cffd2dec93b1febc3edab3 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 9 Aug 2019 10:14:35 -0700 Subject: [PATCH 046/389] add back files accidentally removed --- .../openvr/bin/osx64/libopenvr_api.a | Bin 0 -> 1641184 bytes 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 examples/ThirdPartyLibs/openvr/bin/osx64/libopenvr_api.a diff --git a/examples/ThirdPartyLibs/openvr/bin/osx64/libopenvr_api.a b/examples/ThirdPartyLibs/openvr/bin/osx64/libopenvr_api.a new file mode 100644 index 0000000000000000000000000000000000000000..377e345f2bc51f12be61beab1a98befb2db1aa9a GIT binary patch literal 1641184 zcmd?S3w%^pwLdV$I}5(sGqYhK4o+X&#i;(qTv@Fl~}a^WdRH z!7w%_hf&%~Y}Hm#QMrn@xe69-X`$s3tY}g3ipo`5v7J;@R7Bcx<@a4{uXE;{GiN4~ z2ipJVKcD2RefC~^?X}l_t-bf!`#krL?>*)5c*fxWBK%)~|9sCSKRyOHCd=@<^aeFAfB*uese{?wbdK#xLjX9#0Vx+%@3wOo1oCYX!~`7#6reV6VWh3EU;{ 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z{bm6b^s}1&J7xJ7-6a`vv|`{nCiQQS5PVu_dX`?%#Pc@wHoH7xXmx0MFTL%8XQhCO z@~1U@P})(T|6|SH2R{S!(C_x}ROC1IpUd-4X#TE+l5w{DeVR`8qN~xbT_pKuOK+vO z0PqB)W)=18(1HCAMH5i`-+H@zr#Fi5ROIi{^p;uD$(a*9-=C%ay(A#;Ts=#AAL$Wz z@N+_XD$1WeOL|0qm)J8){+yzOoPeomTg&+B-%P^2`}CPpbJ7Tm`~C>eo-Z zyQ)93Ex_wlyxHh|o@$BbZ2ni<)eoM|J1h8Kr=_B0{>p9vtrPfcQvY>24=d_N!~AW0 zS`|;{qZJ&jPM7e1jL*6WDOTqv{CCcdk9Rq&+T((+^VJHzP#vG@P5w@^|0ei4f2-EJ z4tSG_r}NMX?w_6RN#M7uzc-ziRq5^pUaR62=sqz!-POe7>NajRy40>+z?=D%v`go8 zMfu!*;6>g$J0AHv-83zDDhI04n*v^wx&c*rP!(_f<@l|tx=U5LP!;cP;MFQ#3);m` z75;l1cxx3;15X81X5 z;jlD@X)8zY1oSoRpTj>>_!Nkud7oPgh@YH z015vafP}wX;kAJ1f-w1}B>abW)aYdZNsq4bc(TMB0^$v+K9={Z0o zT{)rg;~JmU_(6^D)A(ME?@-td$n^o_`e=MiVMrkWm-8GT@ZxWyKgkb?(ND)TZ1l|m z4IBOPhZ;8evo=!a7pHu~O^7!UG;Vf2=7XxQjE=^9BldTGy95;l6|uQY7*(swk! z(Zjxm@`%3C>%e{-HhSP!6yNA|?Px3E8$I)dD-q4z1i z(d!l(dgxqwz70O5^31;BMhzQ1Kg#ss*8%)Z&%InKM^71qsRFDFnZsQl-~GaNk4=zvJ{?wM8F^3P!^7%Jb(HJW%;j1|M=4<%JAPo z`%BVMvOj!lS$Kb0_%F)B_C(*!*a;ZVfCRF0FfbyO`=hV$q^t zso|%m$aGPOk-ewNZLlN4F$SKtvaf>rH4onxUAk*~ebWORuJBM$-7?TQmQ`-Bx3t3N zXf$4k7=x^^2D2Tu(b!xnzP74#>5t~tSGH(>Q$VNp$8=bXf3)v20Q@hPAoBp(UujE#xYtm=pzbGIg+jTm<^FB3 z6WO?-ebweCHt&KZ(dI{&DQlPjGY1Ev(MOusJh5$nI^|l7>*?$3R^D%DYg72q@q!< z41`eg&h;D7V_VT<)BrPjC32?4Sz2n$lcY-huI Date: Sat, 10 Aug 2019 12:12:59 -0700 Subject: [PATCH 047/389] fix gripper in pinch example --- examples/DeformableDemo/Pinch.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/DeformableDemo/Pinch.cpp b/examples/DeformableDemo/Pinch.cpp index df0964447..44e5f4e5f 100644 --- a/examples/DeformableDemo/Pinch.cpp +++ b/examples/DeformableDemo/Pinch.cpp @@ -87,7 +87,7 @@ public: void createGrip() { int count = 2; - float mass = 2; + float mass = 1e6; btCollisionShape* shape[] = { new btBoxShape(btVector3(3, 3, 0.5)), }; From b90097803e498e22fd61b7c7f44ceb05a91af0e2 Mon Sep 17 00:00:00 2001 From: Chuyuan Fu Date: Tue, 13 Aug 2019 14:56:26 -0700 Subject: [PATCH 048/389] update loading softbody --- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index b8e0275cd..13a492674 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -7861,8 +7861,8 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar serverStatusOut.m_type = CMD_LOAD_SOFT_BODY_FAILED; bool hasStatus = true; #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD - double scale = 0.1; - double mass = 0.1; + double scale = 1; + double mass = 1; double collisionMargin = 0.02; const LoadSoftBodyArgs& loadSoftBodyArgs = clientCmd.m_loadSoftBodyArguments; if (m_data->m_verboseOutput) @@ -7944,9 +7944,9 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar //turn on softbody vs softbody collision psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS; psb->randomizeConstraints(); + psb->scale(btVector3(scale, scale, scale)); psb->rotate(initialOrn); psb->translate(initialPos); - psb->scale(btVector3(scale, scale, scale)); psb->setTotalMass(mass, true); psb->getCollisionShape()->setMargin(collisionMargin); From 10108cd3eabdffcd4d70a6ff7ebae998cdd80a3a Mon Sep 17 00:00:00 2001 From: Chuyuan Fu Date: Tue, 13 Aug 2019 16:53:51 -0700 Subject: [PATCH 049/389] update obj loader --- Extras/obj2sdf/obj2sdf.cpp | 41 +- .../ImportMJCFDemo/BulletMJCFImporter.cpp | 26 +- .../ImportMeshUtility/b3ImportMeshUtility.cpp | 7 +- .../ImportObjDemo/LoadMeshFromObj.cpp | 14 +- .../Importers/ImportObjDemo/LoadMeshFromObj.h | 2 +- .../Wavefront2GLInstanceGraphicsShape.cpp | 103 ++-- .../Wavefront2GLInstanceGraphicsShape.h | 2 +- .../ImportURDFDemo/BulletUrdfImporter.cpp | 28 +- .../PhysicsServerCommandProcessor.cpp | 34 +- examples/ThirdPartyLibs/Wavefront/README.md | 143 ++++-- .../Wavefront/tiny_obj_loader.cpp | 453 +++++++++--------- .../Wavefront/tiny_obj_loader.h | 43 +- 12 files changed, 503 insertions(+), 393 deletions(-) diff --git a/Extras/obj2sdf/obj2sdf.cpp b/Extras/obj2sdf/obj2sdf.cpp index b6a638c7f..8d3db3955 100644 --- a/Extras/obj2sdf/obj2sdf.cpp +++ b/Extras/obj2sdf/obj2sdf.cpp @@ -77,9 +77,10 @@ int main(int argc, char* argv[]) b3FileUtils::extractPath(fileNameWithPath, materialPrefixPath, MAX_PATH_LEN); std::vector shapes; + tinyobj::attrib_t attribute; b3BulletDefaultFileIO fileIO; - std::string err = tinyobj::LoadObj(shapes, fileNameWithPath, materialPrefixPath,&fileIO); + std::string err = tinyobj::LoadObj(attribute, shapes, fileNameWithPath, materialPrefixPath,&fileIO); char sdfFileName[MAX_PATH_LEN]; sprintf(sdfFileName, "%s%s.sdf", materialPrefixPath, "newsdf"); @@ -117,20 +118,20 @@ int main(int argc, char* argv[]) int curTexcoords = shapeC->texcoords.size() / 2; int faceCount = shape.mesh.indices.size(); - int vertexCount = shape.mesh.positions.size(); + int vertexCount = attribute.vertices.size(); for (int v = 0; v < vertexCount; v++) { - shapeC->positions.push_back(shape.mesh.positions[v]); + shapeC->positions.push_back(attribute.vertices[v]); } - int numNormals = int(shape.mesh.normals.size()); + int numNormals = int(attribute.normals.size()); for (int vn = 0; vn < numNormals; vn++) { - shapeC->normals.push_back(shape.mesh.normals[vn]); + shapeC->normals.push_back(attribute.normals[vn]); } - int numTexCoords = int(shape.mesh.texcoords.size()); + int numTexCoords = int(attribute.texcoords.size()); for (int vt = 0; vt < numTexCoords; vt++) { - shapeC->texcoords.push_back(shape.mesh.texcoords[vt]); + shapeC->texcoords.push_back(attribute.texcoords[vt]); } for (int face = 0; face < faceCount; face += 3) @@ -140,9 +141,9 @@ int main(int argc, char* argv[]) continue; } - shapeC->indices.push_back(shape.mesh.indices[face] + curPositions); - shapeC->indices.push_back(shape.mesh.indices[face + 1] + curPositions); - shapeC->indices.push_back(shape.mesh.indices[face + 2] + curPositions); + shapeC->indices.push_back(shape.mesh.indices[face].vertex_index + curPositions); + shapeC->indices.push_back(shape.mesh.indices[face + 1].vertex_index + curPositions); + shapeC->indices.push_back(shape.mesh.indices[face + 2].vertex_index + curPositions); } } } @@ -329,7 +330,7 @@ int main(int argc, char* argv[]) } int faceCount = shape.mesh.indices.size(); - int vertexCount = shape.mesh.positions.size(); + int vertexCount = attribute.vertices.size(); tinyobj::material_t mat = shape.material; if (shape.name.length()) { @@ -339,7 +340,7 @@ int main(int argc, char* argv[]) } for (int v = 0; v < vertexCount / 3; v++) { - fprintf(f, "v %f %f %f\n", shape.mesh.positions[v * 3 + 0], shape.mesh.positions[v * 3 + 1], shape.mesh.positions[v * 3 + 2]); + fprintf(f, "v %f %f %f\n", attribute.vertices[v * 3 + 0], attribute.vertices[v * 3 + 1], attribute.vertices[v * 3 + 2]); } if (mat.name.length()) @@ -352,18 +353,18 @@ int main(int argc, char* argv[]) } fprintf(f, "\n"); - int numNormals = int(shape.mesh.normals.size()); + int numNormals = int(attribute.normals.size()); for (int vn = 0; vn < numNormals / 3; vn++) { - fprintf(f, "vn %f %f %f\n", shape.mesh.normals[vn * 3 + 0], shape.mesh.normals[vn * 3 + 1], shape.mesh.normals[vn * 3 + 2]); + fprintf(f, "vn %f %f %f\n", attribute.normals[vn * 3 + 0], attribute.normals[vn * 3 + 1], attribute.normals[vn * 3 + 2]); } fprintf(f, "\n"); - int numTexCoords = int(shape.mesh.texcoords.size()); + int numTexCoords = int(attribute.texcoords.size()); for (int vt = 0; vt < numTexCoords / 2; vt++) { - fprintf(f, "vt %f %f\n", shape.mesh.texcoords[vt * 2 + 0], shape.mesh.texcoords[vt * 2 + 1]); + fprintf(f, "vt %f %f\n", attribute.texcoords[vt * 2 + 0], attribute.texcoords[vt * 2 + 1]); } fprintf(f, "s off\n"); @@ -375,9 +376,9 @@ int main(int argc, char* argv[]) continue; } fprintf(f, "f %d/%d/%d %d/%d/%d %d/%d/%d\n", - shape.mesh.indices[face] + 1, shape.mesh.indices[face] + 1, shape.mesh.indices[face] + 1, - shape.mesh.indices[face + 1] + 1, shape.mesh.indices[face + 1] + 1, shape.mesh.indices[face + 1] + 1, - shape.mesh.indices[face + 2] + 1, shape.mesh.indices[face + 2] + 1, shape.mesh.indices[face + 2] + 1); + shape.mesh.indices[face].vertex_index + 1, shape.mesh.indices[face].vertex_index + 1, shape.mesh.indices[face].vertex_index + 1, + shape.mesh.indices[face + 1].vertex_index + 1, shape.mesh.indices[face + 1].vertex_index + 1, shape.mesh.indices[face + 1].vertex_index + 1, + shape.mesh.indices[face + 2].vertex_index + 1, shape.mesh.indices[face + 2].vertex_index + 1, shape.mesh.indices[face + 2].vertex_index + 1); } fclose(f); @@ -437,4 +438,4 @@ int main(int argc, char* argv[]) fclose(sdfFile); return 0; -} \ No newline at end of file +} diff --git a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp index d630f8599..f868bcb13 100644 --- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp +++ b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp @@ -2265,7 +2265,7 @@ int BulletMJCFImporter::getBodyUniqueId() const return m_data->m_activeBodyUniqueId; } -static btCollisionShape* MjcfCreateConvexHullFromShapes(std::vector& shapes, const btVector3& geomScale, btScalar collisionMargin) +static btCollisionShape* MjcfCreateConvexHullFromShapes(const tinyobj::attrib_t& attribute, std::vector& shapes, const btVector3& geomScale, btScalar collisionMargin) { btCompoundShape* compound = new btCompoundShape(); compound->setMargin(collisionMargin); @@ -2278,25 +2278,26 @@ static btCollisionShape* MjcfCreateConvexHullFromShapes(std::vectorsetMargin(collisionMargin); tinyobj::shape_t& shape = shapes[s]; + int faceCount = shape.mesh.indices.size(); for (int f = 0; f < faceCount; f += 3) { btVector3 pt; - pt.setValue(shape.mesh.positions[shape.mesh.indices[f] * 3 + 0], - shape.mesh.positions[shape.mesh.indices[f] * 3 + 1], - shape.mesh.positions[shape.mesh.indices[f] * 3 + 2]); + pt.setValue(attribute.vertices[3 * shape.mesh.indices[f].vertex_index + 0], + attribute.vertices[3 * shape.mesh.indices[f].vertex_index + 1], + attribute.vertices[3 * shape.mesh.indices[f].vertex_index + 2]); convexHull->addPoint(pt * geomScale, false); - pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 0], - shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 1], - shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 2]); + pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 0], + attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 1], + attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 2]); convexHull->addPoint(pt * geomScale, false); - pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 0], - shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 1], - shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 2]); + pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 0], + attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 1], + attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 2]); convexHull->addPoint(pt * geomScale, false); } @@ -2391,10 +2392,11 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn else { std::vector shapes; - std::string err = tinyobj::LoadObj(shapes, col->m_geometry.m_meshFileName.c_str(),"",m_data->m_fileIO); + tinyobj::attrib_t attribute; + std::string err = tinyobj::LoadObj(attribute, shapes, col->m_geometry.m_meshFileName.c_str(), "", m_data->m_fileIO); //create a convex hull for each shape, and store it in a btCompoundShape - childShape = MjcfCreateConvexHullFromShapes(shapes, col->m_geometry.m_meshScale, m_data->m_globalDefaults.m_defaultCollisionMargin); + childShape = MjcfCreateConvexHullFromShapes(attribute, shapes, col->m_geometry.m_meshScale, m_data->m_globalDefaults.m_defaultCollisionMargin); } break; } diff --git a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp index b4e02243d..6f13d86b2 100644 --- a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp +++ b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp @@ -65,13 +65,14 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string& btVector3 shift(0, 0, 0); std::vector shapes; + tinyobj::attrib_t attribute; { B3_PROFILE("tinyobj::LoadObj"); - std::string err = LoadFromCachedOrFromObj(shapes, relativeFileName, pathPrefix,fileIO); + std::string err = LoadFromCachedOrFromObj(attribute, shapes, relativeFileName, pathPrefix, fileIO); //std::string err = tinyobj::LoadObj(shapes, relativeFileName, pathPrefix); } - GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes); + GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(attribute, shapes); { B3_PROFILE("Load Texture"); //int textureIndex = -1; @@ -84,7 +85,7 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string& meshData.m_rgbaColor[2] = shape.material.diffuse[2]; meshData.m_rgbaColor[3] = shape.material.transparency; meshData.m_flags |= B3_IMPORT_MESH_HAS_RGBA_COLOR; - + meshData.m_specularColor[0] = shape.material.specular[0]; meshData.m_specularColor[1] = shape.material.specular[1]; meshData.m_specularColor[2] = shape.material.specular[2]; diff --git a/examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp b/examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp index 566682d0a..e5bd6633c 100644 --- a/examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp +++ b/examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp @@ -12,6 +12,7 @@ struct CachedObjResult { std::string m_msg; std::vector m_shapes; + tinyobj::attrib_t m_attribute; }; static b3HashMap gCachedObjResults; @@ -31,24 +32,26 @@ void b3EnableFileCaching(int enable) } std::string LoadFromCachedOrFromObj( + tinyobj::attrib_t& attribute, std::vector& shapes, // [output] const char* filename, const char* mtl_basepath, - struct CommonFileIOInterface* fileIO - ) + struct CommonFileIOInterface* fileIO) { CachedObjResult* resultPtr = gCachedObjResults[filename]; if (resultPtr) { const CachedObjResult& result = *resultPtr; shapes = result.m_shapes; + attribute = result.m_attribute; return result.m_msg; } - std::string err = tinyobj::LoadObj(shapes, filename, mtl_basepath,fileIO); + std::string err = tinyobj::LoadObj(attribute, shapes, filename, mtl_basepath, fileIO); CachedObjResult result; result.m_msg = err; result.m_shapes = shapes; + result.m_attribute = attribute; if (gEnableFileCaching) { gCachedObjResults.insert(filename, result); @@ -60,14 +63,15 @@ GLInstanceGraphicsShape* LoadMeshFromObj(const char* relativeFileName, const cha { B3_PROFILE("LoadMeshFromObj"); std::vector shapes; + tinyobj::attrib_t attribute; { B3_PROFILE("tinyobj::LoadObj2"); - std::string err = LoadFromCachedOrFromObj(shapes, relativeFileName, materialPrefixPath,fileIO); + std::string err = LoadFromCachedOrFromObj(attribute, shapes, relativeFileName, materialPrefixPath, fileIO); } { B3_PROFILE("btgCreateGraphicsShapeFromWavefrontObj"); - GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes); + GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(attribute, shapes); return gfxShape; } } diff --git a/examples/Importers/ImportObjDemo/LoadMeshFromObj.h b/examples/Importers/ImportObjDemo/LoadMeshFromObj.h index 9b62074c1..54bc66312 100644 --- a/examples/Importers/ImportObjDemo/LoadMeshFromObj.h +++ b/examples/Importers/ImportObjDemo/LoadMeshFromObj.h @@ -8,8 +8,8 @@ struct GLInstanceGraphicsShape; int b3IsFileCachingEnabled(); void b3EnableFileCaching(int enable); - std::string LoadFromCachedOrFromObj( + tinyobj::attrib_t& attribute, std::vector& shapes, // [output] const char* filename, const char* mtl_basepath, diff --git a/examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp b/examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp index ead2769a0..08fa521ae 100644 --- a/examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp +++ b/examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp @@ -9,7 +9,7 @@ #include "../../OpenGLWindow/GLInstancingRenderer.h" #include "../../OpenGLWindow/GLInstanceGraphicsShape.h" -GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector& shapes, bool flatShading) +GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(const tinyobj::attrib_t& attribute, std::vector& shapes, bool flatShading) { b3AlignedObjectArray* vertices = new b3AlignedObjectArray; { @@ -36,19 +36,20 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector= 0 && uv1Index >= 0 && (uv0Index < int(shape.mesh.texcoords.size()) && (uv1Index < shape.mesh.texcoords.size()))) + int uv0Index = 2 * v_0.texcoord_index; + int uv1Index = 2 * v_0.texcoord_index + 1; + if (uv0Index >= 0 && uv1Index >= 0 && (uv0Index < int(attribute.texcoords.size()) && (uv1Index < attribute.texcoords.size()))) { - vtx0.uv[0] = shape.mesh.texcoords[uv0Index]; - vtx0.uv[1] = shape.mesh.texcoords[uv1Index]; + vtx0.uv[0] = attribute.texcoords[uv0Index]; + vtx0.uv[1] = attribute.texcoords[uv1Index]; } else { @@ -64,19 +65,20 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector= 0 && uv1Index >= 0 && (uv0Index < shape.mesh.texcoords.size()) && (uv1Index < shape.mesh.texcoords.size())) + int uv0Index = 2 * v_1.texcoord_index; + int uv1Index = 2 * v_1.texcoord_index + 1; + if (uv0Index >= 0 && uv1Index >= 0 && (uv0Index < attribute.texcoords.size()) && (uv1Index < attribute.texcoords.size())) { - vtx1.uv[0] = shape.mesh.texcoords[uv0Index]; - vtx1.uv[1] = shape.mesh.texcoords[uv1Index]; + vtx1.uv[0] = attribute.texcoords[uv0Index]; + vtx1.uv[1] = attribute.texcoords[uv1Index]; } else { @@ -92,18 +94,20 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector= 0 && uv1Index >= 0 && (uv0Index < shape.mesh.texcoords.size()) && (uv1Index < shape.mesh.texcoords.size())) + int uv0Index = 2 * v_2.texcoord_index; + int uv1Index = 2 * v_2.texcoord_index + 1; + + if (uv0Index >= 0 && uv1Index >= 0 && (uv0Index < attribute.texcoords.size()) && (uv1Index < attribute.texcoords.size())) { - vtx2.uv[0] = shape.mesh.texcoords[uv0Index]; - vtx2.uv[1] = shape.mesh.texcoords[uv1Index]; + vtx2.uv[0] = attribute.texcoords[uv0Index]; + vtx2.uv[1] = attribute.texcoords[uv1Index]; } else { @@ -123,16 +127,21 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vectorpush_back(vtx0); vertices->push_back(vtx1); diff --git a/examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h b/examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h index 2840a85d7..4054b4dab 100644 --- a/examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h +++ b/examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h @@ -4,6 +4,6 @@ #include "../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h" #include -struct GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector& shapes, bool flatShading = false); +struct GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(const tinyobj::attrib_t& attribute, std::vector& shapes, bool flatShading = false); #endif //WAVEFRONT2GRAPHICS_H diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp index f295458a8..16c85d0b5 100644 --- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp +++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp @@ -509,7 +509,7 @@ bool BulletURDFImporter::getRootTransformInWorld(btTransform& rootTransformInWor return true; } -static btCollisionShape* createConvexHullFromShapes(std::vector& shapes, const btVector3& geomScale, int flags) +static btCollisionShape* createConvexHullFromShapes(const tinyobj::attrib_t& attribute, std::vector& shapes, const btVector3& geomScale, int flags) { B3_PROFILE("createConvexHullFromShapes"); btCompoundShape* compound = new btCompoundShape(); @@ -528,20 +528,20 @@ static btCollisionShape* createConvexHullFromShapes(std::vectoraddPoint(pt * geomScale, false); - pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 0], - shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 1], - shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 2]); + pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 0], + attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 1], + attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 2]); convexHull->addPoint(pt * geomScale, false); - pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 0], - shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 1], - shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 2]); + pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 0], + attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 1], + attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 2]); convexHull->addPoint(pt * geomScale, false); } @@ -558,8 +558,6 @@ static btCollisionShape* createConvexHullFromShapes(std::vectorm_bulletCollisionShape2UrdfCollision.find(collisionShape); @@ -718,10 +716,10 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfColl else { std::vector shapes; - std::string err = tinyobj::LoadObj(shapes, collision->m_geometry.m_meshFileName.c_str(),"",m_data->m_fileIO); + tinyobj::attrib_t attribute; + std::string err = tinyobj::LoadObj(attribute, shapes, collision->m_geometry.m_meshFileName.c_str(), "", m_data->m_fileIO); //create a convex hull for each shape, and store it in a btCompoundShape - - shape = createConvexHullFromShapes(shapes, collision->m_geometry.m_meshScale, m_data->m_flags); + shape = createConvexHullFromShapes(attribute, shapes, collision->m_geometry.m_meshScale, m_data->m_flags); m_data->m_bulletCollisionShape2UrdfCollision.insert(shape, *collision); return shape; } diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index f739bbb1c..43e27b7b6 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -4724,7 +4724,8 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str else { std::vector shapes; - std::string err = tinyobj::LoadObj(shapes, out_found_filename.c_str(),"",fileIO); + tinyobj::attrib_t attribute; + std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), "", fileIO); //shape = createConvexHullFromShapes(shapes, collision->m_geometry.m_meshScale); //static btCollisionShape* createConvexHullFromShapes(std::vector& shapes, const btVector3& geomScale) @@ -4745,20 +4746,20 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str for (int f = 0; f < faceCount; f += 3) { btVector3 pt; - pt.setValue(shape.mesh.positions[shape.mesh.indices[f] * 3 + 0], - shape.mesh.positions[shape.mesh.indices[f] * 3 + 1], - shape.mesh.positions[shape.mesh.indices[f] * 3 + 2]); + pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 0].vertex_index + 0], + attribute.vertices[3 * shape.mesh.indices[f + 0].vertex_index + 1], + attribute.vertices[3 * shape.mesh.indices[f + 0].vertex_index + 2]); convexHull->addPoint(pt * meshScale, false); - pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 0], - shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 1], - shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 2]); + pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 0], + attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 1], + attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 2]); convexHull->addPoint(pt * meshScale, false); - pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 0], - shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 1], - shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 2]); + pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 0], + attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 1], + attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 2]); convexHull->addPoint(pt * meshScale, false); } @@ -7861,23 +7862,24 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar std::string out_found_filename; int out_type; - bool foundFile = UrdfFindMeshFile(fileIO,pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type); + bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type); std::vector shapes; - std::string err = tinyobj::LoadObj(shapes, out_found_filename.c_str(),"",fileIO); + tinyobj::attrib_t attribute; + std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), "", fileIO); if (!shapes.empty()) { const tinyobj::shape_t& shape = shapes[0]; btAlignedObjectArray vertices; btAlignedObjectArray indices; - for (int i = 0; i < shape.mesh.positions.size(); i++) + for (int i = 0; i < attribute.vertices.size(); i++) { - vertices.push_back(shape.mesh.positions[i]); + vertices.push_back(attribute.vertices[i]); } for (int i = 0; i < shape.mesh.indices.size(); i++) { - indices.push_back(shape.mesh.indices[i]); + indices.push_back(shape.mesh.indices[i].vertex_index); } - int numTris = indices.size() / 3; + int numTris = shape.mesh.indices.size() / 3; if (numTris > 0) { btSoftBody* psb = btSoftBodyHelpers::CreateFromTriMesh(m_data->m_dynamicsWorld->getWorldInfo(), &vertices[0], &indices[0], numTris); diff --git a/examples/ThirdPartyLibs/Wavefront/README.md b/examples/ThirdPartyLibs/Wavefront/README.md index 6f911e523..de226acd3 100644 --- a/examples/ThirdPartyLibs/Wavefront/README.md +++ b/examples/ThirdPartyLibs/Wavefront/README.md @@ -38,51 +38,102 @@ Licensed under 2 clause BSD. Usage ----- +Data format +attrib_t contains single and linear array of vertex data(position, normal and texcoord). - std::string inputfile = "cornell_box.obj"; - std::vector shapes; - - std::string err = tinyobj::LoadObj(shapes, inputfile.c_str()); - - if (!err.empty()) { - std::cerr << err << std::endl; - exit(1); - } - - std::cout << "# of shapes : " << shapes.size() << std::endl; - - for (size_t i = 0; i < shapes.size(); i++) { - printf("shape[%ld].name = %s\n", i, shapes[i].name.c_str()); - printf("shape[%ld].indices: %ld\n", i, shapes[i].mesh.indices.size()); - assert((shapes[i].mesh.indices.size() % 3) == 0); - for (size_t f = 0; f < shapes[i].mesh.indices.size(); f++) { - printf(" idx[%ld] = %d\n", f, shapes[i].mesh.indices[f]); - } - - printf("shape[%ld].vertices: %ld\n", i, shapes[i].mesh.positions.size()); - assert((shapes[i].mesh.positions.size() % 3) == 0); - for (size_t v = 0; v < shapes[i].mesh.positions.size() / 3; v++) { - printf(" v[%ld] = (%f, %f, %f)\n", v, - shapes[i].mesh.positions[3*v+0], - shapes[i].mesh.positions[3*v+1], - shapes[i].mesh.positions[3*v+2]); - } - - printf("shape[%ld].material.name = %s\n", i, shapes[i].material.name.c_str()); - printf(" material.Ka = (%f, %f ,%f)\n", shapes[i].material.ambient[0], shapes[i].material.ambient[1], shapes[i].material.ambient[2]); - printf(" material.Kd = (%f, %f ,%f)\n", shapes[i].material.diffuse[0], shapes[i].material.diffuse[1], shapes[i].material.diffuse[2]); - printf(" material.Ks = (%f, %f ,%f)\n", shapes[i].material.specular[0], shapes[i].material.specular[1], shapes[i].material.specular[2]); - printf(" material.Tr = (%f, %f ,%f)\n", shapes[i].material.transmittance[0], shapes[i].material.transmittance[1], shapes[i].material.transmittance[2]); - printf(" material.Ke = (%f, %f ,%f)\n", shapes[i].material.emission[0], shapes[i].material.emission[1], shapes[i].material.emission[2]); - printf(" material.Ns = %f\n", shapes[i].material.shininess); - printf(" material.map_Ka = %s\n", shapes[i].material.ambient_texname.c_str()); - printf(" material.map_Kd = %s\n", shapes[i].material.diffuse_texname.c_str()); - printf(" material.map_Ks = %s\n", shapes[i].material.specular_texname.c_str()); - printf(" material.map_Ns = %s\n", shapes[i].material.normal_texname.c_str()); - std::map::iterator it(shapes[i].material.unknown_parameter.begin()); - std::map::iterator itEnd(shapes[i].material.unknown_parameter.end()); - for (; it != itEnd; it++) { - printf(" material.%s = %s\n", it->first.c_str(), it->second.c_str()); - } - printf("\n"); +attrib_t::vertices => 3 floats per vertex + + v[0] v[1] v[2] v[3] v[n-1] + +-----------+-----------+-----------+-----------+ +-----------+ + | x | y | z | x | y | z | x | y | z | x | y | z | .... | x | y | z | + +-----------+-----------+-----------+-----------+ +-----------+ + +attrib_t::normals => 3 floats per vertex + + n[0] n[1] n[2] n[3] n[n-1] + +-----------+-----------+-----------+-----------+ +-----------+ + | x | y | z | x | y | z | x | y | z | x | y | z | .... | x | y | z | + +-----------+-----------+-----------+-----------+ +-----------+ + +attrib_t::texcoords => 2 floats per vertex + + t[0] t[1] t[2] t[3] t[n-1] + +-----------+-----------+-----------+-----------+ +-----------+ + | u | v | u | v | u | v | u | v | .... | u | v | + +-----------+-----------+-----------+-----------+ +-----------+ + +attrib_t::colors => 3 floats per vertex(vertex color. optional) + + c[0] c[1] c[2] c[3] c[n-1] + +-----------+-----------+-----------+-----------+ +-----------+ + | x | y | z | x | y | z | x | y | z | x | y | z | .... | x | y | z | + +-----------+-----------+-----------+-----------+ +-----------+ + +Each shape_t::mesh_t does not contain vertex data but contains array index to attrib_t. See loader_example.cc for more details. + + +mesh_t::indices => array of vertex indices. + + +----+----+----+----+----+----+----+----+----+----+ +--------+ + | i0 | i1 | i2 | i3 | i4 | i5 | i6 | i7 | i8 | i9 | ... | i(n-1) | + +----+----+----+----+----+----+----+----+----+----+ +--------+ + +Each index has an array index to attrib_t::vertices, attrib_t::normals and attrib_t::texcoords. + +mesh_t::num_face_vertices => array of the number of vertices per face(e.g. 3 = triangle, 4 = quad , 5 or more = N-gons). + + + +---+---+---+ +---+ + | 3 | 4 | 3 | ...... | 3 | + +---+---+---+ +---+ + | | | | + | | | +-----------------------------------------+ + | | | | + | | +------------------------------+ | + | | | | + | +------------------+ | | + | | | | + |/ |/ |/ |/ + + mesh_t::indices + + | face[0] | face[1] | face[2] | | face[n-1] | + +----+----+----+----+----+----+----+----+----+----+ +--------+--------+--------+ + | i0 | i1 | i2 | i3 | i4 | i5 | i6 | i7 | i8 | i9 | ... | i(n-3) | i(n-2) | i(n-1) | + +----+----+----+----+----+----+----+----+----+----+ +--------+--------+--------+ + +```c++ +#define TINYOBJLOADER_IMPLEMENTATION // define this in only *one* .cc +#include "tiny_obj_loader.h" + +std::string inputfile = "cornell_box.obj"; +tinyobj::attrib_t attrib; +std::vector shapes; + +LoadObj(attrib, shapes, inputfile.c_str()); + +// Loop over shapes +for (size_t s = 0; s < shapes.size(); s++) { + // Loop over faces(polygon) + size_t index_offset = 0; + for (size_t f = 0; f < shapes[s].mesh.indices.size(); f++) { + int fv = 3; + // Loop over vertices in the face. + for (size_t v = 0; v < fv; v++) { + // access to vertex + tinyobj::index_t idx = shapes[s].mesh.indices[index_offset + v]; + tinyobj::real_t vx = attrib.vertices[3*idx.vertex_index+0]; + tinyobj::real_t vy = attrib.vertices[3*idx.vertex_index+1]; + tinyobj::real_t vz = attrib.vertices[3*idx.vertex_index+2]; + tinyobj::real_t nx = attrib.normals[3*idx.normal_index+0]; + tinyobj::real_t ny = attrib.normals[3*idx.normal_index+1]; + tinyobj::real_t nz = attrib.normals[3*idx.normal_index+2]; + tinyobj::real_t tx = attrib.texcoords[2*idx.texcoord_index+0]; + tinyobj::real_t ty = attrib.texcoords[2*idx.texcoord_index+1]; } + index_offset += fv; + } +} + +``` + diff --git a/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp b/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp index 9cd2f2092..d1b9c6362 100644 --- a/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp +++ b/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp @@ -70,25 +70,6 @@ std::istream& safeGetline(std::istream& is, std::string& t) } } #endif -struct vertex_index -{ - int v_idx, vt_idx, vn_idx, dummy; -}; -struct MyIndices -{ - int m_offset; - int m_numIndices; -}; - -// for std::map -static inline bool operator<(const vertex_index& a, const vertex_index& b) -{ - if (a.v_idx != b.v_idx) return (a.v_idx < b.v_idx); - if (a.vn_idx != b.vn_idx) return (a.vn_idx < b.vn_idx); - if (a.vt_idx != b.vt_idx) return (a.vt_idx < b.vt_idx); - - return false; -} static inline bool isSpace(const char c) { @@ -101,25 +82,33 @@ static inline bool isNewLine(const char c) } // Make index zero-base, and also support relative index. -static inline int fixIndex(int idx, int n) +static inline bool fixIndex(int idx, int n, int* ret) { - int i; + if (!ret) + { + return false; + } if (idx > 0) { - i = idx - 1; + (*ret) = idx - 1; + return true; } - else if (idx == 0) - { - i = 0; - } - else - { // negative value = relative - i = n + idx; - } - return i; -} + if (idx == 0) + { + // zero is not allowed according to the spec. + return false; + } + + if (idx < 0) + { + (*ret) = n + idx; // negative value = relative + return true; + } + + return false; // never reach here. +} static inline std::string parseString(const char*& token) { std::string s; @@ -156,170 +145,184 @@ static inline void parseFloat3( z = parseFloat(token); } -// Parse triples: i, i/j/k, i//k, i/j -static vertex_index parseTriple( - const char*& token, - int vsize, - int vnsize, - int vtsize) +// Parse triples with index offsets: i, i/j/k, i//k, i/j +static bool parseTriple(const char** token, int vsize, int vnsize, int vtsize, + vertex_index_t* ret) { - vertex_index vi; - vi.vn_idx = -1; - vi.vt_idx = -1; - vi.v_idx = -1; - - vi.v_idx = fixIndex(atoi(token), vsize); - token += strcspn(token, "/ \t\r"); - if (token[0] != '/') - { - return vi; - } - token++; - - // i//k - if (token[0] == '/') - { - token++; - vi.vn_idx = fixIndex(atoi(token), vnsize); - token += strcspn(token, "/ \t\r"); - return vi; - } - - // i/j/k or i/j - vi.vt_idx = fixIndex(atoi(token), vtsize); - token += strcspn(token, "/ \t\r"); - if (token[0] != '/') - { - return vi; - } - - // i/j/k - token++; // skip '/' - vi.vn_idx = fixIndex(atoi(token), vnsize); - token += strcspn(token, "/ \t\r"); - return vi; -} - -static unsigned int -updateVertex( - std::map& vertexCache, - std::vector& positions, - std::vector& normals, - std::vector& texcoords, - const std::vector& in_positions, - const std::vector& in_normals, - const std::vector& in_texcoords, - const vertex_index& i) -{ - const std::map::iterator it = vertexCache.find(i); - - if (it != vertexCache.end()) - { - // found cache - return it->second; - } - - assert(static_cast(in_positions.size()) > (3 * i.v_idx + 2)); - - positions.push_back(in_positions[3 * i.v_idx + 0]); - positions.push_back(in_positions[3 * i.v_idx + 1]); - positions.push_back(in_positions[3 * i.v_idx + 2]); - - if (i.vn_idx >= 0 && ((3 * i.vn_idx + 2) < in_normals.size())) - { - normals.push_back(in_normals[3 * i.vn_idx + 0]); - normals.push_back(in_normals[3 * i.vn_idx + 1]); - normals.push_back(in_normals[3 * i.vn_idx + 2]); - } - - if (i.vt_idx >= 0) - { - int numTexCoords = in_texcoords.size(); - int index0 = 2 * i.vt_idx + 0; - int index1 = 2 * i.vt_idx + 1; - - if (index0 >= 0 && (index0) < numTexCoords) - { - texcoords.push_back(in_texcoords[index0]); - } - if (index1 >= 0 && (index1) < numTexCoords) - { - texcoords.push_back(in_texcoords[index1]); - } - } - - unsigned int idx = positions.size() / 3 - 1; - vertexCache[i] = idx; - - return idx; -} - -static bool -exportFaceGroupToShape( - shape_t& shape, - const std::vector& in_positions, - const std::vector& in_normals, - const std::vector& in_texcoords, - const std::vector& faceGroup, - const material_t material, - const std::string name, - std::vector& allIndices) -{ - if (faceGroup.empty()) + if (!ret) { return false; } + vertex_index_t vi(-1); + + if (!fixIndex(atoi((*token)), vsize, &(vi.v_idx))) + { + return false; + } + + (*token) += strcspn((*token), "/ \t\r"); + if ((*token)[0] != '/') + { + (*ret) = vi; + return true; + } + (*token)++; + + // i//k + if ((*token)[0] == '/') + { + (*token)++; + if (!fixIndex(atoi((*token)), vnsize, &(vi.vn_idx))) + { + return false; + } + (*token) += strcspn((*token), "/ \t\r"); + (*ret) = vi; + return true; + } + + // i/j/k or i/j + if (!fixIndex(atoi((*token)), vtsize, &(vi.vt_idx))) + { + return false; + } + + (*token) += strcspn((*token), "/ \t\r"); + if ((*token)[0] != '/') + { + (*ret) = vi; + return true; + } + + // i/j/k + (*token)++; // skip '/' + if (!fixIndex(atoi((*token)), vnsize, &(vi.vn_idx))) + { + return false; + } + (*token) += strcspn((*token), "/ \t\r"); + + (*ret) = vi; + + return true; +} + +static bool exportFaceGroupToShape(shape_t* shape, const std::vector& face_group, + const material_t material, const std::string& name, + const std::vector& v) +{ + if (face_group.empty()) + { + return false; + } + + shape->name = name; // Flattened version of vertex data - std::vector positions; - std::vector normals; - std::vector texcoords; - std::map vertexCache; - std::vector indices; // Flatten vertices and indices - for (size_t i = 0; i < faceGroup.size(); i++) + for (size_t i = 0; i < face_group.size(); i++) { - const MyIndices& face = faceGroup[i]; - - vertex_index i0 = allIndices[face.m_offset]; - vertex_index i1; - i1.vn_idx = -1; - i1.vt_idx = -1; - i1.v_idx = -1; - vertex_index i2 = allIndices[face.m_offset + 1]; - - size_t npolys = face.m_numIndices; //.size(); + const face_t& face = face_group[i]; + size_t npolys = face.size(); + if (npolys < 3) { - // Polygon -> triangle fan conversion - for (size_t k = 2; k < npolys; k++) + // Face must have 3+ vertices. + continue; + } + vertex_index_t i0 = face[0]; + vertex_index_t i1(-1); + vertex_index_t i2 = face[1]; + + face_t remainingFace = face; // copy + size_t guess_vert = 0; + vertex_index_t ind[3]; + + // How many iterations can we do without decreasing the remaining + // vertices. + size_t remainingIterations = face.size(); + size_t previousRemainingVertices = remainingFace.size(); + + while (remainingFace.size() > 3 && remainingIterations > 0) + { + npolys = remainingFace.size(); + if (guess_vert >= npolys) { - i1 = i2; - i2 = allIndices[face.m_offset + k]; + guess_vert -= npolys; + } - unsigned int v0 = updateVertex(vertexCache, positions, normals, texcoords, in_positions, in_normals, in_texcoords, i0); - unsigned int v1 = updateVertex(vertexCache, positions, normals, texcoords, in_positions, in_normals, in_texcoords, i1); - unsigned int v2 = updateVertex(vertexCache, positions, normals, texcoords, in_positions, in_normals, in_texcoords, i2); + if (previousRemainingVertices != npolys) + { + // The number of remaining vertices decreased. Reset counters. + previousRemainingVertices = npolys; + remainingIterations = npolys; + } + else + { + // We didn't consume a vertex on previous iteration, reduce the + // available iterations. + remainingIterations--; + } - indices.push_back(v0); - indices.push_back(v1); - indices.push_back(v2); + for (size_t k = 0; k < 3; k++) + { + ind[k] = remainingFace[(guess_vert + k) % npolys]; + size_t vi = size_t(ind[k].v_idx); + } + // this triangle is an ear + { + index_t idx0, idx1, idx2; + idx0.vertex_index = ind[0].v_idx; + idx0.normal_index = ind[0].vn_idx; + idx0.texcoord_index = ind[0].vt_idx; + idx1.vertex_index = ind[1].v_idx; + idx1.normal_index = ind[1].vn_idx; + idx1.texcoord_index = ind[1].vt_idx; + idx2.vertex_index = ind[2].v_idx; + idx2.normal_index = ind[2].vn_idx; + idx2.texcoord_index = ind[2].vt_idx; + + shape->mesh.indices.push_back(idx0); + shape->mesh.indices.push_back(idx1); + shape->mesh.indices.push_back(idx2); + } + + // remove v1 from the list + size_t removed_vert_index = (guess_vert + 1) % npolys; + while (removed_vert_index + 1 < npolys) + { + remainingFace[removed_vert_index] = + remainingFace[removed_vert_index + 1]; + removed_vert_index += 1; + } + remainingFace.pop_back(); + } + + if (remainingFace.size() == 3) + { + i0 = remainingFace[0]; + i1 = remainingFace[1]; + i2 = remainingFace[2]; + { + index_t idx0, idx1, idx2; + idx0.vertex_index = i0.v_idx; + idx0.normal_index = i0.vn_idx; + idx0.texcoord_index = i0.vt_idx; + idx1.vertex_index = i1.v_idx; + idx1.normal_index = i1.vn_idx; + idx1.texcoord_index = i1.vt_idx; + idx2.vertex_index = i2.v_idx; + idx2.normal_index = i2.vn_idx; + idx2.texcoord_index = i2.vt_idx; + + shape->mesh.indices.push_back(idx0); + shape->mesh.indices.push_back(idx1); + shape->mesh.indices.push_back(idx2); } } } - - // - // Construct shape. - // - shape.name = name; - shape.mesh.positions.swap(positions); - shape.mesh.normals.swap(normals); - shape.mesh.texcoords.swap(texcoords); - shape.mesh.indices.swap(indices); - - shape.material = material; - + shape->material = material; return true; } @@ -329,7 +332,6 @@ void InitMaterial(material_t& material) material.ambient_texname = ""; material.diffuse_texname = ""; material.specular_texname = ""; - material.normal_texname = ""; for (int i = 0; i < 3; i++) { material.ambient[i] = 0.f; @@ -369,8 +371,8 @@ std::string LoadMtl( return err.str(); } #else - int fileHandle = fileIO->fileOpen(filepath.c_str(),"r"); - if (fileHandle<0) + int fileHandle = fileIO->fileOpen(filepath.c_str(), "r"); + if (fileHandle < 0) { err << "Cannot open file [" << filepath << "]" << std::endl; return err.str(); @@ -396,7 +398,7 @@ std::string LoadMtl( line = fileIO->readLine(fileHandle, tmpBuf, 1024); if (line) { - linebuf=line; + linebuf = line; } #endif @@ -420,7 +422,7 @@ std::string LoadMtl( // Skip leading space. const char* token = linebuf.c_str(); token += strspn(token, " \t"); - + assert(token); if (token[0] == '\0') continue; // empty line @@ -574,12 +576,13 @@ std::string LoadMtl( } } #ifndef USE_STREAM - while (line); + while (line) + ; #endif // flush last material. material_map.insert(std::pair(material.name, material)); - if (fileHandle>=0) + if (fileHandle >= 0) { fileIO->fileClose(fileHandle); } @@ -588,11 +591,16 @@ std::string LoadMtl( std::string LoadObj( + attrib_t& attrib, std::vector& shapes, const char* filename, const char* mtl_basepath, CommonFileIOInterface* fileIO) { + attrib.vertices.clear(); + attrib.normals.clear(); + attrib.texcoords.clear(); + shapes.clear(); std::string tmp = filename; if (!mtl_basepath) { @@ -604,13 +612,6 @@ LoadObj( mtl_basepath = tmp.c_str(); //fprintf(stderr, "MTL PATH '%s' orig '%s'\n", mtl_basepath, filename); } - - shapes.resize(0); - std::vector allIndices; - allIndices.reserve(1024 * 1024); - - MyIndices face; - std::stringstream err; #ifdef USE_STREAM std::ifstream ifs(filename); @@ -620,8 +621,8 @@ LoadObj( return err.str(); } #else - int fileHandle = fileIO->fileOpen(filename,"r"); - if (fileHandle<0) + int fileHandle = fileIO->fileOpen(filename, "r"); + if (fileHandle < 0) { err << "Cannot open file [" << filename << "]" << std::endl; return err.str(); @@ -629,16 +630,15 @@ LoadObj( #endif std::vector v; - v.reserve(1024 * 1024); std::vector vn; - vn.reserve(1024 * 1024); std::vector vt; - vt.reserve(1024 * 1024); - //std::vector > faceGroup; - std::vector faceGroup; - faceGroup.reserve(1024 * 1024); std::string name; + int greatest_v_idx = -1; + int greatest_vn_idx = -1; + int greatest_vt_idx = -1; + + std::vector faceGroup; // material std::map material_map; material_t material; @@ -664,10 +664,9 @@ LoadObj( line = fileIO->readLine(fileHandle, tmpBuf, 1024); if (line) { - linebuf=line; + linebuf = line; } #endif - // Trim newline '\r\n' or '\r' if (linebuf.size() > 0) { @@ -734,23 +733,34 @@ LoadObj( token += 2; token += strspn(token, " \t"); - face.m_offset = allIndices.size(); - face.m_numIndices = 0; + face_t face; + + face.reserve(3); while (!isNewLine(token[0])) { - vertex_index vi = parseTriple(token, v.size() / 3, vn.size() / 3, vt.size() / 2); - allIndices.push_back(vi); - face.m_numIndices++; - int n = strspn(token, " \t\r"); + vertex_index_t vi; + if (!parseTriple(&token, static_cast(v.size() / 3), + static_cast(vn.size() / 3), + static_cast(vt.size() / 2), &vi)) + { + err << "Failed parse `f' line(e.g. zero value for face index."; + return err.str(); + } + + greatest_v_idx = greatest_v_idx > vi.v_idx ? greatest_v_idx : vi.v_idx; + greatest_vn_idx = + greatest_vn_idx > vi.vn_idx ? greatest_vn_idx : vi.vn_idx; + greatest_vt_idx = + greatest_vt_idx > vi.vt_idx ? greatest_vt_idx : vi.vt_idx; + + face.push_back(vi); + size_t n = strspn(token, " \t\r"); token += n; } - faceGroup.push_back(face); - continue; } - // use mtl if ((0 == strncmp(token, "usemtl", 6)) && isSpace((token[6]))) { @@ -777,10 +787,10 @@ LoadObj( token += 7; sscanf(token, "%s", namebuf); - std::string err_mtl = LoadMtl(material_map, namebuf, mtl_basepath,fileIO); + std::string err_mtl = LoadMtl(material_map, namebuf, mtl_basepath, fileIO); if (!err_mtl.empty()) { - //faceGroup.resize(0); // for safety + //face_group.resize(0); // for safety //return err_mtl; } continue; @@ -791,7 +801,7 @@ LoadObj( { // flush previous face group. shape_t shape; - bool ret = exportFaceGroupToShape(shape, v, vn, vt, faceGroup, material, name, allIndices); + bool ret = exportFaceGroupToShape(&shape, faceGroup, material, name, v); if (ret) { shapes.push_back(shape); @@ -827,7 +837,7 @@ LoadObj( { // flush previous face group. shape_t shape; - bool ret = exportFaceGroupToShape(shape, v, vn, vt, faceGroup, material, name, allIndices); + bool ret = exportFaceGroupToShape(&shape, faceGroup, material, name, v); if (ret) { shapes.push_back(shape); @@ -847,18 +857,23 @@ LoadObj( // Ignore unknown command. } #ifndef USE_STREAM - while (line); + while (line) + ; #endif shape_t shape; - bool ret = exportFaceGroupToShape(shape, v, vn, vt, faceGroup, material, name, allIndices); + bool ret = exportFaceGroupToShape(&shape, faceGroup, material, name, v); if (ret) { shapes.push_back(shape); } faceGroup.resize(0); // for safety - if (fileHandle>=0) + attrib.vertices.swap(v); + attrib.normals.swap(vn); + attrib.texcoords.swap(vt); + + if (fileHandle >= 0) { fileIO->fileClose(fileHandle); } diff --git a/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h b/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h index 0319b7c0d..5ce9b00d2 100644 --- a/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h +++ b/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h @@ -14,6 +14,17 @@ struct CommonFileIOInterface; namespace tinyobj { +struct vertex_index_t +{ + int v_idx, vt_idx, vn_idx; + vertex_index_t() : v_idx(-1), vt_idx(-1), vn_idx(-1) {} + explicit vertex_index_t(int idx) : v_idx(idx), vt_idx(idx), vn_idx(idx) {} + vertex_index_t(int vidx, int vtidx, int vnidx) + : v_idx(vidx), vt_idx(vtidx), vn_idx(vnidx) {} +}; + +using face_t = std::vector; + typedef struct { std::string name; @@ -24,21 +35,27 @@ typedef struct float transmittance[3]; float emission[3]; float shininess; - float transparency; + float transparency; // 1 == opaque; 0 == fully transparent - std::string ambient_texname; - std::string diffuse_texname; - std::string specular_texname; + std::string ambient_texname; // map_Ka + std::string diffuse_texname; // map_Kd + std::string specular_texname; // map_Ks std::string normal_texname; std::map unknown_parameter; } material_t; +// Index struct to support different indices for vtx/normal/texcoord. +// -1 means not used. typedef struct { - std::vector positions; - std::vector normals; - std::vector texcoords; - std::vector indices; + int vertex_index; + int normal_index; + int texcoord_index; +} index_t; + +typedef struct +{ + std::vector indices; } mesh_t; typedef struct @@ -48,6 +65,14 @@ typedef struct mesh_t mesh; } shape_t; +// Vertex attributes +struct attrib_t +{ + std::vector vertices; // 'v'(xyz) + std::vector normals; // 'vn' + std::vector texcoords; // 'vt'(uv) + attrib_t() {} +}; /// Loads .obj from a file. /// 'shapes' will be filled with parsed shape data /// The function returns error string. @@ -55,12 +80,14 @@ typedef struct /// 'mtl_basepath' is optional, and used for base path for .mtl file. #ifdef USE_STREAM std::string LoadObj( + attrib_t& attrib, std::vector& shapes, // [output] const char* filename, const char* mtl_basepath = NULL); #else std::string LoadObj( + attrib_t& attrib, std::vector& shapes, const char* filename, const char* mtl_basepath, From eacebc80d54fdb19152805901f51137b1ae48172 Mon Sep 17 00:00:00 2001 From: Chuyuan Fu Date: Wed, 14 Aug 2019 11:01:48 -0700 Subject: [PATCH 050/389] fix compile --- examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h b/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h index 5ce9b00d2..1fb15b34a 100644 --- a/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h +++ b/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h @@ -23,7 +23,7 @@ struct vertex_index_t : v_idx(vidx), vt_idx(vtidx), vn_idx(vnidx) {} }; -using face_t = std::vector; +typedef std::vector face_t; typedef struct { From 88d1788ee510dc7f5aa92f67235667d342147e73 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 14 Aug 2019 21:06:10 -0700 Subject: [PATCH 051/389] PyBullet: allow to update an existing heightfield shape Also, use flags = p.GEOM_CONCAVE_INTERNAL_EDGE to enable internal edge filtering for heightfield (disabled by default) See https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/examples/heightfield.py --- .../CommonGUIHelperInterface.h | 2 +- examples/ExampleBrowser/OpenGLGuiHelper.cpp | 5 + examples/ExampleBrowser/OpenGLGuiHelper.h | 1 + examples/SharedMemory/PhysicsClientC_API.cpp | 6 +- examples/SharedMemory/PhysicsClientC_API.h | 2 +- .../PhysicsServerCommandProcessor.cpp | 161 ++++++++++++++---- .../SharedMemory/PhysicsServerExample.cpp | 23 +++ examples/SharedMemory/SharedMemoryCommands.h | 1 + examples/pybullet/examples/heightfield.py | 23 ++- examples/pybullet/pybullet.c | 17 +- .../btHeightfieldTerrainShape.h | 4 + 11 files changed, 201 insertions(+), 44 deletions(-) diff --git a/examples/CommonInterfaces/CommonGUIHelperInterface.h b/examples/CommonInterfaces/CommonGUIHelperInterface.h index d29928e47..c604410a8 100644 --- a/examples/CommonInterfaces/CommonGUIHelperInterface.h +++ b/examples/CommonInterfaces/CommonGUIHelperInterface.h @@ -47,7 +47,7 @@ struct GUIHelperInterface virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]) {} virtual void changeSpecularColor(int instanceUid, const double specularColor[3]) {} virtual void changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height) {} - + virtual void updateShape(int shapeIndex, float* vertices) {} virtual int getShapeIndexFromInstance(int instanceUid) { return -1; } virtual void replaceTexture(int shapeIndex, int textureUid) {} virtual void removeTexture(int textureUid) {} diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp index a3197749d..eecf94df6 100644 --- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp +++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp @@ -1496,3 +1496,8 @@ void OpenGLGuiHelper::computeSoftBodyVertices(btCollisionShape* collisionShape, } } } + +void OpenGLGuiHelper::updateShape(int shapeIndex, float* vertices) +{ + m_data->m_glApp->m_renderer->updateShape(shapeIndex, vertices); +} \ No newline at end of file diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.h b/examples/ExampleBrowser/OpenGLGuiHelper.h index b388ec2c4..e4a43b4be 100644 --- a/examples/ExampleBrowser/OpenGLGuiHelper.h +++ b/examples/ExampleBrowser/OpenGLGuiHelper.h @@ -33,6 +33,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface virtual void removeTexture(int textureUid); virtual int getShapeIndexFromInstance(int instanceUid); virtual void replaceTexture(int shapeIndex, int textureUid); + virtual void updateShape(int shapeIndex, float* vertices); virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape); diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 646f03985..cac6b161f 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -1340,6 +1340,8 @@ B3_SHARED_API int b3CreateCollisionShapeAddHeightfield(b3SharedMemoryCommandHand command->m_createUserShapeArgs.m_shapes[shapeIndex].m_heightfieldTextureScaling = textureScaling; command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldRows = -1; command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldColumns = -1; + command->m_createUserShapeArgs.m_shapes[shapeIndex].m_replaceHeightfieldIndex = -1; + command->m_createUserShapeArgs.m_numUserShapes++; return shapeIndex; } @@ -1347,7 +1349,7 @@ B3_SHARED_API int b3CreateCollisionShapeAddHeightfield(b3SharedMemoryCommandHand return -1; } -B3_SHARED_API int b3CreateCollisionShapeAddHeightfield2(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], double textureScaling, float* heightfieldData, int numHeightfieldRows, int numHeightfieldColumns) +B3_SHARED_API int b3CreateCollisionShapeAddHeightfield2(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], double textureScaling, float* heightfieldData, int numHeightfieldRows, int numHeightfieldColumns, int replaceHeightfieldIndex) { PhysicsClient* cl = (PhysicsClient*)physClient; b3Assert(cl); @@ -1370,6 +1372,8 @@ B3_SHARED_API int b3CreateCollisionShapeAddHeightfield2(b3PhysicsClientHandle ph command->m_createUserShapeArgs.m_shapes[shapeIndex].m_heightfieldTextureScaling = textureScaling; command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldRows = numHeightfieldRows; command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldColumns = numHeightfieldColumns; + command->m_createUserShapeArgs.m_shapes[shapeIndex].m_replaceHeightfieldIndex = replaceHeightfieldIndex; + cl->uploadBulletFileToSharedMemory((const char*)heightfieldData, numHeightfieldRows*numHeightfieldColumns* sizeof(float)); command->m_createUserShapeArgs.m_numUserShapes++; return shapeIndex; diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index ce1baef0c..9a488562f 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -490,7 +490,7 @@ extern "C" B3_SHARED_API int b3CreateCollisionShapeAddCapsule(b3SharedMemoryCommandHandle commandHandle, double radius, double height); B3_SHARED_API int b3CreateCollisionShapeAddCylinder(b3SharedMemoryCommandHandle commandHandle, double radius, double height); B3_SHARED_API int b3CreateCollisionShapeAddHeightfield(b3SharedMemoryCommandHandle commandHandle, const char* fileName, const double meshScale[/*3*/], double textureScaling); - B3_SHARED_API int b3CreateCollisionShapeAddHeightfield2(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], double textureScaling, float* heightfieldData, int numHeightfieldRows, int numHeightfieldColumns); + B3_SHARED_API int b3CreateCollisionShapeAddHeightfield2(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], double textureScaling, float* heightfieldData, int numHeightfieldRows, int numHeightfieldColumns, int replaceHeightfieldIndex); B3_SHARED_API int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, const double planeNormal[/*3*/], double planeConstant); B3_SHARED_API int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle, const char* fileName, const double meshScale[/*3*/]); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index b8e0275cd..f6b48a8ce 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -4428,6 +4428,37 @@ static unsigned char* MyGetRawHeightfieldData(CommonFileIOInterface& fileIO, PHY return 0; } +class MyTriangleCollector4 : public btTriangleCallback +{ +public: + btAlignedObjectArray* m_pVerticesOut; + btAlignedObjectArray* m_pIndicesOut; + + MyTriangleCollector4() + { + m_pVerticesOut = 0; + m_pIndicesOut = 0; + } + + virtual void processTriangle(btVector3* tris, int partId, int triangleIndex) + { + for (int k = 0; k < 3; k++) + { + GLInstanceVertex v; + v.xyzw[3] = 0; + v.uv[0] = v.uv[1] = 0.5f; + btVector3 normal = (tris[0] - tris[1]).cross(tris[0] - tris[2]); + normal.safeNormalize(); + for (int l = 0; l < 3; l++) + { + v.xyzw[l] = tris[k][l]; + v.normal[l] = normal[l]; + } + m_pIndicesOut->push_back(m_pVerticesOut->size()); + m_pVerticesOut->push_back(v); + } + } +}; bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) { @@ -4571,43 +4602,109 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str if (heightfieldData) { - btScalar gridSpacing = 0.5; - btScalar gridHeightScale = 1. / 256.; + //replace heightfield data or create new heightfield + if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_replaceHeightfieldIndex >=0) + { + int collisionShapeUid = clientCmd.m_createUserShapeArgs.m_shapes[i].m_replaceHeightfieldIndex; - bool flipQuadEdges = false; - int upAxis = 2; - /*btHeightfieldTerrainShape* heightfieldShape = worldImporter->createHeightfieldShape( width, height, - heightfieldData, + InternalCollisionShapeHandle* handle = m_data->m_userCollisionShapeHandles.getHandle(collisionShapeUid); + if (handle && handle->m_collisionShape && handle->m_collisionShape->getShapeType() == TERRAIN_SHAPE_PROXYTYPE) + { + btHeightfieldTerrainShape* terrainShape = (btHeightfieldTerrainShape*)handle->m_collisionShape; + btScalar* heightfieldDest = (btScalar*)terrainShape->getHeightfieldRawData(); + //replace the data + + btScalar* datafl = (btScalar*)heightfieldData; + + for (int i = 0; i < width*height; i++) + { + heightfieldDest[i] = datafl[i]; + } + //update graphics + + btAlignedObjectArray gfxVertices; + btAlignedObjectArray indices; + int strideInBytes = 9 * sizeof(float); + + + MyTriangleCollector4 col; + col.m_pVerticesOut = &gfxVertices; + col.m_pIndicesOut = &indices; + btVector3 aabbMin, aabbMax; + for (int k = 0; k < 3; k++) + { + aabbMin[k] = -BT_LARGE_FLOAT; + aabbMax[k] = BT_LARGE_FLOAT; + } + terrainShape->processAllTriangles(&col, aabbMin, aabbMax); + if (gfxVertices.size() && indices.size()) + { + m_data->m_guiHelper->updateShape(terrainShape->getUserIndex(), &gfxVertices[0].xyzw[0]); + } + + terrainShape->clearAccelerator(); + terrainShape->buildAccelerator(); + + + btTriangleInfoMap* oldTriangleInfoMap = terrainShape->getTriangleInfoMap(); + delete (oldTriangleInfoMap); + terrainShape->setTriangleInfoMap(0); + + if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_collisionFlags & GEOM_CONCAVE_INTERNAL_EDGE) + { + btTriangleInfoMap* triangleInfoMap = new btTriangleInfoMap(); + btGenerateInternalEdgeInfo(terrainShape, triangleInfoMap); + } + serverStatusOut.m_createUserShapeResultArgs.m_userShapeUniqueId = collisionShapeUid; + delete worldImporter; + serverStatusOut.m_type = CMD_CREATE_COLLISION_SHAPE_COMPLETED; + } + + delete heightfieldData; + return hasStatus; + } + else + { + + btScalar gridSpacing = 0.5; + btScalar gridHeightScale = 1. / 256.; + + bool flipQuadEdges = false; + int upAxis = 2; + /*btHeightfieldTerrainShape* heightfieldShape = worldImporter->createHeightfieldShape( width, height, + heightfieldData, + gridHeightScale, + minHeight, maxHeight, + upAxis, int(scalarType), flipQuadEdges); + */ + btHeightfieldTerrainShape* heightfieldShape = new btHeightfieldTerrainShape(width, height, + heightfieldData, gridHeightScale, minHeight, maxHeight, - upAxis, int(scalarType), flipQuadEdges); - */ - btHeightfieldTerrainShape* heightfieldShape = new btHeightfieldTerrainShape( width, height, - heightfieldData, - gridHeightScale, - minHeight, maxHeight, - upAxis, scalarType, flipQuadEdges); - m_data->m_collisionShapes.push_back(heightfieldShape); + upAxis, scalarType, flipQuadEdges); + m_data->m_collisionShapes.push_back(heightfieldShape); - heightfieldShape->setUserValue3(clientCmd.m_createUserShapeArgs.m_shapes[i].m_heightfieldTextureScaling); - shape = heightfieldShape; - if (upAxis == 2) - heightfieldShape->setFlipTriangleWinding(true); - //buildAccelerator is optional, it may not support all features. - heightfieldShape->buildAccelerator(); - - // scale the shape - btVector3 localScaling(clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[0], - clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[1], - clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[2]); - - heightfieldShape->setLocalScaling(localScaling); - - btTriangleInfoMap* triangleInfoMap = new btTriangleInfoMap(); - btGenerateInternalEdgeInfo(heightfieldShape, triangleInfoMap); - - this->m_data->m_heightfieldDatas.push_back(heightfieldData); + heightfieldShape->setUserValue3(clientCmd.m_createUserShapeArgs.m_shapes[i].m_heightfieldTextureScaling); + shape = heightfieldShape; + if (upAxis == 2) + heightfieldShape->setFlipTriangleWinding(true); + // scale the shape + btVector3 localScaling(clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[0], + clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[1], + clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[2]); + + heightfieldShape->setLocalScaling(localScaling); + //buildAccelerator is optional, it may not support all features. + heightfieldShape->buildAccelerator(); + + if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_collisionFlags & GEOM_CONCAVE_INTERNAL_EDGE) + { + btTriangleInfoMap* triangleInfoMap = new btTriangleInfoMap(); + btGenerateInternalEdgeInfo(heightfieldShape, triangleInfoMap); + } + this->m_data->m_heightfieldDatas.push_back(heightfieldData); + } } break; } diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp index f5e1046e1..f3e670c0d 100644 --- a/examples/SharedMemory/PhysicsServerExample.cpp +++ b/examples/SharedMemory/PhysicsServerExample.cpp @@ -127,6 +127,7 @@ enum MultiThreadedGUIHelperCommunicationEnums eGUIHelperChangeTexture, eGUIHelperRemoveTexture, eGUIHelperSetVisualizerFlagCheckRenderedFrame, + eGUIHelperUpdateShape, }; #include @@ -865,6 +866,18 @@ public: workerThreadWait(); } + int m_updateShapeIndex; + float* m_updateShapeVertices; + + virtual void updateShape(int shapeIndex, float* vertices) + { + m_updateShapeIndex = shapeIndex; + m_updateShapeVertices = vertices; + + m_cs->lock(); + m_cs->setSharedParam(1, eGUIHelperUpdateShape); + workerThreadWait(); + } virtual int registerTexture(const unsigned char* texels, int width, int height) { int* cachedTexture = m_cachedTextureIds[texels]; @@ -1916,6 +1929,15 @@ void PhysicsServerExample::updateGraphics() m_multiThreadedHelper->mainThreadRelease(); break; } + + case eGUIHelperUpdateShape: + { + B3_PROFILE("eGUIHelperUpdateShape"); + m_multiThreadedHelper->m_childGuiHelper->updateShape(m_multiThreadedHelper->m_updateShapeIndex, m_multiThreadedHelper->m_updateShapeVertices); + m_multiThreadedHelper->mainThreadRelease(); + break; + } + case eGUIHelperRegisterGraphicsShape: { B3_PROFILE("eGUIHelperRegisterGraphicsShape"); @@ -2039,6 +2061,7 @@ void PhysicsServerExample::updateGraphics() break; } + case eGUIHelperSetVisualizerFlagCheckRenderedFrame: { if (m_renderedFrames != m_multiThreadedHelper->m_renderedFrames) diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index f429bee59..4ff925a59 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -965,6 +965,7 @@ struct b3CreateUserShapeData int m_numHeightfieldColumns; double m_rgbaColor[4]; double m_specularColor[3]; + int m_replaceHeightfieldIndex; }; #define MAX_COMPOUND_COLLISION_SHAPES 16 diff --git a/examples/pybullet/examples/heightfield.py b/examples/pybullet/examples/heightfield.py index f8ffefee5..b01a5e0bb 100644 --- a/examples/pybullet/examples/heightfield.py +++ b/examples/pybullet/examples/heightfield.py @@ -1,6 +1,6 @@ import pybullet as p import pybullet_data as pd - +import math import time p.connect(p.GUI) @@ -11,6 +11,7 @@ textureId = -1 useProgrammatic = 0 useTerrainFromPNG = 1 useDeepLocoCSV = 2 +updateHeightfield = False heightfieldSource = useProgrammatic import random @@ -30,7 +31,7 @@ if heightfieldSource==useProgrammatic: heightfieldData[2*i+1+(2*j+1)*numHeightfieldRows]=height - terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.05,.05,1], heightfieldTextureScaling=(numHeightfieldRows-1)/2, heightfieldData=heightfieldData, numHeightfieldRows=numHeightfieldRows, numHeightfieldColumns=numHeightfieldColumns, ) + terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.05,.05,1], heightfieldTextureScaling=(numHeightfieldRows-1)/2, heightfieldData=heightfieldData, numHeightfieldRows=numHeightfieldRows, numHeightfieldColumns=numHeightfieldColumns) terrain = p.createMultiBody(0, terrainShape) p.resetBasePositionAndOrientation(terrain,[0,0,0], [0,0,0,1]) @@ -114,7 +115,23 @@ for i in range(p.getNumJoints(sphereUid)): while (p.isConnected()): - #keys = p.getKeyboardEvents() + keys = p.getKeyboardEvents() + + if updateHeightfield and heightfieldSource==useProgrammatic: + for j in range (int(numHeightfieldColumns/2)): + for i in range (int(numHeightfieldRows/2) ): + height = random.uniform(0,heightPerturbationRange)#+math.sin(time.time()) + heightfieldData[2*i+2*j*numHeightfieldRows]=height + heightfieldData[2*i+1+2*j*numHeightfieldRows]=height + heightfieldData[2*i+(2*j+1)*numHeightfieldRows]=height + heightfieldData[2*i+1+(2*j+1)*numHeightfieldRows]=height + #GEOM_CONCAVE_INTERNAL_EDGE may help avoid getting stuck at an internal (shared) edge of the triangle/heightfield. + #GEOM_CONCAVE_INTERNAL_EDGE is a bit slower to build though. + #flags = p.GEOM_CONCAVE_INTERNAL_EDGE + flags = 0 + terrainShape2 = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, flags = flags, meshScale=[.05,.05,1], heightfieldTextureScaling=(numHeightfieldRows-1)/2, heightfieldData=heightfieldData, numHeightfieldRows=numHeightfieldRows, numHeightfieldColumns=numHeightfieldColumns, replaceHeightfieldIndex = terrainShape) + + #print(keys) #getCameraImage note: software/TinyRenderer doesn't render/support heightfields! #p.getCameraImage(320,200, renderer=p.ER_BULLET_HARDWARE_OPENGL) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index c3fcdbb45..a808ff15a 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -1,4 +1,4 @@ - +//#include "D:/develop/visual_leak_detector/include/vld.h" #include "../SharedMemory/PhysicsClientC_API.h" #include "../SharedMemory/PhysicsDirectC_API.h" #include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h" @@ -7987,7 +7987,7 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P PyObject* heightfieldDataObj = 0; int numHeightfieldRows = -1; int numHeightfieldColumns = -1; - + int replaceHeightfieldIndex = -1; static char* kwlist[] = {"shapeType", "radius", "halfExtents", @@ -8004,9 +8004,10 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P "heightfieldData", "numHeightfieldRows", "numHeightfieldColumns", + "replaceHeightfieldIndex", "physicsClientId", NULL}; - if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOdsOOiOOOOdOiii", kwlist, - &shapeType, &radius, &halfExtentsObj, &height, &fileName, &meshScaleObj, &planeNormalObj, &flags, &collisionFramePositionObj, &collisionFrameOrientationObj, &verticesObj, &indicesObj, &heightfieldTextureScaling, &heightfieldDataObj, &numHeightfieldRows, &numHeightfieldColumns, &physicsClientId)) + if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOdsOOiOOOOdOiiii", kwlist, + &shapeType, &radius, &halfExtentsObj, &height, &fileName, &meshScaleObj, &planeNormalObj, &flags, &collisionFramePositionObj, &collisionFrameOrientationObj, &verticesObj, &indicesObj, &heightfieldTextureScaling, &heightfieldDataObj, &numHeightfieldRows, &numHeightfieldColumns, &replaceHeightfieldIndex, &physicsClientId)) { return NULL; } @@ -8083,7 +8084,8 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P pointBuffer[i] = (float)PyFloat_AsDouble(item); } } - shapeIndex = b3CreateCollisionShapeAddHeightfield2(sm, commandHandle, meshScale, heightfieldTextureScaling, pointBuffer, numHeightfieldRows, numHeightfieldColumns); + shapeIndex = b3CreateCollisionShapeAddHeightfield2(sm, commandHandle, meshScale, heightfieldTextureScaling, pointBuffer, numHeightfieldRows, numHeightfieldColumns, replaceHeightfieldIndex); + free(pointBuffer); if (seqPoints) Py_DECREF(seqPoints); @@ -8141,7 +8143,10 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P { pybullet_internalSetVector4d(collisionFrameOrientationObj, collisionFrameOrientation); } - b3CreateCollisionShapeSetChildTransform(commandHandle, shapeIndex, collisionFramePosition, collisionFrameOrientation); + if (collisionFramePositionObj || collisionFrameOrientationObj) + { + b3CreateCollisionShapeSetChildTransform(commandHandle, shapeIndex, collisionFramePosition, collisionFrameOrientation); + } } statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); statusType = b3GetStatusType(statusHandle); diff --git a/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h b/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h index 7cf7e26b5..8dea98fc6 100644 --- a/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h +++ b/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h @@ -220,6 +220,10 @@ public: { m_triangleInfoMap = map; } + const unsigned char* getHeightfieldRawData() const + { + return m_heightfieldDataUnsignedChar; + } }; #endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H \ No newline at end of file From 648844e89856b0bf5987351e993fba58e57ec808 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 14 Aug 2019 21:30:10 -0700 Subject: [PATCH 052/389] minor fixes, bump up pybullet to 2.5.5 --- examples/pybullet/pybullet.c | 44 ++++++++++++++++------------- setup.py | 2 +- src/BulletSoftBody/btCGProjection.h | 2 +- 3 files changed, 26 insertions(+), 22 deletions(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index a808ff15a..e7a799c32 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -8054,41 +8054,45 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P } if (shapeType == GEOM_HEIGHTFIELD && fileName==0 && heightfieldDataObj && numHeightfieldColumns>0 && numHeightfieldRows > 0) { + PyObject* seqPoints=0; + int numHeightfieldPoints; if (meshScaleObj) { pybullet_internalSetVectord(meshScaleObj, meshScale); } - PyObject* seqPoints = PySequence_Fast(heightfieldDataObj, "expected a sequence"); - int numHeightfieldPoints = PySequence_Size(heightfieldDataObj); + seqPoints = PySequence_Fast(heightfieldDataObj, "expected a sequence"); + numHeightfieldPoints = PySequence_Size(heightfieldDataObj); if (numHeightfieldPoints != numHeightfieldColumns*numHeightfieldRows) { PyErr_SetString(SpamError, "Size of heightfieldData doesn't match numHeightfieldColumns*numHeightfieldRows"); return NULL; } - PyObject* item; - int i; - float* pointBuffer = (float*)malloc(numHeightfieldPoints*sizeof(float)); - if (PyList_Check(seqPoints)) { - for (i = 0; i < numHeightfieldPoints; i++) + PyObject* item; + int i; + float* pointBuffer = (float*)malloc(numHeightfieldPoints*sizeof(float)); + if (PyList_Check(seqPoints)) { - item = PyList_GET_ITEM(seqPoints, i); - pointBuffer[i] = (float)PyFloat_AsDouble(item); + for (i = 0; i < numHeightfieldPoints; i++) + { + item = PyList_GET_ITEM(seqPoints, i); + pointBuffer[i] = (float)PyFloat_AsDouble(item); + } } - } - else - { - for (i = 0; i < numHeightfieldPoints; i++) + else { - item = PyTuple_GET_ITEM(seqPoints, i); - pointBuffer[i] = (float)PyFloat_AsDouble(item); + for (i = 0; i < numHeightfieldPoints; i++) + { + item = PyTuple_GET_ITEM(seqPoints, i); + pointBuffer[i] = (float)PyFloat_AsDouble(item); + } } - } - shapeIndex = b3CreateCollisionShapeAddHeightfield2(sm, commandHandle, meshScale, heightfieldTextureScaling, pointBuffer, numHeightfieldRows, numHeightfieldColumns, replaceHeightfieldIndex); + shapeIndex = b3CreateCollisionShapeAddHeightfield2(sm, commandHandle, meshScale, heightfieldTextureScaling, pointBuffer, numHeightfieldRows, numHeightfieldColumns, replaceHeightfieldIndex); - free(pointBuffer); - if (seqPoints) - Py_DECREF(seqPoints); + free(pointBuffer); + if (seqPoints) + Py_DECREF(seqPoints); + } } if (shapeType == GEOM_MESH && fileName) { diff --git a/setup.py b/setup.py index b77b0db13..b2e46b109 100644 --- a/setup.py +++ b/setup.py @@ -485,7 +485,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS: setup( name='pybullet', - version='2.5.4', + version='2.5.5', description= 'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning', long_description= diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index f38fa545c..0a4db2b49 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -33,7 +33,7 @@ struct DeformableContactConstraint append(rcontact); } - DeformableContactConstraint(const btVector3 dir) + DeformableContactConstraint(const btVector3& dir) { m_contact.push_back(NULL); m_direction.push_back(dir); From 6d31c73216e8267f0a08ac54d4340b7c8e0c99b2 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 15 Aug 2019 11:05:24 -0700 Subject: [PATCH 053/389] style fix and remove unused variable --- examples/DeformableDemo/DeformableMultibody.cpp | 2 -- .../btDeformableRigidDynamicsWorld.cpp | 12 ++++++------ src/BulletSoftBody/btDeformableRigidDynamicsWorld.h | 3 +-- src/BulletSoftBody/btSoftBodyInternals.h | 4 ++-- 4 files changed, 9 insertions(+), 12 deletions(-) diff --git a/examples/DeformableDemo/DeformableMultibody.cpp b/examples/DeformableDemo/DeformableMultibody.cpp index e947a5585..d32cd67a7 100644 --- a/examples/DeformableDemo/DeformableMultibody.cpp +++ b/examples/DeformableDemo/DeformableMultibody.cpp @@ -49,8 +49,6 @@ static bool g_floatingBase = true; static float friction = 1.; class DeformableMultibody : public CommonMultiBodyBase { - btMultiBody* m_multiBody; - btAlignedObjectArray m_jointFeedbacks; public: DeformableMultibody(struct GUIHelperInterface* helper) : CommonMultiBodyBase(helper) diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp index 3b3b62edc..80c77ada1 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp @@ -64,7 +64,7 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS // /////////////////////////////// } -void btDeformableRigidDynamicsWorld::positionCorrection(btScalar dt) +void btDeformableRigidDynamicsWorld::positionCorrection(btScalar timeStep) { // perform position correction for all constraints BT_PROFILE("positionCorrection"); @@ -140,7 +140,7 @@ void btDeformableRigidDynamicsWorld::positionCorrection(btScalar dt) { c->m_node->m_v = va; } - c->m_node->m_v -= dp * cti.m_normal / dt; + c->m_node->m_v -= dp * cti.m_normal / timeStep; } } } @@ -149,19 +149,19 @@ void btDeformableRigidDynamicsWorld::positionCorrection(btScalar dt) } -void btDeformableRigidDynamicsWorld::integrateTransforms(btScalar dt) +void btDeformableRigidDynamicsWorld::integrateTransforms(btScalar timeStep) { BT_PROFILE("integrateTransforms"); m_deformableBodySolver->backupVelocity(); - positionCorrection(dt); - btMultiBodyDynamicsWorld::integrateTransforms(dt); + positionCorrection(timeStep); + btMultiBodyDynamicsWorld::integrateTransforms(timeStep); for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; for (int j = 0; j < psb->m_nodes.size(); ++j) { btSoftBody::Node& node = psb->m_nodes[j]; - node.m_x = node.m_q + dt * node.m_v; + node.m_x = node.m_q + timeStep * node.m_v; } } m_deformableBodySolver->revertVelocity(); diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h index de5eb7ef4..6efbb204b 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h @@ -38,7 +38,6 @@ class btDeformableRigidDynamicsWorld : public btMultiBodyDynamicsWorld bool m_drawFaceTree; bool m_drawClusterTree; btSoftBodyWorldInfo m_sbi; - bool m_ownsSolver; btScalar m_internalTime; typedef void (*btSolverCallback)(btScalar time, btDeformableRigidDynamicsWorld* world); @@ -49,7 +48,7 @@ protected: virtual void integrateTransforms(btScalar timeStep); - void positionCorrection(btScalar dt); + void positionCorrection(btScalar timeStep); void solveDeformableBodiesConstraints(btScalar timeStep); diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index 80545ebad..a39394e0b 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -998,7 +998,7 @@ struct btSoftColliders if (!n.m_battach) { // check for collision at x_{n+1}^* - if (psb->checkDeformableContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predicted = */ true)) + if (psb->checkDeformableContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predict = */ true)) { const btScalar ima = n.m_im; const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; @@ -1006,7 +1006,7 @@ struct btSoftColliders if (ms > 0) { // resolve contact at x_n - psb->checkDeformableContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predicted = */ false); + psb->checkDeformableContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predict = */ false); btSoftBody::sCti& cti = c.m_cti; c.m_node = &n; const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); From 10e819db8e1abec2b1eefc9820d596cfe80b4489 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 7 Aug 2019 15:21:16 -0700 Subject: [PATCH 054/389] add grasping with joint motor example --- examples/ExampleBrowser/ExampleEntries.cpp | 1 + examples/GraspDeformable/GraspDeformable.cpp | 525 +++++++++++++++++++ examples/GraspDeformable/GraspDeformable.h | 20 + 3 files changed, 546 insertions(+) create mode 100644 examples/GraspDeformable/GraspDeformable.cpp create mode 100644 examples/GraspDeformable/GraspDeformable.h diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index 481d36c5d..030f4eef1 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -197,6 +197,7 @@ static ExampleEntry gDefaultExamples[] = ExampleEntry(0, "Deformabe Body"), ExampleEntry(1, "Deformable-RigidBody Contact", "Deformable test", DeformableRigidCreateFunc), ExampleEntry(1, "Grasp Deformable Cube", "Grasping test", PinchCreateFunc), + ExampleEntry(1, "Grasp Deformable with Motor", "Grasping test", GraspDeformableaCreateFunc), ExampleEntry(1, "Volumetric Deformable Objects", "Volumetric Deformable test", VolumetricDeformableCreateFunc), ExampleEntry(1, "Deformable-MultiBody Contact", "MultiBody and Deformable contact", DeformableMultibodyCreateFunc), // ExampleEntry(1, "MultiBody Baseline", "MultiBody Baseline", MultiBodyBaselineCreateFunc), diff --git a/examples/GraspDeformable/GraspDeformable.cpp b/examples/GraspDeformable/GraspDeformable.cpp new file mode 100644 index 000000000..b291dbafb --- /dev/null +++ b/examples/GraspDeformable/GraspDeformable.cpp @@ -0,0 +1,525 @@ +/* +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. +*/ + +#include "GraspDeformable.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 "BulletDynamics/Featherstone/btMultiBodyJointMotor.h" +#include //printf debugging + +#include "../CommonInterfaces/CommonRigidBodyBase.h" +#include "../Utils/b3ResourcePath.h" +#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h" +#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h" +#include "../Importers/ImportURDFDemo/URDF2Bullet.h" +#include "../CommonInterfaces/CommonMultiBodyBase.h" +#include "../CommonInterfaces/CommonGraphicsAppInterface.h" +#include "../CommonInterfaces/CommonParameterInterface.h" + + +///The GraspDeformable 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). +static btScalar sGripperVerticalVelocity = 0.f; +static btScalar sGripperClosingTargetVelocity = 0.f; +static float friction = 1.; +struct TetraCube +{ +#include "../SoftDemo/cube.inl" +}; + +struct TetraBunny +{ +#include "../SoftDemo/bunny.inl" +}; + +static bool supportsJointMotor(btMultiBody* mb, int mbLinkIndex) +{ + bool canHaveMotor = (mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::eRevolute + || mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::ePrismatic); + return canHaveMotor; +} + +class GraspDeformable : public CommonRigidBodyBase +{ +public: + GraspDeformable(struct GUIHelperInterface* helper) + : CommonRigidBodyBase(helper) + { + } + virtual ~GraspDeformable() + { + } + void initPhysics(); + + void exitPhysics(); + + void resetCamera() + { + float dist = 20; + float pitch = -45; + float yaw = 100; + float targetPos[3] = {0, -0, 0}; + m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]); + } + + btMultiBody* createFeatherstoneMultiBody(btMultiBodyDynamicsWorld* pWorld,const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool floating); + + void addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents); + + btMultiBody* createFeatherstoneMultiBody_testMultiDof(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool floating); + + void stepSimulation(float deltaTime) + { + double fingerTargetVelocities[2] = {sGripperVerticalVelocity, sGripperClosingTargetVelocity}; + int num_multiBody = getDeformableDynamicsWorld()->getNumMultibodies(); + for (int i = 0; i < num_multiBody; ++i) + { + btMultiBody* mb = getDeformableDynamicsWorld()->btMultiBodyDynamicsWorld::getMultiBody(i); + mb->setBaseVel(btVector3(0,sGripperVerticalVelocity, 0)); + int dofIndex = 6; //skip the 3 linear + 3 angular degree of freedom entries of the base + for (int link = 0; link < mb->getNumLinks(); link++) + { + if (supportsJointMotor(mb, link)) + { + btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)mb->getLink(link).m_userPtr; + if (motor) + { +// if (dofIndex == 10 || dofIndex == 11) +// { +// motor->setVelocityTarget(fingerTargetVelocities[1], 1); +// motor->setMaxAppliedImpulse(1); +// } + if (dofIndex == 6) + { + motor->setVelocityTarget(-fingerTargetVelocities[1], 1); + motor->setMaxAppliedImpulse(2); + } + if (dofIndex == 7) + { + motor->setVelocityTarget(fingerTargetVelocities[1], 1); + motor->setMaxAppliedImpulse(2); + } +// motor->setRhsClamp(SIMD_INFINITY); + motor->setMaxAppliedImpulse(1); + } + } + dofIndex += mb->getLink(link).m_dofCount; + } + } + + //use a smaller internal timestep, there are stability issues + float internalTimeStep = 1. / 250.f; + m_dynamicsWorld->stepSimulation(deltaTime, 5, 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 GraspDeformable::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()); + btVector3 gravity = btVector3(0, -10, 0); + m_dynamicsWorld->setGravity(gravity); + getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; + m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); + +// // load a gripper +// { +// btTransform rootTrans; +// rootTrans.setIdentity(); +// BulletURDFImporter u2b(m_guiHelper,0,0,50,0); +// bool forceFixedBase = false; +// bool loadOk = u2b.loadSDF("gripper/wsg50_one_motor_gripper_new.sdf", forceFixedBase); +// if (loadOk) +// { +// for (int m = 0; m < u2b.getNumModels(); m++) +// { +// u2b.activateModel(m); +// +// btMultiBody* mb = 0; +// +// MyMultiBodyCreator creation(m_guiHelper); +// +// u2b.getRootTransformInWorld(rootTrans); +// ConvertURDF2Bullet(u2b, creation, rootTrans, getDeformableDynamicsWorld(), true, u2b.getPathPrefix(), CUF_USE_SDF+CUF_RESERVED); +// mb = creation.getBulletMultiBody(); +// +// int numLinks = mb->getNumLinks(); +// for (int i = 0; i < numLinks; i++) +// { +// int mbLinkIndex = i; +// float maxMotorImpulse = 1.f; +// +// if (supportsJointMotor(mb, mbLinkIndex)) +// { +// int dof = 0; +// btScalar desiredVelocity = 0.f; +// btMultiBodyJointMotor* motor = new btMultiBodyJointMotor(mb, mbLinkIndex, dof, desiredVelocity, maxMotorImpulse); +// motor->setPositionTarget(0, 0); +// motor->setVelocityTarget(0, 1); +// mb->getLink(mbLinkIndex).m_userPtr = motor; +// getDeformableDynamicsWorld()->addMultiBodyConstraint(motor); +// motor->finalizeMultiDof(); +// } +// } +// } +// } +// } + // build a gripper + { + bool damping = true; + bool gyro = false; + bool canSleep = false; + bool selfCollide = true; + int numLinks = 2; + btVector3 linkHalfExtents(1., 2, .4); + btVector3 baseHalfExtents(1, 0.2, 2); + btMultiBody* mbC = createFeatherstoneMultiBody(getDeformableDynamicsWorld(), btVector3(0.f, 7.f,0.f), linkHalfExtents, baseHalfExtents, false); + + mbC->setCanSleep(canSleep); + mbC->setHasSelfCollision(selfCollide); + mbC->setUseGyroTerm(gyro); + + for (int i = 0; i < numLinks; i++) + { + int mbLinkIndex = i; + float maxMotorImpulse = 1.f; + + if (supportsJointMotor(mbC, mbLinkIndex)) + { + int dof = 0; + btScalar desiredVelocity = 0.f; + btMultiBodyJointMotor* motor = new btMultiBodyJointMotor(mbC, mbLinkIndex, dof, desiredVelocity, maxMotorImpulse); + motor->setPositionTarget(0, 0); + motor->setVelocityTarget(0, 1); + mbC->getLink(mbLinkIndex).m_userPtr = motor; + getDeformableDynamicsWorld()->addMultiBodyConstraint(motor); + motor->finalizeMultiDof(); + } + } + + + if (!damping) + { + mbC->setLinearDamping(0.0f); + mbC->setAngularDamping(0.0f); + } + else + { + mbC->setLinearDamping(0.04f); + mbC->setAngularDamping(0.04f); + } + btScalar q0 = 0.f * SIMD_PI / 180.f; + if (numLinks > 0) + mbC->setJointPosMultiDof(0, &q0); + /// + addColliders(mbC, getDeformableDynamicsWorld(), baseHalfExtents, linkHalfExtents); + + } + //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, -25-2.1, 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); + + psb->scale(btVector3(2, 2, 2)); + psb->translate(btVector3(0, 0, 0)); + psb->getCollisionShape()->setMargin(0.1); + psb->setTotalMass(1); + psb->setSpringStiffness(2); + psb->setDampingCoefficient(0.02); + psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects + psb->m_cfg.kCHR = 1; // collision hardness with rigid body + psb->m_cfg.kDF = 2; + getDeformableDynamicsWorld()->addSoftBody(psb); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce()); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); + } + + m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); + + { + SliderParams slider("Moving velocity", &sGripperVerticalVelocity); + slider.m_minVal = -2; + slider.m_maxVal = 2; + m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); + } + + { + SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity); + slider.m_minVal = -1; + slider.m_maxVal = 1; + m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); + } + +} + +void GraspDeformable::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; +} + +btMultiBody* GraspDeformable::createFeatherstoneMultiBody(btMultiBodyDynamicsWorld* pWorld, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool floating) +{ + //init the base + btVector3 baseInertiaDiag(0.f, 0.f, 0.f); + float baseMass = .1f; + float linkMass = .1f; + int numLinks = 2; + + 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); + + //init the links + btVector3 hingeJointAxis(1, 0, 0); + + 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 + btAlignedObjectArray parentComToCurrentCom; + parentComToCurrentCom.push_back(btVector3(0, -linkHalfExtents[1] * 8.f, -baseHalfExtents[2] * 4.f)); + parentComToCurrentCom.push_back(btVector3(0, -linkHalfExtents[1] * 8.f, +baseHalfExtents[2] * 4.f));//par body's COM to cur body's COM offset + + btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1]*8.f, 0); //cur body's COM to cur body's PIV offset + + btAlignedObjectArray parentComToCurrentPivot; + parentComToCurrentPivot.push_back(btVector3(parentComToCurrentCom[0] - currentPivotToCurrentCom)); + parentComToCurrentPivot.push_back(btVector3(parentComToCurrentCom[1] - 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) + { + pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot[i], currentPivotToCurrentCom, true); + } + pMultiBody->finalizeMultiDof(); + /// + pWorld->addMultiBody(pMultiBody); + /// + return pMultiBody; +} + +void GraspDeformable::addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents) +{ + btAlignedObjectArray world_to_local; + world_to_local.resize(pMultiBody->getNumLinks() + 1); + + btAlignedObjectArray local_origin; + local_origin.resize(pMultiBody->getNumLinks() + 1); + world_to_local[0] = pMultiBody->getWorldToBaseRot(); + local_origin[0] = pMultiBody->getBasePos(); + + { + 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]; + + 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* GraspDeformableCreateFunc(struct CommonExampleOptions& options) +{ + return new GraspDeformable(options.m_guiHelper); +} + + diff --git a/examples/GraspDeformable/GraspDeformable.h b/examples/GraspDeformable/GraspDeformable.h new file mode 100644 index 000000000..fed8cb03e --- /dev/null +++ b/examples/GraspDeformable/GraspDeformable.h @@ -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 _GRASP_DEFORMABLE_H +#define _GRASP_DEFORMABLE_H + +class CommonExampleInterface* GraspDeformableCreateFunc(struct CommonExampleOptions& options); + +#endif //_GRASP_DEFORMABLE_H From 94aeb4657b7a5e751beeb37bb840d951fff8f72e Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 7 Aug 2019 15:24:26 -0700 Subject: [PATCH 055/389] add comment and initialization --- src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp | 3 +-- src/BulletDynamics/Featherstone/btMultiBodyLink.h | 2 ++ 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp index 1be76ad86..f5a7a7f1e 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp @@ -588,15 +588,14 @@ void btMultiBodyDynamicsWorld::solveExternalForces(btContactSolverInfo& solverIn { if (!bod->isUsingRK4Integration()) { + // avoid damping in external forces (e.g. gravity) const btScalar linearDamp = bod->getLinearDamping(); -// const btScalar angularDamp = bod->getAngularDamping(); bod->setLinearDamping(0); bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass, getSolverInfo().m_jointFeedbackInWorldSpace, getSolverInfo().m_jointFeedbackInJointFrame); bod->setLinearDamping(linearDamp); -// bod->setAngularDamping(angularDamp); } else { diff --git a/src/BulletDynamics/Featherstone/btMultiBodyLink.h b/src/BulletDynamics/Featherstone/btMultiBodyLink.h index 1cd6b8c07..565bb6b3e 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyLink.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyLink.h @@ -157,6 +157,7 @@ struct btMultibodyLink m_parent(-1), m_zeroRotParentToThis(0, 0, 0, 1), m_cachedRotParentToThis(0, 0, 0, 1), + m_cachedRotParentToThis_interpolate(0, 0, 0, 1), m_collider(0), m_flags(0), m_dofCount(0), @@ -179,6 +180,7 @@ struct btMultibodyLink m_dVector.setValue(0, 0, 0); m_eVector.setValue(0, 0, 0); m_cachedRVector.setValue(0, 0, 0); + m_cachedRVector_interpolate.setValue(0, 0, 0); m_appliedForce.setValue(0, 0, 0); m_appliedTorque.setValue(0, 0, 0); m_appliedConstraintForce.setValue(0, 0, 0); From deb7c152c41d3b3111338d96bbbfb5f64862985a Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 8 Aug 2019 10:14:18 -0700 Subject: [PATCH 056/389] add corotated model to lagrangian forces --- examples/ExampleBrowser/ExampleEntries.cpp | 2 +- examples/GraspDeformable/GraspDeformable.cpp | 5 +- .../btDeformableBackwardEulerObjective.h | 1 + .../btDeformableCorotatedForce.h | 143 ++++++++++++++++++ .../btDeformableLagrangianForce.h | 3 +- src/BulletSoftBody/btSoftBody.cpp | 19 +++ src/BulletSoftBody/btSoftBody.h | 4 + src/BulletSoftBody/btSoftBodyHelpers.cpp | 1 + 8 files changed, 174 insertions(+), 4 deletions(-) create mode 100644 src/BulletSoftBody/btDeformableCorotatedForce.h diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index 030f4eef1..ae40afec9 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -197,7 +197,7 @@ static ExampleEntry gDefaultExamples[] = ExampleEntry(0, "Deformabe Body"), ExampleEntry(1, "Deformable-RigidBody Contact", "Deformable test", DeformableRigidCreateFunc), ExampleEntry(1, "Grasp Deformable Cube", "Grasping test", PinchCreateFunc), - ExampleEntry(1, "Grasp Deformable with Motor", "Grasping test", GraspDeformableaCreateFunc), + ExampleEntry(1, "Grasp Deformable with Motor", "Grasping test", GraspDeformableCreateFunc), ExampleEntry(1, "Volumetric Deformable Objects", "Volumetric Deformable test", VolumetricDeformableCreateFunc), ExampleEntry(1, "Deformable-MultiBody Contact", "MultiBody and Deformable contact", DeformableMultibodyCreateFunc), // ExampleEntry(1, "MultiBody Baseline", "MultiBody Baseline", MultiBodyBaselineCreateFunc), diff --git a/examples/GraspDeformable/GraspDeformable.cpp b/examples/GraspDeformable/GraspDeformable.cpp index b291dbafb..7d42ffa43 100644 --- a/examples/GraspDeformable/GraspDeformable.cpp +++ b/examples/GraspDeformable/GraspDeformable.cpp @@ -332,14 +332,15 @@ void GraspDeformable::initPhysics() psb->translate(btVector3(0, 0, 0)); psb->getCollisionShape()->setMargin(0.1); psb->setTotalMass(1); - psb->setSpringStiffness(2); - psb->setDampingCoefficient(0.02); + psb->setSpringStiffness(0); + psb->setDampingCoefficient(0.04); psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb->m_cfg.kCHR = 1; // collision hardness with rigid body psb->m_cfg.kDF = 2; getDeformableDynamicsWorld()->addSoftBody(psb); getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce()); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(2,2)); } m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index f87f7f509..2f44bf016 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -17,6 +17,7 @@ #include "btDeformableLagrangianForce.h" #include "btDeformableMassSpringForce.h" #include "btDeformableGravityForce.h" +#include "btDeformableCorotatedForce.h" #include "btDeformableContactProjection.h" #include "btPreconditioner.h" #include "btDeformableRigidDynamicsWorld.h" diff --git a/src/BulletSoftBody/btDeformableCorotatedForce.h b/src/BulletSoftBody/btDeformableCorotatedForce.h new file mode 100644 index 000000000..f4d42453f --- /dev/null +++ b/src/BulletSoftBody/btDeformableCorotatedForce.h @@ -0,0 +1,143 @@ +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2016 Google Inc. http://bulletphysics.org + 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 BT_COROTATED_H +#define BT_COROTATED_H + +#include "btDeformableLagrangianForce.h" +#include "LinearMath/btPolarDecomposition.h" + +static inline int PolarDecompose(const btMatrix3x3& m, btMatrix3x3& q, btMatrix3x3& s) +{ + static const btPolarDecomposition polar; + return polar.decompose(m, q, s); +} + +class btDeformableCorotatedForce : public btDeformableLagrangianForce +{ +public: + typedef btAlignedObjectArray TVStack; + btScalar m_mu, m_lambda; + btDeformableCorotatedForce(): m_mu(1), m_lambda(1) + { + + } + + btDeformableCorotatedForce(btScalar mu, btScalar lambda): m_mu(mu), m_lambda(lambda) + { + } + + virtual void addScaledImplicitForce(btScalar scale, TVStack& force) + { + } + + virtual void addScaledExplicitForce(btScalar scale, TVStack& force) + { + addScaledElasticForce(scale, force); + } + + virtual void addScaledDampingForce(btScalar scale, TVStack& force) + { + } + + virtual void addScaledElasticForce(btScalar scale, TVStack& force) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()) + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + updateDs(tetra); + btMatrix3x3 F = tetra.m_ds * tetra.m_Dm_inverse; + btMatrix3x3 P; + firstPiola(F,P); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + btVector3 force_on_node0 = P * tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col; + btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose(); + + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + + // elastic force + // explicit elastic force + force[id0] -= scale * tetra.m_element_measure * force_on_node0; + force[id1] -= scale * tetra.m_element_measure * force_on_node123.getColumn(0); + force[id2] -= scale * tetra.m_element_measure * force_on_node123.getColumn(1); + force[id3] -= scale * tetra.m_element_measure * force_on_node123.getColumn(2); + } + } + } + + void firstPiola(const btMatrix3x3& F, btMatrix3x3& P) + { + btMatrix3x3 R,S; + btScalar J = F.determinant(); + if (J < 1024 * SIMD_EPSILON) + R.setIdentity(); + else + PolarDecompose(F, R, S); // this QR is not robust, consider using implicit shift svd + /*https://fuchuyuan.github.io/research/svd/paper.pdf*/ + + btMatrix3x3 JFinvT = F.adjoint(); + P = JFinvT * (m_lambda * (J-1)) + (F-R) * 2 * m_mu; + } + void updateDs(btSoftBody::Tetra& t) + { + btVector3 c1 = t.m_n[1]->m_q - t.m_n[0]->m_q; + btVector3 c2 = t.m_n[2]->m_q - t.m_n[0]->m_q; + btVector3 c3 = t.m_n[3]->m_q - t.m_n[0]->m_q; + btMatrix3x3 Ds(c1.getX(), c2.getX(), c3.getX(), + c1.getY(), c2.getY(), c3.getY(), + c1.getZ(), c2.getZ(), c3.getZ()); + t.m_ds = Ds; + } + + virtual void addScaledForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) + { + // implicit damping force differential + for (int i = 0; i < m_softBodies.size(); ++i) + { + const btSoftBody* psb = m_softBodies[i]; + btScalar scaled_k_damp = psb->m_dampingCoefficient * scale; + for (int j = 0; j < psb->m_links.size(); ++j) + { + const btSoftBody::Link& link = psb->m_links[j]; + btSoftBody::Node* node1 = link.m_n[0]; + btSoftBody::Node* node2 = link.m_n[1]; + size_t id1 = node1->index; + size_t id2 = node2->index; + btVector3 local_scaled_df = scaled_k_damp * (dv[id2] - dv[id1]); + df[id1] += local_scaled_df; + df[id2] -= local_scaled_df; + } + } + } + + virtual btDeformableLagrangianForceType getForceType() + { + return BT_COROTATED_FORCE; + } + +}; + + +#endif /* btCorotated_h */ diff --git a/src/BulletSoftBody/btDeformableLagrangianForce.h b/src/BulletSoftBody/btDeformableLagrangianForce.h index eb4d032bf..2146d4ec5 100644 --- a/src/BulletSoftBody/btDeformableLagrangianForce.h +++ b/src/BulletSoftBody/btDeformableLagrangianForce.h @@ -20,7 +20,8 @@ enum btDeformableLagrangianForceType { BT_GRAVITY_FORCE = 1, - BT_MASSSPRING_FORCE = 2 + BT_MASSSPRING_FORCE = 2, + BT_COROTATED_FORCE = 3 }; class btDeformableLagrangianForce diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 86a48bf62..f65851dec 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -854,6 +854,7 @@ void btSoftBody::scale(const btVector3& scl) updateNormals(); updateBounds(); updateConstants(); + initializeDmInverse(); } // @@ -2811,6 +2812,24 @@ void btSoftBody::setSpringStiffness(btScalar k) } } +void btSoftBody::initializeDmInverse() +{ + btScalar unit_simplex_measure = 1./6.; + + for (int i = 0; i < m_tetras.size(); ++i) + { + Tetra &t = m_tetras[i]; + btVector3 c1 = t.m_n[1]->m_q - t.m_n[0]->m_q; + btVector3 c2 = t.m_n[2]->m_q - t.m_n[0]->m_q; + btVector3 c3 = t.m_n[3]->m_q - t.m_n[0]->m_q; + btMatrix3x3 Dm(c1.getX(), c2.getX(), c3.getX(), + c1.getY(), c2.getY(), c3.getY(), + c1.getZ(), c2.getZ(), c3.getZ()); + t.m_element_measure = Dm.determinant() * unit_simplex_measure; + t.m_Dm_inverse = Dm.inverse(); + } +} + // void btSoftBody::Joint::Prepare(btScalar dt, int) { diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index f2934c94a..0ee9e827d 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -292,6 +292,9 @@ public: btVector3 m_c0[4]; // gradients btScalar m_c1; // (4*kVST)/(im0+im1+im2+im3) btScalar m_c2; // m_c1/sum(|g0..3|^2) + btMatrix3x3 m_Dm_inverse; // rest Dm^-1 + btMatrix3x3 m_ds; + btScalar m_element_measure; }; /* RContact */ struct RContact @@ -1023,6 +1026,7 @@ public: void applyClusters(bool drift); void dampClusters(); void setSpringStiffness(btScalar k); + void initializeDmInverse(); void applyForces(); static void PSolve_Anchors(btSoftBody* psb, btScalar kst, btScalar ti); static void PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti); diff --git a/src/BulletSoftBody/btSoftBodyHelpers.cpp b/src/BulletSoftBody/btSoftBodyHelpers.cpp index d0a9921d8..b3c5c88a9 100644 --- a/src/BulletSoftBody/btSoftBodyHelpers.cpp +++ b/src/BulletSoftBody/btSoftBodyHelpers.cpp @@ -1221,6 +1221,7 @@ if(face&&face[0]) } } } + psb->initializeDmInverse(); printf("Nodes: %u\r\n", psb->m_nodes.size()); printf("Links: %u\r\n", psb->m_links.size()); printf("Faces: %u\r\n", psb->m_faces.size()); From 26983b05e2a9b2fd8fe7a6b69063fc187f89c357 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 8 Aug 2019 14:25:01 -0700 Subject: [PATCH 057/389] modify constraint setup so that contact constraints are persistent in a single CG solve but motor constraints are applied only once --- examples/GraspDeformable/GraspDeformable.cpp | 4 ++-- .../Featherstone/btMultiBodyDynamicsWorld.cpp | 8 +++++++- 2 files changed, 9 insertions(+), 3 deletions(-) diff --git a/examples/GraspDeformable/GraspDeformable.cpp b/examples/GraspDeformable/GraspDeformable.cpp index 7d42ffa43..68a52be7e 100644 --- a/examples/GraspDeformable/GraspDeformable.cpp +++ b/examples/GraspDeformable/GraspDeformable.cpp @@ -402,8 +402,8 @@ btMultiBody* GraspDeformable::createFeatherstoneMultiBody(btMultiBodyDynamicsWor { //init the base btVector3 baseInertiaDiag(0.f, 0.f, 0.f); - float baseMass = .1f; - float linkMass = .1f; + float baseMass = 1.f; + float linkMass = 1.f; int numLinks = 2; if (baseMass) diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp index f5a7a7f1e..602c94926 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp @@ -375,10 +375,15 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager:: m_islandAnalyticsData.push_back(m_solver->m_analyticsData); } m_bodies.resize(0); - m_manifolds.resize(0); +// m_manifolds.resize(0); m_constraints.resize(0); m_multiBodyConstraints.resize(0); } + + void clearContactConstraints() + { + m_manifolds.resize(0); + } }; void btMultiBodyDynamicsWorld::getAnalyticsData(btAlignedObjectArray& islandAnalyticsData) const @@ -430,6 +435,7 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) solveExternalForces(solverInfo); buildIslands(); solveInternalConstraints(solverInfo); + m_solverMultiBodyIslandCallback->clearContactConstraints(); } void btMultiBodyDynamicsWorld::buildIslands() From 27492887bf8da79cad876e1dd4f425f6a21d092b Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 8 Aug 2019 17:56:19 -0700 Subject: [PATCH 058/389] move files and update license --- .../GraspDeformable.cpp | 24 +++++++++---------- examples/DeformableDemo/GraspDeformable.h | 19 +++++++++++++++ examples/ExampleBrowser/ExampleEntries.cpp | 1 + examples/GraspDeformable/GraspDeformable.h | 20 ---------------- 4 files changed, 31 insertions(+), 33 deletions(-) rename examples/{GraspDeformable => DeformableDemo}/GraspDeformable.cpp (95%) create mode 100644 examples/DeformableDemo/GraspDeformable.h delete mode 100644 examples/GraspDeformable/GraspDeformable.h diff --git a/examples/GraspDeformable/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp similarity index 95% rename from examples/GraspDeformable/GraspDeformable.cpp rename to examples/DeformableDemo/GraspDeformable.cpp index 68a52be7e..dc7de0057 100644 --- a/examples/GraspDeformable/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -1,17 +1,15 @@ /* -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. -*/ + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + 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. + */ #include "GraspDeformable.h" ///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. diff --git a/examples/DeformableDemo/GraspDeformable.h b/examples/DeformableDemo/GraspDeformable.h new file mode 100644 index 000000000..1ce2230df --- /dev/null +++ b/examples/DeformableDemo/GraspDeformable.h @@ -0,0 +1,19 @@ +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + 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 _GRASP_DEFORMABLE_H +#define _GRASP_DEFORMABLE_H + +class CommonExampleInterface* GraspDeformableCreateFunc(struct CommonExampleOptions& options); + +#endif //_GRASP_DEFORMABLE_H diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index ae40afec9..2beef333c 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -51,6 +51,7 @@ #include "../DeformableDemo/Pinch.h" #include "../DeformableDemo/DeformableMultibody.h" #include "../DeformableDemo/VolumetricDeformable.h" +#include "../DeformableDemo/GraspDeformable.h" #include "../SharedMemory/PhysicsServerExampleBullet2.h" #include "../SharedMemory/PhysicsServerExample.h" #include "../SharedMemory/PhysicsClientExample.h" diff --git a/examples/GraspDeformable/GraspDeformable.h b/examples/GraspDeformable/GraspDeformable.h deleted file mode 100644 index fed8cb03e..000000000 --- a/examples/GraspDeformable/GraspDeformable.h +++ /dev/null @@ -1,20 +0,0 @@ -/* -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 _GRASP_DEFORMABLE_H -#define _GRASP_DEFORMABLE_H - -class CommonExampleInterface* GraspDeformableCreateFunc(struct CommonExampleOptions& options); - -#endif //_GRASP_DEFORMABLE_H From 5b8df6a708b7e13fa50b67bf2182a85797520440 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 9 Aug 2019 13:39:25 -0700 Subject: [PATCH 059/389] switch to Baraff style constraint --- examples/DeformableDemo/DeformableRigid.cpp | 6 +- examples/DeformableDemo/GraspDeformable.cpp | 7 +- src/BulletSoftBody/btConjugateGradient.h | 116 ++++++++++++------ .../btDeformableBackwardEulerObjective.h | 2 - src/BulletSoftBody/btDeformableBodySolver.cpp | 14 ++- 5 files changed, 98 insertions(+), 47 deletions(-) diff --git a/examples/DeformableDemo/DeformableRigid.cpp b/examples/DeformableDemo/DeformableRigid.cpp index 403ce4907..9268572ef 100644 --- a/examples/DeformableDemo/DeformableRigid.cpp +++ b/examples/DeformableDemo/DeformableRigid.cpp @@ -228,11 +228,11 @@ void DeformableRigid::initPhysics() psb->getCollisionShape()->setMargin(0.1); psb->generateBendingConstraints(2); psb->setTotalMass(1); - psb->setSpringStiffness(1); - psb->setDampingCoefficient(0.01); + psb->setSpringStiffness(2); + psb->setDampingCoefficient(0.05); 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; + psb->m_cfg.kDF = 0; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addSoftBody(psb); getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce()); diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index dc7de0057..15348af26 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -331,14 +331,15 @@ void GraspDeformable::initPhysics() psb->getCollisionShape()->setMargin(0.1); psb->setTotalMass(1); psb->setSpringStiffness(0); - psb->setDampingCoefficient(0.04); + psb->setDampingCoefficient(0.02); psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb->m_cfg.kCHR = 1; // collision hardness with rigid body - psb->m_cfg.kDF = 2; + psb->m_cfg.kDF = 0; + psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addSoftBody(psb); getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce()); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); - getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(2,2)); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(1,1)); } m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h index 22a9f3ada..d7e98761c 100644 --- a/src/BulletSoftBody/btConjugateGradient.h +++ b/src/BulletSoftBody/btConjugateGradient.h @@ -32,62 +32,108 @@ public: virtual ~btConjugateGradient(){} +// // return the number of iterations taken +// int solve(MatrixX& A, TVStack& x, const TVStack& b, btScalar tolerance) +// { +// BT_PROFILE("CGSolve"); +// btAssert(x.size() == b.size()); +// reinitialize(b); +// +// // r = b - A * x --with assigned dof zeroed out +// A.multiply(x, temp); +// r = sub(b, temp); +// A.project(r); +// +// btScalar r_norm = std::sqrt(squaredNorm(r)); +// if (r_norm < tolerance) { +// std::cout << "Iteration = 0" << std::endl; +// std::cout << "Two norm of the residual = " << r_norm << std::endl; +// return 0; +// } +// +// // z = M^(-1) * r +// A.precondition(r, z); +// p = z; +// // temp = A*p +// A.multiply(p, temp); +// A.project(temp); +// btScalar r_dot_z = dot(z,r), r_dot_z_new; +// // alpha = r^T * z / (p^T * A * p) +// btScalar alpha = r_dot_z / dot(p, temp), beta; +// +// for (int k = 1; k < max_iterations; k++) { +// // x += alpha * p; +// // r -= alpha * temp; +// multAndAddTo(alpha, p, x); +// multAndAddTo(-alpha, temp, r); +// // zero out the dofs of r +// A.project(r); +//// A.enforceConstraint(x); +// r_norm = std::sqrt(squaredNorm(r)); +// +// if (r_norm < tolerance) { +// std::cout << "ConjugateGradient iterations " << k << std::endl; +// return k; +// } +// +// // z = M^(-1) * r +// A.precondition(r, z); +// r_dot_z_new = dot(r,z); +// beta = r_dot_z_new/ r_dot_z; +// r_dot_z = r_dot_z_new; +// // p = z + beta * p; +// p = multAndAdd(beta, p, z); +// // temp = A * p; +// A.multiply(p, temp); +// A.project(temp); +// // alpha = r^T * z / (p^T * A * p) +// alpha = r_dot_z / dot(p, temp); +// } +// std::cout << "ConjugateGradient max iterations reached " << max_iterations << std::endl; +// return max_iterations; +// } + // return the number of iterations taken int solve(MatrixX& A, TVStack& x, const TVStack& b, btScalar tolerance) { BT_PROFILE("CGSolve"); btAssert(x.size() == b.size()); reinitialize(b); - // r = b - A * x --with assigned dof zeroed out A.multiply(x, temp); r = sub(b, temp); A.project(r); - A.enforceConstraint(x); - - btScalar r_norm = std::sqrt(squaredNorm(r)); - if (r_norm < tolerance) { - std::cout << "Iteration = 0" << std::endl; - std::cout << "Two norm of the residual = " << r_norm << std::endl; - return 0; - } - // z = M^(-1) * r A.precondition(r, z); + A.project(z); + btScalar r_dot_z = dot(z,r); + if (r_dot_z < tolerance) { + std::cout << "Iteration = 0" << std::endl; + std::cout << "Two norm of the residual = " << r_dot_z << std::endl; + return 0; + } p = z; - // temp = A*p - A.multiply(p, temp); - - btScalar r_dot_z = dot(z,r), r_dot_z_new; - // alpha = r^T * z / (p^T * A * p) - btScalar alpha = r_dot_z / dot(p, temp), beta; - + btScalar r_dot_z_new = r_dot_z; for (int k = 1; k < max_iterations; k++) { + // temp = A*p + A.multiply(p, temp); + A.project(temp); + // alpha = r^T * z / (p^T * A * p) + btScalar alpha = r_dot_z_new / dot(p, temp); // x += alpha * p; - // r -= alpha * temp; multAndAddTo(alpha, p, x); + // r -= alpha * temp; multAndAddTo(-alpha, temp, r); - // zero out the dofs of r - A.project(r); - A.enforceConstraint(x); - r_norm = std::sqrt(squaredNorm(r)); - - if (r_norm < tolerance) { + // z = M^(-1) * r + A.precondition(r, z); + r_dot_z = r_dot_z_new; + r_dot_z_new = dot(r,z); + if (r_dot_z_new < tolerance) { std::cout << "ConjugateGradient iterations " << k << std::endl; return k; } - - // z = M^(-1) * r - A.precondition(r, z); - r_dot_z_new = dot(r,z); - beta = r_dot_z_new/ r_dot_z; - r_dot_z = r_dot_z_new; - // p = z + beta * p; + btScalar beta = r_dot_z_new/ r_dot_z; p = multAndAdd(beta, p, z); - // temp = A * p; - A.multiply(p, temp); - // alpha = r^T * z / (p^T * A * p) - alpha = r_dot_z / dot(p, temp); } std::cout << "ConjugateGradient max iterations reached " << max_iterations << std::endl; return max_iterations; diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index 2f44bf016..f95cb05aa 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -73,7 +73,6 @@ public: { BT_PROFILE("enforceConstraint"); projection.enforceConstraint(x); - updateVelocity(x); } // add dv to velocity @@ -86,7 +85,6 @@ public: void project(TVStack& r) { BT_PROFILE("project"); - projection.update(); projection.project(r); } diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index eb8e62237..2b2827e88 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -31,20 +31,20 @@ btDeformableBodySolver::~btDeformableBodySolver() void btDeformableBodySolver::solveConstraints(float solverdt) { BT_PROFILE("solveConstraints"); - // add constraints to the solver - setConstraints(); - // save v_{n+1}^* velocity after explicit forces backupVelocity(); + // add constraints to the solver + setConstraints(); + m_objective->computeResidual(solverdt, m_residual); - computeStep(m_dv, m_residual); updateVelocity(); } void btDeformableBodySolver::computeStep(TVStack& dv, const TVStack& residual) { + btScalar tolerance = std::numeric_limits::epsilon()* 1024 * m_objective->computeNorm(residual); m_cg.solve(*m_objective, dv, residual, tolerance); } @@ -75,6 +75,12 @@ void btDeformableBodySolver::setConstraints() { BT_PROFILE("setConstraint"); m_objective->setConstraints(); + for (int i = 0; i < 10; ++i) + { + m_objective->projection.update(); + m_objective->enforceConstraint(m_dv); + m_objective->updateVelocity(m_dv); + } } void btDeformableBodySolver::setWorld(btDeformableRigidDynamicsWorld* world) From fb6612c0beefdbd9a7eb3c4f0463466729edd552 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 9 Aug 2019 16:02:44 -0700 Subject: [PATCH 060/389] friction fixes --- .../btDeformableBackwardEulerObjective.cpp | 5 ++ .../btDeformableBackwardEulerObjective.h | 2 + src/BulletSoftBody/btDeformableBodySolver.cpp | 3 +- .../btDeformableContactProjection.cpp | 48 +++++++++++++------ .../btDeformableContactProjection.h | 2 + 5 files changed, 45 insertions(+), 15 deletions(-) diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index 746048562..09bb9ee2d 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -145,3 +145,8 @@ void btDeformableBackwardEulerObjective::setConstraints() m_world->btMultiBodyDynamicsWorld::buildIslands(); projection.setConstraints(); } + +void btDeformableBackwardEulerObjective::projectFriction(TVStack& r) +{ + projection.projectFriction(r); +} diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index f95cb05aa..5de89849a 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -75,6 +75,8 @@ public: projection.enforceConstraint(x); } + void projectFriction(TVStack& r); + // add dv to velocity void updateVelocity(const TVStack& dv); diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 2b2827e88..daa85849b 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -38,6 +38,7 @@ void btDeformableBodySolver::solveConstraints(float solverdt) setConstraints(); m_objective->computeResidual(solverdt, m_residual); + m_objective->projectFriction(m_residual); computeStep(m_dv, m_residual); updateVelocity(); } @@ -75,7 +76,7 @@ void btDeformableBodySolver::setConstraints() { BT_PROFILE("setConstraint"); m_objective->setConstraints(); - for (int i = 0; i < 10; ++i) + for (int i = 0; i < 1; ++i) { m_objective->projection.update(); m_objective->enforceConstraint(m_dv); diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index 84d35c062..ea88bee49 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -133,10 +133,11 @@ void btDeformableContactProjection::update() friction.m_impulse_prev[j] = friction.m_impulse[j]; friction.m_dv_prev[j] = friction.m_dv[j]; friction.m_static_prev[j] = friction.m_static[j]; + friction.m_direction_prev[j] = friction.m_direction[j]; // get the current tangent direction btScalar local_tangent_norm = impulse_tangent.norm(); - btVector3 local_tangent_dir = btVector3(0,0,0); + btVector3 local_tangent_dir = -friction.m_direction[j]; if (local_tangent_norm > SIMD_EPSILON) local_tangent_dir = impulse_tangent.normalized(); @@ -395,7 +396,9 @@ void btDeformableContactProjection::enforceConstraint(TVStack& x) // add the friction constraint if (friction.m_static[j] == true) { - x[i] -= x[i].dot(friction.m_direction[j]) * friction.m_direction[j]; +// if (friction.m_static_prev[j] == true) +// x[i] -= friction.m_direction_prev[j] * friction.m_dv_prev[j]; +// x[i] -= x[i].dot(friction.m_direction[j]) * friction.m_direction[j]; x[i] += friction.m_direction[j] * friction.m_dv[j]; } } @@ -410,8 +413,8 @@ void btDeformableContactProjection::project(TVStack& x) for (int index = 0; index < m_constraints.size(); ++index) { const btAlignedObjectArray& constraints = *m_constraints.getAtIndex(index); - size_t i = m_constraints.getKeyAtIndex(index).getUid1(); btAlignedObjectArray& frictions = *m_frictions[m_constraints.getKeyAtIndex(index)]; + size_t i = m_constraints.getKeyAtIndex(index).getUid1(); btAssert(constraints.size() <= dim); btAssert(constraints.size() > 0); if (constraints.size() == 1) @@ -427,6 +430,34 @@ void btDeformableContactProjection::project(TVStack& x) } else x[i].setZero(); + // apply the friction constraint + if (constraints.size() < 3) + { + for (int f = 0; f < frictions.size(); ++f) + { + DeformableFrictionConstraint& friction= frictions[f]; + for (int j = 0; j < friction.m_direction.size(); ++j) + { + if (friction.m_static[j] == true) + { + x[i] -= x[i].dot(friction.m_direction[j]) * friction.m_direction[j]; + } + } + } + } + } +} + +void btDeformableContactProjection::projectFriction(TVStack& x) +{ + const int dim = 3; + for (int index = 0; index < m_constraints.size(); ++index) + { + const btAlignedObjectArray& constraints = *m_constraints.getAtIndex(index); + size_t i = m_constraints.getKeyAtIndex(index).getUid1(); + btAlignedObjectArray& frictions = *m_frictions[m_constraints.getKeyAtIndex(index)]; + btAssert(constraints.size() <= dim); + btAssert(constraints.size() > 0); // apply friction if the node is not constrained in all directions if (constraints.size() < 3) @@ -444,23 +475,12 @@ void btDeformableContactProjection::project(TVStack& x) DeformableFrictionConstraint& friction= frictions[f]; for (int j = 0; j < friction.m_direction.size(); ++j) { - // clear the old friction force - if (friction.m_static_prev[j] == false) - { - x[i] -= friction.m_direction_prev[j] * friction.m_impulse_prev[j]; - } - // only add to the rhs if there is no static friction constraint on the node if (friction.m_static[j] == false) { if (!has_static_constraint) x[i] += friction.m_direction[j] * friction.m_impulse[j]; } - else - { - // otherwise clear the constraint in the friction direction - x[i] -= x[i].dot(friction.m_direction[j]) * friction.m_direction[j]; - } } } } diff --git a/src/BulletSoftBody/btDeformableContactProjection.h b/src/BulletSoftBody/btDeformableContactProjection.h index 64d448b5e..0827554bb 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.h +++ b/src/BulletSoftBody/btDeformableContactProjection.h @@ -36,6 +36,8 @@ public: // apply the constraints to the rhs virtual void project(TVStack& x); + // add to friction + virtual void projectFriction(TVStack& x); // apply constraints to x in Ax=b virtual void enforceConstraint(TVStack& x); From fa5741d07edee8ca9466dc86c2ab030d2debb782 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Sat, 10 Aug 2019 11:11:18 -0700 Subject: [PATCH 061/389] improve dynamic friction --- src/BulletSoftBody/btCGProjection.h | 31 +- .../btDeformableBackwardEulerObjective.cpp | 4 +- .../btDeformableBackwardEulerObjective.h | 2 +- src/BulletSoftBody/btDeformableBodySolver.cpp | 8 +- .../btDeformableContactProjection.cpp | 456 +++++++----------- .../btDeformableContactProjection.h | 5 +- .../btDeformableRigidDynamicsWorld.cpp | 117 +++-- 7 files changed, 245 insertions(+), 378 deletions(-) diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index 0a4db2b49..ef902c70d 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -22,39 +22,30 @@ class btDeformableRigidDynamicsWorld; struct DeformableContactConstraint { + const btSoftBody::Node* m_node; btAlignedObjectArray m_contact; - btAlignedObjectArray m_direction; - btAlignedObjectArray m_value; - // the magnitude of the total impulse the node applied to the rb in the normal direction in the cg solve - btAlignedObjectArray m_accumulated_normal_impulse; + btAlignedObjectArray m_total_normal_dv; + btAlignedObjectArray m_total_tangent_dv; + btAlignedObjectArray m_static; + btAlignedObjectArray m_can_be_dynamic; - DeformableContactConstraint(const btSoftBody::RContact& rcontact) + DeformableContactConstraint(const btSoftBody::RContact& rcontact): m_node(rcontact.m_node) { append(rcontact); } - DeformableContactConstraint(const btVector3& dir) + DeformableContactConstraint(): m_node(NULL) { m_contact.push_back(NULL); - m_direction.push_back(dir); - m_value.push_back(0); - m_accumulated_normal_impulse.push_back(0); - } - - DeformableContactConstraint() - { - m_contact.push_back(NULL); - m_direction.push_back(btVector3(0,0,0)); - m_value.push_back(0); - m_accumulated_normal_impulse.push_back(0); } void append(const btSoftBody::RContact& rcontact) { m_contact.push_back(&rcontact); - m_direction.push_back(rcontact.m_cti.m_normal); - m_value.push_back(0); - m_accumulated_normal_impulse.push_back(0); + m_total_normal_dv.push_back(btVector3(0,0,0)); + m_total_tangent_dv.push_back(btVector3(0,0,0)); + m_static.push_back(false); + m_can_be_dynamic.push_back(true); } ~DeformableContactConstraint() diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index 09bb9ee2d..f4a3f55e5 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -146,7 +146,7 @@ void btDeformableBackwardEulerObjective::setConstraints() projection.setConstraints(); } -void btDeformableBackwardEulerObjective::projectFriction(TVStack& r) +void btDeformableBackwardEulerObjective::applyDynamicFriction(TVStack& r) { - projection.projectFriction(r); + projection.applyDynamicFriction(r); } diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index 5de89849a..3863970c6 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -75,7 +75,7 @@ public: projection.enforceConstraint(x); } - void projectFriction(TVStack& r); + void applyDynamicFriction(TVStack& r); // add dv to velocity void updateVelocity(const TVStack& dv); diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index daa85849b..be0262842 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -36,17 +36,17 @@ void btDeformableBodySolver::solveConstraints(float solverdt) // add constraints to the solver setConstraints(); - m_objective->computeResidual(solverdt, m_residual); - m_objective->projectFriction(m_residual); + m_objective->applyDynamicFriction(m_residual); computeStep(m_dv, m_residual); + updateVelocity(); } void btDeformableBodySolver::computeStep(TVStack& dv, const TVStack& residual) { - btScalar tolerance = std::numeric_limits::epsilon()* 1024 * m_objective->computeNorm(residual); + btScalar tolerance = std::numeric_limits::epsilon() * m_objective->computeNorm(residual); m_cg.solve(*m_objective, dv, residual, tolerance); } @@ -76,7 +76,7 @@ void btDeformableBodySolver::setConstraints() { BT_PROFILE("setConstraint"); m_objective->setConstraints(); - for (int i = 0; i < 1; ++i) + for (int i = 0; i < 10; ++i) { m_objective->projection.update(); m_objective->enforceConstraint(m_dv); diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index ea88bee49..9bdd8323e 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -57,164 +57,129 @@ void btDeformableContactProjection::update() // loop through constraints to set constrained values for (int index = 0; index < m_constraints.size(); ++index) { - btAlignedObjectArray& frictions = *m_frictions[m_constraints.getKeyAtIndex(index)]; - btAlignedObjectArray& constraints = *m_constraints.getAtIndex(index); - for (int i = 0; i < constraints.size(); ++i) + DeformableContactConstraint& constraint = *m_constraints.getAtIndex(index); + const btSoftBody::Node* node = constraint.m_node; + for (int j = 0; j < constraint.m_contact.size(); ++j) { - DeformableContactConstraint& constraint = constraints[i]; - DeformableFrictionConstraint& friction = frictions[i]; - for (int j = 0; j < constraint.m_contact.size(); ++j) + if (constraint.m_contact[j] == NULL) { - if (constraint.m_contact[j] == NULL) - { - // nothing needs to be done for dirichelet constraints - continue; - } - const btSoftBody::RContact* c = constraint.m_contact[j]; - const btSoftBody::sCti& cti = c->m_cti; + // nothing needs to be done for dirichelet constraints + continue; + } + const btSoftBody::RContact* c = constraint.m_contact[j]; + const btSoftBody::sCti& cti = c->m_cti; + + if (cti.m_colObj->hasContactResponse()) + { + btVector3 va(0, 0, 0); + btRigidBody* rigidCol = 0; + btMultiBodyLinkCollider* multibodyLinkCol = 0; + const btScalar* deltaV_normal; - if (cti.m_colObj->hasContactResponse()) + // grab the velocity of the rigid body + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) { - btVector3 va(0, 0, 0); - btRigidBody* rigidCol = 0; - btMultiBodyLinkCollider* multibodyLinkCol = 0; - const btScalar* deltaV_normal; - - // grab the velocity of the rigid body - if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c->m_c1)) * m_dt : btVector3(0, 0, 0); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) { - rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); - va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c->m_c1)) * m_dt : btVector3(0, 0, 0); - } - else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) - { - multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); - if (multibodyLinkCol) + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + const btScalar* J_n = &c->jacobianData_normal.m_jacobians[0]; + const btScalar* J_t1 = &c->jacobianData_t1.m_jacobians[0]; + const btScalar* J_t2 = &c->jacobianData_t2.m_jacobians[0]; + const btScalar* local_v = multibodyLinkCol->m_multiBody->getVelocityVector(); + deltaV_normal = &c->jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + // add in the normal component of the va + btScalar vel = 0.0; + for (int k = 0; k < ndof; ++k) { - const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; - const btScalar* J_n = &c->jacobianData_normal.m_jacobians[0]; - const btScalar* J_t1 = &c->jacobianData_t1.m_jacobians[0]; - const btScalar* J_t2 = &c->jacobianData_t2.m_jacobians[0]; - const btScalar* local_v = multibodyLinkCol->m_multiBody->getVelocityVector(); - deltaV_normal = &c->jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; - // add in the normal component of the va - btScalar vel = 0.0; - for (int k = 0; k < ndof; ++k) - { - vel += local_v[k] * J_n[k]; - } - va = cti.m_normal * vel * m_dt; - - // add in the tangential components of the va - vel = 0.0; - for (int k = 0; k < ndof; ++k) - { - vel += local_v[k] * J_t1[k]; - } - va += c->t1 * vel * m_dt; - vel = 0.0; - for (int k = 0; k < ndof; ++k) - { - vel += local_v[k] * J_t2[k]; - } - va += c->t2 * vel * m_dt; + vel += local_v[k] * J_n[k]; } - } - - const btVector3 vb = c->m_node->m_v * m_dt; - const btVector3 vr = vb - va; - const btScalar dn = btDot(vr, cti.m_normal); - btVector3 impulse = c->m_c0 * vr; - const btVector3 impulse_normal = c->m_c0 * (cti.m_normal * dn); - const btVector3 impulse_tangent = impulse - impulse_normal; - - // start friction handling - // copy old data - friction.m_impulse_prev[j] = friction.m_impulse[j]; - friction.m_dv_prev[j] = friction.m_dv[j]; - friction.m_static_prev[j] = friction.m_static[j]; - friction.m_direction_prev[j] = friction.m_direction[j]; - - // get the current tangent direction - btScalar local_tangent_norm = impulse_tangent.norm(); - btVector3 local_tangent_dir = -friction.m_direction[j]; - if (local_tangent_norm > SIMD_EPSILON) - local_tangent_dir = impulse_tangent.normalized(); + va = cti.m_normal * vel * m_dt; - // accumulated impulse on the rb in this and all prev cg iterations - constraint.m_accumulated_normal_impulse[j] += impulse_normal.dot(cti.m_normal); - const btScalar& accumulated_normal = constraint.m_accumulated_normal_impulse[j]; - - // the total tangential impulse required to stop sliding - btVector3 tangent = friction.m_accumulated_tangent_impulse[j] + impulse_tangent; - btScalar tangent_norm = tangent.norm(); - - if (accumulated_normal < 0) - { - friction.m_direction[j] = -local_tangent_dir; - // do not allow switching from static friction to dynamic friction - // it causes cg to explode - if (-accumulated_normal*c->m_c3 < tangent_norm && friction.m_static_prev[j] == false && friction.m_released[j] == false) + // add in the tangential components of the va + vel = 0.0; + for (int k = 0; k < ndof; ++k) { - friction.m_static[j] = false; - friction.m_impulse[j] = -accumulated_normal*c->m_c3; + vel += local_v[k] * J_t1[k]; + } + va += c->t1 * vel * m_dt; + vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += local_v[k] * J_t2[k]; + } + va += c->t2 * vel * m_dt; + } + } + + const btVector3 vb = c->m_node->m_v * m_dt; + const btVector3 vr = vb - va; + const btScalar dn = btDot(vr, cti.m_normal); + btVector3 impulse = c->m_c0 * vr; + const btVector3 impulse_normal = c->m_c0 * (cti.m_normal * dn); + btVector3 impulse_tangent = impulse - impulse_normal; + + btVector3 old_total_tangent_dv = constraint.m_total_tangent_dv[j]; + constraint.m_total_normal_dv[j] -= impulse_normal * node->m_im; + constraint.m_total_tangent_dv[j] -= impulse_tangent * node->m_im; + + if (constraint.m_total_normal_dv[j].dot(cti.m_normal) < 0) + { + // separating in the normal direction + constraint.m_static[j] = false; + constraint.m_can_be_dynamic[j] = false; + constraint.m_total_tangent_dv[j] = btVector3(0,0,0); + impulse_tangent.setZero(); + } + else + { + if (constraint.m_can_be_dynamic[j] && constraint.m_total_normal_dv[j].norm() * c->m_c3 < constraint.m_total_tangent_dv[j].norm()) + { + // dynamic friction + // with dynamic friction, the impulse are still applied to the two objects colliding, however, it does not pose a constraint in the cg solve, hence the change to dv merely serves to update velocity in the contact iterations. + constraint.m_static[j] = false; + constraint.m_can_be_dynamic[j] = true; + if (constraint.m_total_tangent_dv[j].norm() < SIMD_EPSILON) + { + constraint.m_total_tangent_dv[j] = btVector3(0,0,0); } else { - friction.m_static[j] = true; - friction.m_impulse[j] = tangent_norm; + constraint.m_total_tangent_dv[j] = constraint.m_total_tangent_dv[j].normalized() * constraint.m_total_normal_dv[j].norm() * c->m_c3; } + impulse_tangent = -btScalar(1)/node->m_im * (constraint.m_total_tangent_dv[j] - old_total_tangent_dv); } else { - friction.m_released[j] = true; - friction.m_static[j] = false; - friction.m_impulse[j] = 0; - friction.m_direction[j] = btVector3(0,0,0); + // static friction + constraint.m_static[j] = true; + constraint.m_can_be_dynamic[j] = false; } - friction.m_dv[j] = friction.m_impulse[j] * c->m_c2/m_dt; - friction.m_accumulated_tangent_impulse[j] = -friction.m_impulse[j] * friction.m_direction[j]; - - // the incremental impulse applied to rb in the tangential direction - btVector3 incremental_tangent = (friction.m_impulse_prev[j] * friction.m_direction_prev[j])-(friction.m_impulse[j] * friction.m_direction[j]); - - - // dv = new_impulse + accumulated velocity change in previous CG iterations - // so we have the invariant node->m_v = backupVelocity + dv; - - btScalar dvn = -accumulated_normal * c->m_c2/m_dt; - - // the following is equivalent - /* - btVector3 dv = -impulse_normal * c->m_c2/m_dt + c->m_node->m_v - backupVelocity[m_indices->at(c->m_node)]; - btScalar dvn = dv.dot(cti.m_normal); - */ - - constraint.m_value[j] = dvn; - - // the incremental impulse: - // in the normal direction it's the normal component of "impulse" - // in the tangent direction it's the difference between the frictional impulse in the iteration and the previous iteration - impulse = impulse_normal + incremental_tangent; - if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + } + impulse = impulse_normal + impulse_tangent; + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + if (rigidCol) + rigidCol->applyImpulse(impulse, c->m_c1); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + if (multibodyLinkCol) { - if (rigidCol) - rigidCol->applyImpulse(impulse, c->m_c1); - } - else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) - { - if (multibodyLinkCol) + // apply normal component of the impulse + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_normal, impulse.dot(cti.m_normal)); + if (impulse_tangent.norm() > SIMD_EPSILON) { - // apply normal component of the impulse - multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_normal, impulse.dot(cti.m_normal)); - if (incremental_tangent.norm() > SIMD_EPSILON) - { - // apply tangential component of the impulse - const btScalar* deltaV_t1 = &c->jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; - multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_t1, impulse.dot(c->t1)); - const btScalar* deltaV_t2 = &c->jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; - multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_t2, impulse.dot(c->t2)); - } + // apply tangential component of the impulse + const btScalar* deltaV_t1 = &c->jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_t1, impulse.dot(c->t1)); + const btScalar* deltaV_t2 = &c->jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_t2, impulse.dot(c->t2)); } } } @@ -234,19 +199,7 @@ void btDeformableContactProjection::setConstraints() { if (psb->m_nodes[j].m_im == 0) { - btAlignedObjectArray c; - c.reserve(3); - c.push_back(DeformableContactConstraint(btVector3(1,0,0))); - c.push_back(DeformableContactConstraint(btVector3(0,1,0))); - c.push_back(DeformableContactConstraint(btVector3(0,0,1))); - m_constraints.insert(psb->m_nodes[j].index, c); - - btAlignedObjectArray f; - f.reserve(3); - f.push_back(DeformableFrictionConstraint()); - f.push_back(DeformableFrictionConstraint()); - f.push_back(DeformableFrictionConstraint()); - m_frictions.insert(psb->m_nodes[j].index, f); + m_constraints.insert(psb->m_nodes[j].index, DeformableContactConstraint()); } } } @@ -301,41 +254,12 @@ void btDeformableContactProjection::setConstraints() if (m_constraints.find(c.m_node->index) == NULL) { - btAlignedObjectArray constraints; - constraints.push_back(DeformableContactConstraint(c)); - m_constraints.insert(c.m_node->index,constraints); - btAlignedObjectArray frictions; - frictions.push_back(DeformableFrictionConstraint()); - m_frictions.insert(c.m_node->index,frictions); + m_constraints.insert(c.m_node->index, DeformableContactConstraint(c)); } else { - // group colinear constraints into one - const btScalar angle_epsilon = 0.015192247; // less than 10 degree - bool merged = false; - btAlignedObjectArray& constraints = *m_constraints[c.m_node->index]; - btAlignedObjectArray& frictions = *m_frictions[c.m_node->index]; - for (int j = 0; j < constraints.size(); ++j) - { - const btAlignedObjectArray& dirs = constraints[j].m_direction; - btScalar dot_prod = dirs[0].dot(cti.m_normal); - if (std::abs(std::abs(dot_prod) - 1) < angle_epsilon) - { - // group the constraints - constraints[j].append(c); - // push in an empty friction - frictions[j].append(); - merged = true; - break; - } - } - const int dim = 3; - // hard coded no more than 3 constraint directions - if (!merged && constraints.size() < dim) - { - constraints.push_back(DeformableContactConstraint(c)); - frictions.push_back(DeformableFrictionConstraint()); - } + DeformableContactConstraint& constraints = *m_constraints[c.m_node->index]; + constraints.append(c); } } } @@ -345,64 +269,15 @@ void btDeformableContactProjection::setConstraints() void btDeformableContactProjection::enforceConstraint(TVStack& x) { - const int dim = 3; for (int index = 0; index < m_constraints.size(); ++index) { - const btAlignedObjectArray& constraints = *m_constraints.getAtIndex(index); + const DeformableContactConstraint& constraints = *m_constraints.getAtIndex(index); size_t i = m_constraints.getKeyAtIndex(index).getUid1(); - const btAlignedObjectArray& frictions = *m_frictions[m_constraints.getKeyAtIndex(index)]; - btAssert(constraints.size() <= dim); - btAssert(constraints.size() > 0); - if (constraints.size() == 1) + x[i].setZero(); + for (int j = 0; j < constraints.m_total_normal_dv.size(); ++j) { - x[i] -= x[i].dot(constraints[0].m_direction[0]) * constraints[0].m_direction[0]; - for (int j = 0; j < constraints[0].m_direction.size(); ++j) - x[i] += constraints[0].m_value[j] * constraints[0].m_direction[j]; - } - else if (constraints.size() == 2) - { - btVector3 free_dir = btCross(constraints[0].m_direction[0], constraints[1].m_direction[0]); - btAssert(free_dir.norm() > SIMD_EPSILON) - free_dir.normalize(); - x[i] = x[i].dot(free_dir) * free_dir; - for (int j = 0; j < constraints.size(); ++j) - { - for (int k = 0; k < constraints[j].m_direction.size(); ++k) - { - x[i] += constraints[j].m_value[k] * constraints[j].m_direction[k]; - } - } - } - else - { - x[i].setZero(); - for (int j = 0; j < constraints.size(); ++j) - { - for (int k = 0; k < constraints[j].m_direction.size(); ++k) - { - x[i] += constraints[j].m_value[k] * constraints[j].m_direction[k]; - } - } - } - - // apply friction if the node is not constrained in all directions - if (constraints.size() < 3) - { - for (int f = 0; f < frictions.size(); ++f) - { - const DeformableFrictionConstraint& friction= frictions[f]; - for (int j = 0; j < friction.m_direction.size(); ++j) - { - // add the friction constraint - if (friction.m_static[j] == true) - { -// if (friction.m_static_prev[j] == true) -// x[i] -= friction.m_direction_prev[j] * friction.m_dv_prev[j]; -// x[i] -= x[i].dot(friction.m_direction[j]) * friction.m_direction[j]; - x[i] += friction.m_direction[j] * friction.m_dv[j]; - } - } - } + x[i] += constraints.m_total_normal_dv[j]; + x[i] += constraints.m_total_tangent_dv[j]; } } } @@ -412,76 +287,80 @@ void btDeformableContactProjection::project(TVStack& x) const int dim = 3; for (int index = 0; index < m_constraints.size(); ++index) { - const btAlignedObjectArray& constraints = *m_constraints.getAtIndex(index); - btAlignedObjectArray& frictions = *m_frictions[m_constraints.getKeyAtIndex(index)]; + const DeformableContactConstraint& constraints = *m_constraints.getAtIndex(index); size_t i = m_constraints.getKeyAtIndex(index).getUid1(); - btAssert(constraints.size() <= dim); - btAssert(constraints.size() > 0); - if (constraints.size() == 1) + if (constraints.m_contact[0] == NULL) { - x[i] -= x[i].dot(constraints[0].m_direction[0]) * constraints[0].m_direction[0]; + // static node + x[i].setZero(); + continue; } - else if (constraints.size() == 2) + bool has_static = false; + for (int j = 0; j < constraints.m_static.size(); ++j) { - btVector3 free_dir = btCross(constraints[0].m_direction[0], constraints[1].m_direction[0]); - btAssert(free_dir.norm() > SIMD_EPSILON) - free_dir.normalize(); - x[i] = x[i].dot(free_dir) * free_dir; + has_static = has_static || constraints.m_static[j]; + } + // static friction => fully constrained + if (has_static) + { + x[i].setZero(); + } + else if (constraints.m_total_normal_dv.size() >= dim) + { + x[i].setZero(); + } + else if (constraints.m_total_normal_dv.size() == 2) + { + + btVector3 dir0 = (constraints.m_total_normal_dv[0].norm() > SIMD_EPSILON) ? constraints.m_total_normal_dv[0].normalized() : btVector3(0,0,0); + btVector3 dir1 = (constraints.m_total_normal_dv[1].norm() > SIMD_EPSILON) ? constraints.m_total_normal_dv[1].normalized() : btVector3(0,0,0); + btVector3 free_dir = btCross(dir0, dir1); + if (free_dir.norm() < SIMD_EPSILON) + { + x[i] -= x[i].dot(dir0) * dir0; + x[i] -= x[i].dot(dir1) * dir1; + } + else + { + free_dir.normalize(); + x[i] = x[i].dot(free_dir) * free_dir; + } } else - x[i].setZero(); - // apply the friction constraint - if (constraints.size() < 3) { - for (int f = 0; f < frictions.size(); ++f) - { - DeformableFrictionConstraint& friction= frictions[f]; - for (int j = 0; j < friction.m_direction.size(); ++j) - { - if (friction.m_static[j] == true) - { - x[i] -= x[i].dot(friction.m_direction[j]) * friction.m_direction[j]; - } - } - } + btAssert(constraints.m_total_normal_dv.size() == 1); + btVector3 dir0 = (constraints.m_total_normal_dv[0].norm() > SIMD_EPSILON) ? constraints.m_total_normal_dv[0].normalized() : btVector3(0,0,0); + x[i] -= x[i].dot(dir0) * dir0; } } } -void btDeformableContactProjection::projectFriction(TVStack& x) +void btDeformableContactProjection::applyDynamicFriction(TVStack& f) { - const int dim = 3; for (int index = 0; index < m_constraints.size(); ++index) { - const btAlignedObjectArray& constraints = *m_constraints.getAtIndex(index); + const DeformableContactConstraint& constraint = *m_constraints.getAtIndex(index); + const btSoftBody::Node* node = constraint.m_node; + if (node == NULL) + continue; size_t i = m_constraints.getKeyAtIndex(index).getUid1(); - btAlignedObjectArray& frictions = *m_frictions[m_constraints.getKeyAtIndex(index)]; - btAssert(constraints.size() <= dim); - btAssert(constraints.size() > 0); + bool has_static_constraint = false; - // apply friction if the node is not constrained in all directions - if (constraints.size() < 3) + // apply dynamic friction force (scaled by dt) if the node does not have static friction constraint + for (int j = 0; j < constraint.m_static.size(); ++j) { - bool has_static_constraint = false; - for (int f = 0; f < frictions.size(); ++f) + if (constraint.m_static[j]) { - DeformableFrictionConstraint& friction= frictions[f]; - for (int j = 0; j < friction.m_static.size(); ++j) - has_static_constraint = has_static_constraint || friction.m_static[j]; + has_static_constraint = true; + break; } - - for (int f = 0; f < frictions.size(); ++f) + } + for (int j = 0; j < constraint.m_total_tangent_dv.size(); ++j) + { + btVector3 friction_force = constraint.m_total_tangent_dv[j] * (1./node->m_im); + if (!has_static_constraint) { - DeformableFrictionConstraint& friction= frictions[f]; - for (int j = 0; j < friction.m_direction.size(); ++j) - { - // only add to the rhs if there is no static friction constraint on the node - if (friction.m_static[j] == false) - { - if (!has_static_constraint) - x[i] += friction.m_direction[j] * friction.m_impulse[j]; - } - } + f[i] += friction_force; } } } @@ -491,7 +370,6 @@ void btDeformableContactProjection::reinitialize(bool nodeUpdated) { btCGProjection::reinitialize(nodeUpdated); m_constraints.clear(); - m_frictions.clear(); } diff --git a/src/BulletSoftBody/btDeformableContactProjection.h b/src/BulletSoftBody/btDeformableContactProjection.h index 0827554bb..331e1df6d 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.h +++ b/src/BulletSoftBody/btDeformableContactProjection.h @@ -22,8 +22,7 @@ class btDeformableContactProjection : public btCGProjection { public: // map from node index to constraints - btHashMap > m_constraints; - btHashMap >m_frictions; + btHashMap m_constraints; btDeformableContactProjection(btAlignedObjectArray& softBodies, const btScalar& dt) : btCGProjection(softBodies, dt) @@ -37,7 +36,7 @@ public: // apply the constraints to the rhs virtual void project(TVStack& x); // add to friction - virtual void projectFriction(TVStack& x); + virtual void applyDynamicFriction(TVStack& f); // apply constraints to x in Ax=b virtual void enforceConstraint(TVStack& x); diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp index 80c77ada1..900ca9d8c 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp @@ -70,78 +70,77 @@ void btDeformableRigidDynamicsWorld::positionCorrection(btScalar timeStep) BT_PROFILE("positionCorrection"); for (int index = 0; index < m_deformableBodySolver->m_objective->projection.m_constraints.size(); ++index) { - btAlignedObjectArray& frictions = *m_deformableBodySolver->m_objective->projection.m_frictions[m_deformableBodySolver->m_objective->projection.m_constraints.getKeyAtIndex(index)]; - btAlignedObjectArray& constraints = *m_deformableBodySolver->m_objective->projection.m_constraints.getAtIndex(index); - for (int i = 0; i < constraints.size(); ++i) + DeformableContactConstraint& constraint = *m_deformableBodySolver->m_objective->projection.m_constraints.getAtIndex(index); + for (int j = 0; j < constraint.m_contact.size(); ++j) { - DeformableContactConstraint& constraint = constraints[i]; - DeformableFrictionConstraint& friction = frictions[i]; - for (int j = 0; j < constraint.m_contact.size(); ++j) + const btSoftBody::RContact* c = constraint.m_contact[j]; + // skip anchor points + if (c == NULL || c->m_node->m_im == 0) + continue; + const btSoftBody::sCti& cti = c->m_cti; + btVector3 va(0, 0, 0); + + // grab the velocity of the rigid body + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) { - const btSoftBody::RContact* c = constraint.m_contact[j]; - // skip anchor points - if (c == NULL || c->m_node->m_im == 0) - continue; - const btSoftBody::sCti& cti = c->m_cti; - btVector3 va(0, 0, 0); - - // grab the velocity of the rigid body - if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + btRigidBody* rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c->m_c1)): btVector3(0, 0, 0); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) { - btRigidBody* rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); - va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c->m_c1)): btVector3(0, 0, 0); - } - else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) - { - btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); - if (multibodyLinkCol) + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + const btScalar* J_n = &c->jacobianData_normal.m_jacobians[0]; + const btScalar* J_t1 = &c->jacobianData_t1.m_jacobians[0]; + const btScalar* J_t2 = &c->jacobianData_t2.m_jacobians[0]; + const btScalar* local_v = multibodyLinkCol->m_multiBody->getVelocityVector(); + // add in the normal component of the va + btScalar vel = 0.0; + for (int k = 0; k < ndof; ++k) { - const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; - const btScalar* J_n = &c->jacobianData_normal.m_jacobians[0]; - const btScalar* J_t1 = &c->jacobianData_t1.m_jacobians[0]; - const btScalar* J_t2 = &c->jacobianData_t2.m_jacobians[0]; - const btScalar* local_v = multibodyLinkCol->m_multiBody->getVelocityVector(); - // add in the normal component of the va - btScalar vel = 0.0; - for (int k = 0; k < ndof; ++k) - { - vel += local_v[k] * J_n[k]; - } - va = cti.m_normal * vel; - - vel = 0.0; - for (int k = 0; k < ndof; ++k) - { - vel += local_v[k] * J_t1[k]; - } - va += c->t1 * vel; - vel = 0.0; - for (int k = 0; k < ndof; ++k) - { - vel += local_v[k] * J_t2[k]; - } - va += c->t2 * vel; + vel += local_v[k] * J_n[k]; } - } - else - { - // The object interacting with deformable node is not supported for position correction - btAssert(false); - } - - if (cti.m_colObj->hasContactResponse()) - { - btScalar dp = cti.m_offset; + va = cti.m_normal * vel; - // only perform position correction when penetrating - if (dp < 0) + vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += local_v[k] * J_t1[k]; + } + va += c->t1 * vel; + vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += local_v[k] * J_t2[k]; + } + va += c->t2 * vel; + } + } + else + { + // The object interacting with deformable node is not supported for position correction + btAssert(false); + } + + if (cti.m_colObj->hasContactResponse()) + { + btScalar dp = cti.m_offset; + + // only perform position correction when penetrating + if (dp < 0) + { + if (constraint.m_static[j] == true) { if (friction.m_static[j] == true) { c->m_node->m_v = va; } c->m_node->m_v -= dp * cti.m_normal / timeStep; + c->m_node->m_v = va; } + c->m_node->m_v -= dp * cti.m_normal / timeStep; } } } From f7cd1edf4af9f53b078357dd758b064d1e343bbb Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Sat, 10 Aug 2019 12:00:48 -0700 Subject: [PATCH 062/389] code clean up --- examples/DeformableDemo/DeformableRigid.cpp | 2 +- examples/DeformableDemo/GraspDeformable.cpp | 4 +- .../DeformableDemo/VolumetricDeformable.cpp | 3 +- src/BulletSoftBody/btCGProjection.h | 44 ------------------- src/BulletSoftBody/btDeformableBodySolver.cpp | 5 ++- src/BulletSoftBody/btDeformableBodySolver.h | 1 + 6 files changed, 9 insertions(+), 50 deletions(-) diff --git a/examples/DeformableDemo/DeformableRigid.cpp b/examples/DeformableDemo/DeformableRigid.cpp index 9268572ef..6cc3d7b4f 100644 --- a/examples/DeformableDemo/DeformableRigid.cpp +++ b/examples/DeformableDemo/DeformableRigid.cpp @@ -232,7 +232,7 @@ void DeformableRigid::initPhysics() psb->setDampingCoefficient(0.05); 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; + psb->m_cfg.kDF = 1; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addSoftBody(psb); getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce()); diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index 15348af26..6596c07d7 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -331,10 +331,10 @@ void GraspDeformable::initPhysics() psb->getCollisionShape()->setMargin(0.1); psb->setTotalMass(1); psb->setSpringStiffness(0); - psb->setDampingCoefficient(0.02); + psb->setDampingCoefficient(0.1); 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; + psb->m_cfg.kDF = 2; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addSoftBody(psb); getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce()); diff --git a/examples/DeformableDemo/VolumetricDeformable.cpp b/examples/DeformableDemo/VolumetricDeformable.cpp index 74d9678a8..22755856b 100644 --- a/examples/DeformableDemo/VolumetricDeformable.cpp +++ b/examples/DeformableDemo/VolumetricDeformable.cpp @@ -234,7 +234,7 @@ void VolumetricDeformable::initPhysics() psb->getCollisionShape()->setMargin(0.25); // psb->generateBendingConstraints(2); psb->setTotalMass(1); - psb->setSpringStiffness(1); + psb->setSpringStiffness(0); psb->setDampingCoefficient(0.01); psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb->m_cfg.kCHR = 1; // collision hardness with rigid body @@ -242,6 +242,7 @@ void VolumetricDeformable::initPhysics() psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce()); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(.5,.5)); } // add a few rigid bodies Ctor_RbUpStack(4); diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index ef902c70d..9dc416cdd 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -53,49 +53,6 @@ struct DeformableContactConstraint } }; -struct DeformableFrictionConstraint -{ - btAlignedObjectArray m_static; // whether the friction is static - btAlignedObjectArray m_impulse; // the impulse magnitude the node feels - btAlignedObjectArray m_dv; // the dv magnitude of the node - btAlignedObjectArray m_direction; // the direction of the friction for the node - - - btAlignedObjectArray m_static_prev; - btAlignedObjectArray m_impulse_prev; - btAlignedObjectArray m_dv_prev; - btAlignedObjectArray m_direction_prev; - - btAlignedObjectArray m_released; // whether the contact is released - - - // the total impulse the node applied to the rb in the tangential direction in the cg solve - btAlignedObjectArray m_accumulated_tangent_impulse; - - DeformableFrictionConstraint() - { - append(); - } - - void append() - { - m_static.push_back(false); - m_static_prev.push_back(false); - - m_direction_prev.push_back(btVector3(0,0,0)); - m_direction.push_back(btVector3(0,0,0)); - - m_impulse.push_back(0); - m_impulse_prev.push_back(0); - - m_dv.push_back(0); - m_dv_prev.push_back(0); - - m_accumulated_tangent_impulse.push_back(btVector3(0,0,0)); - m_released.push_back(false); - } -}; - class btCGProjection { public: @@ -104,7 +61,6 @@ public: typedef btAlignedObjectArray > TArrayStack; btAlignedObjectArray& m_softBodies; btDeformableRigidDynamicsWorld* m_world; -// const btAlignedObjectArray* m_nodes; const btScalar& m_dt; btCGProjection(btAlignedObjectArray& softBodies, const btScalar& dt) diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index be0262842..8361abfe5 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -19,6 +19,7 @@ btDeformableBodySolver::btDeformableBodySolver() : m_numNodes(0) , m_cg(10) +, m_contact_iterations(10) { m_objective = new btDeformableBackwardEulerObjective(m_softBodySet, m_backupVelocity); } @@ -46,7 +47,7 @@ void btDeformableBodySolver::solveConstraints(float solverdt) void btDeformableBodySolver::computeStep(TVStack& dv, const TVStack& residual) { - btScalar tolerance = std::numeric_limits::epsilon() * m_objective->computeNorm(residual); + btScalar tolerance = std::numeric_limits::epsilon() * 1024 * m_objective->computeNorm(residual); m_cg.solve(*m_objective, dv, residual, tolerance); } @@ -76,7 +77,7 @@ void btDeformableBodySolver::setConstraints() { BT_PROFILE("setConstraint"); m_objective->setConstraints(); - for (int i = 0; i < 10; ++i) + for (int i = 0; i < m_contact_iterations; ++i) { m_objective->projection.update(); m_objective->enforceConstraint(m_dv); diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index 94102afa9..206354f52 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -37,6 +37,7 @@ protected: btAlignedObjectArray m_backupVelocity; btScalar m_dt; + btScalar m_contact_iterations; btConjugateGradient m_cg; From cb7257d27b0b5855f5b912b927d68bed41ac451a Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Sun, 11 Aug 2019 15:51:49 -0700 Subject: [PATCH 063/389] add reader to create softbodies from vtk files --- src/BulletSoftBody/btSoftBodyHelpers.cpp | 101 +++++++++++++++++++++++ src/BulletSoftBody/btSoftBodyHelpers.h | 6 +- 2 files changed, 106 insertions(+), 1 deletion(-) diff --git a/src/BulletSoftBody/btSoftBodyHelpers.cpp b/src/BulletSoftBody/btSoftBodyHelpers.cpp index b3c5c88a9..e30f5af58 100644 --- a/src/BulletSoftBody/btSoftBodyHelpers.cpp +++ b/src/BulletSoftBody/btSoftBodyHelpers.cpp @@ -16,6 +16,9 @@ subject to the following restrictions: #include "btSoftBodyInternals.h" #include +#include +#include +#include #include #include "btSoftBodyHelpers.h" #include "LinearMath/btConvexHull.h" @@ -1228,3 +1231,101 @@ if(face&&face[0]) printf("Tetras: %u\r\n", psb->m_tetras.size()); return (psb); } + +btSoftBody* btSoftBodyHelpers::CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, const std::string& vtk_file) +{ + std::ifstream fs; + fs.open(vtk_file); + btAssert(fs); + btSoftBody* psb = CreateFromVtkFile(worldInfo, fs); + fs.close(); + return psb; +} + +btSoftBody* btSoftBodyHelpers::CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, std::istream& in) +{ + typedef btAlignedObjectArray Index; + std::string line; + btAlignedObjectArray X; + btVector3 position; + btAlignedObjectArray indices; + bool reading_points = false; + bool reading_tets = false; + size_t n_points = 0; + size_t n_tets = 0; + size_t x_count = 0; + size_t indices_count = 0; + while (std::getline(in, line)) + { + std::stringstream ss(line); + if (line.size() == (size_t)(0)) + { + } + else if (line.substr(0, 6) == "POINTS") + { + reading_points = true; + reading_tets = false; + ss.ignore(128, ' '); // ignore "POINTS" + ss >> n_points; + X.resize(n_points); + } + else if (line.substr(0, 5) == "CELLS") + { + reading_points = false; + reading_tets = true; + ss.ignore(128, ' '); // ignore "CELLS" + ss >> n_tets; + indices.resize(n_tets); + } + else if (line.substr(0, 10) == "CELL_TYPES") + { + reading_points = false; + reading_tets = false; + } + else if (reading_points) + { + btScalar p; + ss >> p; + position.setX(p); + ss >> p; + position.setY(p); + ss >> p; + position.setZ(p); + X[x_count++] = position; + } + else if (reading_tets) + { + ss.ignore(128, ' '); // ignore "4" + Index tet; + tet.resize(4); + for (size_t i = 0; i < 4; i++) + { + ss >> tet[i]; + } + indices[indices_count++] = tet; + } + } + btSoftBody* psb = new btSoftBody(&worldInfo, n_points, &X[0], 0); + + for (int i = 0; i < n_tets; ++i) + { + const Index& ni = indices[i]; + psb->appendTetra(ni[0], ni[1], ni[2], ni[3]); + { + psb->appendLink(ni[0], ni[1], 0, true); + psb->appendLink(ni[1], ni[2], 0, true); + psb->appendLink(ni[2], ni[0], 0, true); + psb->appendLink(ni[0], ni[3], 0, true); + psb->appendLink(ni[1], ni[3], 0, true); + psb->appendLink(ni[2], ni[3], 0, true); + } + } + psb->initializeDmInverse(); + printf("Nodes: %u\r\n", psb->m_nodes.size()); + printf("Links: %u\r\n", psb->m_links.size()); + printf("Faces: %u\r\n", psb->m_faces.size()); + printf("Tetras: %u\r\n", psb->m_tetras.size()); + return (psb); +} + + diff --git a/src/BulletSoftBody/btSoftBodyHelpers.h b/src/BulletSoftBody/btSoftBodyHelpers.h index e433558c1..927cb6781 100644 --- a/src/BulletSoftBody/btSoftBodyHelpers.h +++ b/src/BulletSoftBody/btSoftBodyHelpers.h @@ -17,7 +17,8 @@ subject to the following restrictions: #define BT_SOFT_BODY_HELPERS_H #include "btSoftBody.h" - +#include +#include // // Helpers // @@ -140,6 +141,9 @@ struct btSoftBodyHelpers bool bfacelinks, bool btetralinks, bool bfacesfromtetras); + static btSoftBody* CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, const std::string& vtk_file); + static btSoftBody* CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, std::istream& in); + /// Sort the list of links to move link calculations that are dependent upon earlier /// ones as far as possible away from the calculation of those values From 991be526813a8675360bcbd7d59255141351186e Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 12 Aug 2019 11:08:11 -0700 Subject: [PATCH 064/389] add more volumetric meshes for grasping tests --- data/ball.vtk | 5681 +++++ data/banana.vtk | 5524 +++++ data/boot.vtk | 5457 ++++ data/bread.vtk | 5459 ++++ data/ditto.vtk | 23419 ++++++++++++++++++ data/paper_roll.vtk | 5057 ++++ data/torus.vtk | 9917 ++++++++ data/tube.vtk | 5051 ++++ examples/DeformableDemo/GraspDeformable.cpp | 71 +- 9 files changed, 65625 insertions(+), 11 deletions(-) create mode 100644 data/ball.vtk create mode 100644 data/banana.vtk create mode 100644 data/boot.vtk create mode 100644 data/bread.vtk create mode 100644 data/ditto.vtk create mode 100644 data/paper_roll.vtk create mode 100644 data/torus.vtk create mode 100644 data/tube.vtk diff --git a/data/ball.vtk b/data/ball.vtk new file mode 100644 index 000000000..a5007a034 --- /dev/null +++ b/data/ball.vtk @@ -0,0 +1,5681 @@ +# vtk DataFile Version 2.0 +ball_, Created by Gmsh +ASCII +DATASET UNSTRUCTURED_GRID +POINTS 600 double 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+10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index 6596c07d7..c71929234 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -31,7 +31,8 @@ #include "../CommonInterfaces/CommonMultiBodyBase.h" #include "../CommonInterfaces/CommonGraphicsAppInterface.h" #include "../CommonInterfaces/CommonParameterInterface.h" - +#include "../CommonInterfaces/CommonFileIOInterface.h" +#include "Bullet3Common/b3FileUtils.h" ///The GraspDeformable shows the use of rolling friction. ///Spheres will come to a rest on a sloped plane using a constraint. Damping cannot achieve the same. @@ -125,7 +126,7 @@ public: } //use a smaller internal timestep, there are stability issues - float internalTimeStep = 1. / 250.f; + float internalTimeStep = 1. / 400.f; m_dynamicsWorld->stepSimulation(deltaTime, 5, internalTimeStep); } @@ -312,7 +313,7 @@ void GraspDeformable::initPhysics() btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform); btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia); btRigidBody* body = new btRigidBody(rbInfo); - body->setFriction(0.5); + body->setFriction(0); //add the ground to the dynamics world m_dynamicsWorld->addRigidBody(body); @@ -320,18 +321,32 @@ void GraspDeformable::initPhysics() // create a soft block { - btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(), - TetraCube::getElements(), - 0, - TetraCube::getNodes(), - false, true, true); + char relative_path[1024]; +// b3FileUtils::findFile("banana.vtk", relative_path, 1024); + b3FileUtils::findFile("ball.vtk", relative_path, 1024); +// b3FileUtils::findFile("tube.vtk", relative_path, 1024); +// b3FileUtils::findFile("torus.vtk", relative_path, 1024); +// b3FileUtils::findFile("paper_roll.vtk", relative_path, 1024); +// b3FileUtils::findFile("bread.vtk", relative_path, 1024); +// b3FileUtils::findFile("ditto.vtk", relative_path, 1024); +// b3FileUtils::findFile("boot.vtk", relative_path, 1024); + std::string path(relative_path); +// btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(), +// TetraCube::getElements(), +// 0, +// TetraCube::getNodes(), +// false, true, true); + btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), path); +// psb->scale(btVector3(30, 30, 30)); // for banana psb->scale(btVector3(2, 2, 2)); - psb->translate(btVector3(0, 0, 0)); +// psb->scale(btVector3(3, 3, 3)); // for tube, torus, boot +// psb->scale(btVector3(1, 1, 1)); // for ditto +// psb->translate(btVector3(0, 0, 2)); for boot psb->getCollisionShape()->setMargin(0.1); psb->setTotalMass(1); psb->setSpringStiffness(0); - psb->setDampingCoefficient(0.1); + psb->setDampingCoefficient(.1); psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb->m_cfg.kCHR = 1; // collision hardness with rigid body psb->m_cfg.kDF = 2; @@ -339,9 +354,43 @@ void GraspDeformable::initPhysics() getDeformableDynamicsWorld()->addSoftBody(psb); getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce()); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); - getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(1,1)); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(10,10)); } +// // create a piece of cloth +// { +// bool onGround = false; +// const btScalar s = 4; +// btSoftBody* 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); +// +// 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, +// 2,2, +// 0, true); +// +// psb->getCollisionShape()->setMargin(0.1); +// psb->generateBendingConstraints(2); +// psb->setTotalMass(1); +// psb->setSpringStiffness(2); +// psb->setDampingCoefficient(0.03); +// 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; +// psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; +// getDeformableDynamicsWorld()->addSoftBody(psb); +// getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce()); +// getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); +// } + m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); { From 081497a812fde6cd752e7f394b8a25edd452e4f5 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 12 Aug 2019 12:04:31 -0700 Subject: [PATCH 065/389] reset dt to 1/240 for grasping demos --- examples/DeformableDemo/GraspDeformable.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index c71929234..bee1472c1 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -126,7 +126,7 @@ public: } //use a smaller internal timestep, there are stability issues - float internalTimeStep = 1. / 400.f; + float internalTimeStep = 1. / 240.f; m_dynamicsWorld->stepSimulation(deltaTime, 5, internalTimeStep); } @@ -354,7 +354,7 @@ void GraspDeformable::initPhysics() getDeformableDynamicsWorld()->addSoftBody(psb); getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce()); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); - getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(10,10)); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(5,5)); } // // create a piece of cloth From cfbd6c512a98ccaa4caa63a50bbead90c38a71aa Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 12 Aug 2019 12:06:55 -0700 Subject: [PATCH 066/389] fix bug introduced in clearing m_manifold; 7e37d3fd21069571adb4c1e4ffacbd71dd02c0ba --- .../Featherstone/btMultiBodyDynamicsWorld.cpp | 8 +------- 1 file changed, 1 insertion(+), 7 deletions(-) diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp index 602c94926..9da8496c6 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp @@ -375,15 +375,10 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager:: m_islandAnalyticsData.push_back(m_solver->m_analyticsData); } m_bodies.resize(0); -// m_manifolds.resize(0); + m_manifolds.resize(0); m_constraints.resize(0); m_multiBodyConstraints.resize(0); } - - void clearContactConstraints() - { - m_manifolds.resize(0); - } }; void btMultiBodyDynamicsWorld::getAnalyticsData(btAlignedObjectArray& islandAnalyticsData) const @@ -435,7 +430,6 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) solveExternalForces(solverInfo); buildIslands(); solveInternalConstraints(solverInfo); - m_solverMultiBodyIslandCallback->clearContactConstraints(); } void btMultiBodyDynamicsWorld::buildIslands() From 9e6e571732f6e5850f6cc4560a613aac5214e673 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 12 Aug 2019 12:07:24 -0700 Subject: [PATCH 067/389] add options to perturb the softbody patch's initial position --- src/BulletSoftBody/btSoftBodyHelpers.cpp | 11 +++++++++-- src/BulletSoftBody/btSoftBodyHelpers.h | 3 ++- 2 files changed, 11 insertions(+), 3 deletions(-) diff --git a/src/BulletSoftBody/btSoftBodyHelpers.cpp b/src/BulletSoftBody/btSoftBodyHelpers.cpp index e30f5af58..3cdf4d7bd 100644 --- a/src/BulletSoftBody/btSoftBodyHelpers.cpp +++ b/src/BulletSoftBody/btSoftBodyHelpers.cpp @@ -724,7 +724,8 @@ btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo, const int resx, int resy, int fixeds, - bool gendiags) + bool gendiags, + btScalar perturbation) { #define IDX(_x_, _y_) ((_y_)*rx + (_x_)) /* Create nodes */ @@ -744,7 +745,13 @@ btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo, const for (int ix = 0; ix < rx; ++ix) { const btScalar tx = ix / (btScalar)(rx - 1); - x[IDX(ix, iy)] = lerp(py0, py1, tx); + btScalar pert = perturbation * btScalar(rand())/RAND_MAX; + btVector4 temp1 = py1; + temp1.setY(py1.getY() + pert); + btVector4 temp = py0; + pert = perturbation * btScalar(rand())/RAND_MAX; + temp.setY(py0.getY() + pert); + x[IDX(ix, iy)] = lerp(temp, temp1, tx); m[IDX(ix, iy)] = 1; } } diff --git a/src/BulletSoftBody/btSoftBodyHelpers.h b/src/BulletSoftBody/btSoftBodyHelpers.h index 927cb6781..6cdeb97c3 100644 --- a/src/BulletSoftBody/btSoftBodyHelpers.h +++ b/src/BulletSoftBody/btSoftBodyHelpers.h @@ -92,7 +92,8 @@ struct btSoftBodyHelpers int resx, int resy, int fixeds, - bool gendiags); + bool gendiags, + btScalar perturbation = 0.); /* Create a patch with UV Texture Coordinates */ static btSoftBody* CreatePatchUV(btSoftBodyWorldInfo& worldInfo, const btVector3& corner00, From 07bf736aeb82099ac3b8f66c0647d85989d4be31 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 13 Aug 2019 14:37:45 -0700 Subject: [PATCH 068/389] build islands once and process islands arbitrary number of times in update constraints --- .../btSimulationIslandManager.cpp | 8 ++++++-- .../CollisionDispatch/btSimulationIslandManager.h | 2 +- .../Featherstone/btMultiBodyDynamicsWorld.cpp | 14 ++++++++++++-- .../Featherstone/btMultiBodyDynamicsWorld.h | 2 ++ .../btDeformableBackwardEulerObjective.cpp | 2 ++ src/BulletSoftBody/btDeformableBodySolver.cpp | 2 +- .../btDeformableContactProjection.cpp | 8 +++++--- 7 files changed, 29 insertions(+), 9 deletions(-) diff --git a/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp index 57e1bb494..327b3f076 100644 --- a/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp +++ b/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp @@ -338,13 +338,17 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi } } + ///@todo: this is random access, it can be walked 'cache friendly'! void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback) { - btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray(); - buildIslands(dispatcher, collisionWorld); + processIslands(dispatcher, collisionWorld, callback); +} +void btSimulationIslandManager::processIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback) +{ + btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray(); int endIslandIndex = 1; int startIslandIndex; int numElem = getUnionFind().getNumElements(); diff --git a/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h b/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h index 6c2802141..62c4c574c 100644 --- a/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h +++ b/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h @@ -57,7 +57,7 @@ public: }; void buildAndProcessIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback); - + void processIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback); void buildIslands(btDispatcher* dispatcher, btCollisionWorld* colWorld); bool getSplitIslands() diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp index 9da8496c6..c05ab420f 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp @@ -428,13 +428,18 @@ void btMultiBodyDynamicsWorld::forwardKinematics() void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) { solveExternalForces(solverInfo); - buildIslands(); + m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback); solveInternalConstraints(solverInfo); } void btMultiBodyDynamicsWorld::buildIslands() { - m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback); + m_islandManager->buildIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld()); +} + +void btMultiBodyDynamicsWorld::processIslands() +{ + m_islandManager->processIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback); } void btMultiBodyDynamicsWorld::solveInternalConstraints(btContactSolverInfo& solverInfo) @@ -1086,3 +1091,8 @@ void btMultiBodyDynamicsWorld::serializeMultiBodies(btSerializer* serializer) } } } + +void btMultiBodyDynamicsWorld::setSplitIslands(bool split) +{ + m_islandManager->setSplitIslands(split); +} diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h index 653ec36ca..605141bc6 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h @@ -118,6 +118,8 @@ public: virtual void solveExternalForces(btContactSolverInfo& solverInfo); virtual void solveInternalConstraints(btContactSolverInfo& solverInfo); void buildIslands(); + void processIslands(); + void setSplitIslands(bool split); }; #endif //BT_MULTIBODY_DYNAMICS_WORLD_H diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index f4a3f55e5..d01825ad4 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -143,6 +143,8 @@ void btDeformableBackwardEulerObjective::setConstraints() { // build islands for multibody solve m_world->btMultiBodyDynamicsWorld::buildIslands(); + // for repeated constraint solve, splitIslands has to be set to true + m_world->setSplitIslands(true); projection.setConstraints(); } diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 8361abfe5..e2e5740d0 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -19,7 +19,7 @@ btDeformableBodySolver::btDeformableBodySolver() : m_numNodes(0) , m_cg(10) -, m_contact_iterations(10) +, m_contact_iterations(5) { m_objective = new btDeformableBackwardEulerObjective(m_softBodySet, m_backupVelocity); } diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index 9bdd8323e..ec155fb68 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -51,9 +51,11 @@ static btVector3 generateUnitOrthogonalVector(const btVector3& u) void btDeformableContactProjection::update() { ///solve rigid body constraints - m_world->getSolverInfo().m_numIterations = 1; - m_world->btMultiBodyDynamicsWorld::solveInternalConstraints(m_world->getSolverInfo()); - + { + m_world->getSolverInfo().m_numIterations = 1; + m_world->processIslands(); + m_world->btMultiBodyDynamicsWorld::solveInternalConstraints(m_world->getSolverInfo()); // process constraints deferred in the previous step + } // loop through constraints to set constrained values for (int index = 0; index < m_constraints.size(); ++index) { From fce12964139c8073676a50db0201c1460ad3fcad Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 13 Aug 2019 16:59:42 -0700 Subject: [PATCH 069/389] fix the issue that compound objects's child does not get rotated in the material space in interpolationWorldTransform --- .../CollisionDispatch/btCollisionObjectWrapper.h | 8 +++++++- .../CollisionDispatch/btCompoundCollisionAlgorithm.cpp | 2 +- src/BulletSoftBody/btSoftBody.cpp | 7 ++++--- 3 files changed, 12 insertions(+), 5 deletions(-) diff --git a/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h b/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h index 1cc4a5ac5..56341b7d2 100644 --- a/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h +++ b/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h @@ -27,13 +27,19 @@ public: const btCollisionShape* m_shape; const btCollisionObject* m_collisionObject; const btTransform& m_worldTransform; + const btTransform* m_preTransform; int m_partId; int m_index; btCollisionObjectWrapper(const btCollisionObjectWrapper* parent, const btCollisionShape* shape, const btCollisionObject* collisionObject, const btTransform& worldTransform, int partId, int index) - : m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform), m_partId(partId), m_index(index) + : m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform), m_preTransform(NULL), m_partId(partId), m_index(index) { } + + btCollisionObjectWrapper(const btCollisionObjectWrapper* parent, const btCollisionShape* shape, const btCollisionObject* collisionObject, const btTransform& worldTransform, const btTransform& preTransform, int partId, int index) + : m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform), m_preTransform(&preTransform), m_partId(partId), m_index(index) + { + } SIMD_FORCE_INLINE const btTransform& getWorldTransform() const { return m_worldTransform; } SIMD_FORCE_INLINE const btCollisionObject* getCollisionObject() const { return m_collisionObject; } diff --git a/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp index 633bee482..1bb21104c 100644 --- a/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp +++ b/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp @@ -139,7 +139,7 @@ public: if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1)) { - btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, -1, index); + btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, childTrans, -1, index); btCollisionAlgorithm* algo = 0; bool allocatedAlgorithm = false; diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index f65851dec..2da04d491 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -20,7 +20,7 @@ subject to the following restrictions: #include "LinearMath/btSerializer.h" #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" - +#include // btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo, int node_count, const btVector3* x, const btScalar* m) : m_softBodySolver(0), m_worldInfo(worldInfo) @@ -2301,8 +2301,9 @@ bool btSoftBody::checkDeformableContact(const btCollisionObjectWrapper* colObjWr const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject(); // use the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg for collision detect // but resolve contact at x_n - const btTransform &wtr = (predict) ? tmpCollisionObj->getInterpolationWorldTransform() : colObjWrap->getWorldTransform(); - + btTransform wtr = (predict) ? + (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform()) + : colObjWrap->getWorldTransform(); btScalar dst = m_worldInfo->m_sparsesdf.Evaluate( wtr.invXform(x), From bedaa760c2b299939ad67d40b98515697b16d6a8 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 14 Aug 2019 10:28:34 -0700 Subject: [PATCH 070/389] speed up corotated force computation --- .../btDeformableCorotatedForce.h | 34 +++++++++++-------- 1 file changed, 19 insertions(+), 15 deletions(-) diff --git a/src/BulletSoftBody/btDeformableCorotatedForce.h b/src/BulletSoftBody/btDeformableCorotatedForce.h index f4d42453f..bf3c52e50 100644 --- a/src/BulletSoftBody/btDeformableCorotatedForce.h +++ b/src/BulletSoftBody/btDeformableCorotatedForce.h @@ -54,6 +54,7 @@ public: { int numNodes = getNumNodes(); btAssert(numNodes <= force.size()) + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; @@ -64,8 +65,7 @@ public: btMatrix3x3 F = tetra.m_ds * tetra.m_Dm_inverse; btMatrix3x3 P; firstPiola(F,P); - btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); - btVector3 force_on_node0 = P * tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col; + btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose(); btSoftBody::Node* node0 = tetra.m_n[0]; @@ -79,26 +79,30 @@ public: // elastic force // explicit elastic force - force[id0] -= scale * tetra.m_element_measure * force_on_node0; - force[id1] -= scale * tetra.m_element_measure * force_on_node123.getColumn(0); - force[id2] -= scale * tetra.m_element_measure * force_on_node123.getColumn(1); - force[id3] -= scale * tetra.m_element_measure * force_on_node123.getColumn(2); + btScalar scale1 = scale * tetra.m_element_measure; + force[id0] -= scale1 * force_on_node0; + force[id1] -= scale1 * force_on_node123.getColumn(0); + force[id2] -= scale1 * force_on_node123.getColumn(1); + force[id3] -= scale1 * force_on_node123.getColumn(2); } } } void firstPiola(const btMatrix3x3& F, btMatrix3x3& P) { - btMatrix3x3 R,S; + // btMatrix3x3 JFinvT = F.adjoint(); btScalar J = F.determinant(); - if (J < 1024 * SIMD_EPSILON) - R.setIdentity(); - else - PolarDecompose(F, R, S); // this QR is not robust, consider using implicit shift svd - /*https://fuchuyuan.github.io/research/svd/paper.pdf*/ - - btMatrix3x3 JFinvT = F.adjoint(); - P = JFinvT * (m_lambda * (J-1)) + (F-R) * 2 * m_mu; + P = F.adjoint() * (m_lambda * (J-1)); + if (m_mu > SIMD_EPSILON) + { + btMatrix3x3 R,S; + if (J < 1024 * SIMD_EPSILON) + R.setIdentity(); + else + PolarDecompose(F, R, S); // this QR is not robust, consider using implicit shift svd + /*https://fuchuyuan.github.io/research/svd/paper.pdf*/ + P += (F-R) * 2 * m_mu; + } } void updateDs(btSoftBody::Tetra& t) { From f8c60e9e3c8e60d00543bd458a9fefd404edc95b Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 15 Aug 2019 17:15:36 -0700 Subject: [PATCH 071/389] add option for angular momentum conserving damping for mass spring --- .../btDeformableMassSpringForce.h | 23 ++++++++++++++++--- 1 file changed, 20 insertions(+), 3 deletions(-) diff --git a/src/BulletSoftBody/btDeformableMassSpringForce.h b/src/BulletSoftBody/btDeformableMassSpringForce.h index f97ef0a03..4eeae14df 100644 --- a/src/BulletSoftBody/btDeformableMassSpringForce.h +++ b/src/BulletSoftBody/btDeformableMassSpringForce.h @@ -18,10 +18,10 @@ class btDeformableMassSpringForce : public btDeformableLagrangianForce { + bool m_momentum_conserving; public: -// using TVStack = btDeformableLagrangianForce::TVStack; typedef btAlignedObjectArray TVStack; - btDeformableMassSpringForce() + btDeformableMassSpringForce() : m_momentum_conserving(false) { } @@ -53,7 +53,15 @@ public: // damping force btVector3 v_diff = (node2->m_v - node1->m_v); btScalar k_damp = psb->m_dampingCoefficient; - btVector3 scaled_force = scale * v_diff * k_damp; + btVector3 scaled_force = scale * k_damp * v_diff; + if (m_momentum_conserving) + { + if ((node2->m_q - node1->m_q).norm() > SIMD_EPSILON) + { + btVector3 dir = (node2->m_q - node1->m_q).normalized(); + scaled_force = scale * k_damp * v_diff.dot(dir) * dir; + } + } force[id1] += scaled_force; force[id2] -= scaled_force; } @@ -102,7 +110,16 @@ public: btSoftBody::Node* node2 = link.m_n[1]; size_t id1 = node1->index; size_t id2 = node2->index; + btVector3 local_scaled_df = scaled_k_damp * (dv[id2] - dv[id1]); + if (m_momentum_conserving) + { + if ((node2->m_q - node1->m_q).norm() > SIMD_EPSILON) + { + btVector3 dir = (node2->m_q - node1->m_q).normalized(); + local_scaled_df= scaled_k_damp * (dv[id2] - dv[id1]).dot(dir) * dir; + } + } df[id1] += local_scaled_df; df[id2] -= local_scaled_df; } From b507fe77ca842c7db6ecd9e625856a4f13be911b Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 15 Aug 2019 17:16:32 -0700 Subject: [PATCH 072/389] check in a good set of parameters for grasping deformable ball --- examples/DeformableDemo/GraspDeformable.cpp | 38 ++++++++++----------- examples/ExampleBrowser/CMakeLists.txt | 2 ++ 2 files changed, 21 insertions(+), 19 deletions(-) diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index bee1472c1..c0ca947af 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -73,7 +73,7 @@ public: void resetCamera() { - float dist = 20; + float dist = 2; float pitch = -45; float yaw = 100; float targetPos[3] = {0, -0, 0}; @@ -126,8 +126,8 @@ public: } //use a smaller internal timestep, there are stability issues - float internalTimeStep = 1. / 240.f; - m_dynamicsWorld->stepSimulation(deltaTime, 5, internalTimeStep); + float internalTimeStep = 1. / 250.f; + m_dynamicsWorld->stepSimulation(deltaTime, 100, internalTimeStep); } void createGrip() @@ -245,9 +245,9 @@ void GraspDeformable::initPhysics() bool canSleep = false; bool selfCollide = true; int numLinks = 2; - btVector3 linkHalfExtents(1., 2, .4); - btVector3 baseHalfExtents(1, 0.2, 2); - btMultiBody* mbC = createFeatherstoneMultiBody(getDeformableDynamicsWorld(), btVector3(0.f, 7.f,0.f), linkHalfExtents, baseHalfExtents, false); + btVector3 linkHalfExtents(.1, .2, .04); + btVector3 baseHalfExtents(.1, 0.02, .2); + btMultiBody* mbC = createFeatherstoneMultiBody(getDeformableDynamicsWorld(), btVector3(0.f, .7f,0.f), linkHalfExtents, baseHalfExtents, false); mbC->setCanSleep(canSleep); mbC->setHasSelfCollision(selfCollide); @@ -297,7 +297,7 @@ void GraspDeformable::initPhysics() btTransform groundTransform; groundTransform.setIdentity(); - groundTransform.setOrigin(btVector3(0, -25-2.1, 0)); + groundTransform.setOrigin(btVector3(0, -25-.6, 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.); @@ -313,7 +313,7 @@ void GraspDeformable::initPhysics() btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform); btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia); btRigidBody* body = new btRigidBody(rbInfo); - body->setFriction(0); + body->setFriction(0.1); //add the ground to the dynamics world m_dynamicsWorld->addRigidBody(body); @@ -339,22 +339,22 @@ void GraspDeformable::initPhysics() btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), path); // psb->scale(btVector3(30, 30, 30)); // for banana - psb->scale(btVector3(2, 2, 2)); -// psb->scale(btVector3(3, 3, 3)); // for tube, torus, boot +// psb->scale(btVector3(.2, .2, .2)); + psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot // psb->scale(btVector3(1, 1, 1)); // for ditto // psb->translate(btVector3(0, 0, 2)); for boot - psb->getCollisionShape()->setMargin(0.1); - psb->setTotalMass(1); + psb->getCollisionShape()->setMargin(0.02); + psb->setTotalMass(.1); psb->setSpringStiffness(0); - psb->setDampingCoefficient(.1); + psb->setDampingCoefficient(.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 = 2; + psb->m_cfg.kDF = 50; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addSoftBody(psb); getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce()); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); - getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(5,5)); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(6,6)); } // // create a piece of cloth @@ -395,15 +395,15 @@ void GraspDeformable::initPhysics() { SliderParams slider("Moving velocity", &sGripperVerticalVelocity); - slider.m_minVal = -2; - slider.m_maxVal = 2; + slider.m_minVal = -.2; + slider.m_maxVal = .2; m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); } { SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity); - slider.m_minVal = -1; - slider.m_maxVal = 1; + slider.m_minVal = -.1; + slider.m_maxVal = .1; m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); } diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt index 19334b2db..686313f99 100644 --- a/examples/ExampleBrowser/CMakeLists.txt +++ b/examples/ExampleBrowser/CMakeLists.txt @@ -359,6 +359,8 @@ SET(BulletExampleBrowser_SRCS ../MultiBody/MultiBodyConstraintFeedback.cpp ../SoftDemo/SoftDemo.cpp ../SoftDemo/SoftDemo.h + ../DeformableDemo/GraspDeformable.cpp + ../DeformableDemo/GraspDeformable.h ../DeformableDemo/Pinch.cpp ../DeformableDemo/Pinch.h ../DeformableDemo/DeformableMultibody.cpp From 23cf657a1ada05f25d5da44249a539b4dec7b9f6 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 15 Aug 2019 17:17:37 -0700 Subject: [PATCH 073/389] change voxel size in sparseSDF to handle contact with smaller objects --- src/BulletSoftBody/btSparseSDF.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/BulletSoftBody/btSparseSDF.h b/src/BulletSoftBody/btSparseSDF.h index a52b2cb1c..2b7fabea3 100644 --- a/src/BulletSoftBody/btSparseSDF.h +++ b/src/BulletSoftBody/btSparseSDF.h @@ -103,7 +103,7 @@ struct btSparseSdf pc = pn; } } - voxelsz = 0.25; + voxelsz = 0.025; puid = 0; ncells = 0; nprobes = 1; From 10cb0c368d1689b974a36e2e888aba4ec520a013 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 15 Aug 2019 17:18:24 -0700 Subject: [PATCH 074/389] solve CG with more accuracy --- src/BulletSoftBody/btDeformableBodySolver.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index e2e5740d0..850a625dc 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -18,7 +18,7 @@ btDeformableBodySolver::btDeformableBodySolver() : m_numNodes(0) -, m_cg(10) +, m_cg(50) , m_contact_iterations(5) { m_objective = new btDeformableBackwardEulerObjective(m_softBodySet, m_backupVelocity); @@ -47,7 +47,7 @@ void btDeformableBodySolver::solveConstraints(float solverdt) void btDeformableBodySolver::computeStep(TVStack& dv, const TVStack& residual) { - btScalar tolerance = std::numeric_limits::epsilon() * 1024 * m_objective->computeNorm(residual); + btScalar tolerance = std::numeric_limits::epsilon() * 16 * m_objective->computeNorm(residual); m_cg.solve(*m_objective, dv, residual, tolerance); } From df7f216bf83c6bf6664ca80ecd99a2557ffcc763 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 15 Aug 2019 17:18:45 -0700 Subject: [PATCH 075/389] fix bugs introduced in merging --- src/BulletSoftBody/btDeformableCorotatedForce.h | 17 ----------------- .../btDeformableRigidDynamicsWorld.cpp | 9 --------- 2 files changed, 26 deletions(-) diff --git a/src/BulletSoftBody/btDeformableCorotatedForce.h b/src/BulletSoftBody/btDeformableCorotatedForce.h index bf3c52e50..4d9b8440e 100644 --- a/src/BulletSoftBody/btDeformableCorotatedForce.h +++ b/src/BulletSoftBody/btDeformableCorotatedForce.h @@ -117,23 +117,6 @@ public: virtual void addScaledForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) { - // implicit damping force differential - for (int i = 0; i < m_softBodies.size(); ++i) - { - const btSoftBody* psb = m_softBodies[i]; - btScalar scaled_k_damp = psb->m_dampingCoefficient * scale; - for (int j = 0; j < psb->m_links.size(); ++j) - { - const btSoftBody::Link& link = psb->m_links[j]; - btSoftBody::Node* node1 = link.m_n[0]; - btSoftBody::Node* node2 = link.m_n[1]; - size_t id1 = node1->index; - size_t id2 = node2->index; - btVector3 local_scaled_df = scaled_k_damp * (dv[id2] - dv[id1]); - df[id1] += local_scaled_df; - df[id2] -= local_scaled_df; - } - } } virtual btDeformableLagrangianForceType getForceType() diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp index 900ca9d8c..26aa7f82f 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp @@ -131,15 +131,6 @@ void btDeformableRigidDynamicsWorld::positionCorrection(btScalar timeStep) // only perform position correction when penetrating if (dp < 0) { - if (constraint.m_static[j] == true) - { - if (friction.m_static[j] == true) - { - c->m_node->m_v = va; - } - c->m_node->m_v -= dp * cti.m_normal / timeStep; - c->m_node->m_v = va; - } c->m_node->m_v -= dp * cti.m_normal / timeStep; } } From aa4d5bda3ef0caa1546d47e95652121566bb708a Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 15 Aug 2019 17:47:28 -0700 Subject: [PATCH 076/389] add elastic and damping stiffness of spring into the force class --- src/BulletSoftBody/btDeformableMassSpringForce.h | 16 +++++++++------- 1 file changed, 9 insertions(+), 7 deletions(-) diff --git a/src/BulletSoftBody/btDeformableMassSpringForce.h b/src/BulletSoftBody/btDeformableMassSpringForce.h index 4eeae14df..4d90c904e 100644 --- a/src/BulletSoftBody/btDeformableMassSpringForce.h +++ b/src/BulletSoftBody/btDeformableMassSpringForce.h @@ -19,9 +19,13 @@ class btDeformableMassSpringForce : public btDeformableLagrangianForce { bool m_momentum_conserving; + btScalar m_elasticStiffness, m_dampingStiffness; public: typedef btAlignedObjectArray TVStack; - btDeformableMassSpringForce() : m_momentum_conserving(false) + btDeformableMassSpringForce() : m_momentum_conserving(false), m_elasticStiffness(1), m_dampingStiffness(0.05) + { + } + btDeformableMassSpringForce(btScalar k, btScalar d, bool conserve_angular = false) : m_momentum_conserving(conserve_angular), m_elasticStiffness(k), m_dampingStiffness(d) { } @@ -52,14 +56,13 @@ public: // damping force btVector3 v_diff = (node2->m_v - node1->m_v); - btScalar k_damp = psb->m_dampingCoefficient; - btVector3 scaled_force = scale * k_damp * v_diff; + btVector3 scaled_force = scale * m_dampingStiffness * v_diff; if (m_momentum_conserving) { if ((node2->m_q - node1->m_q).norm() > SIMD_EPSILON) { btVector3 dir = (node2->m_q - node1->m_q).normalized(); - scaled_force = scale * k_damp * v_diff.dot(dir) * dir; + scaled_force = scale * m_dampingStiffness * v_diff.dot(dir) * dir; } } force[id1] += scaled_force; @@ -80,7 +83,6 @@ public: const btSoftBody::Link& link = psb->m_links[j]; btSoftBody::Node* node1 = link.m_n[0]; btSoftBody::Node* node2 = link.m_n[1]; - btScalar kLST = link.Feature::m_material->m_kLST; btScalar r = link.m_rl; size_t id1 = node1->index; size_t id2 = node2->index; @@ -89,7 +91,7 @@ public: // explicit elastic force btVector3 dir = (node2->m_q - node1->m_q); btVector3 dir_normalized = dir.normalized(); - btVector3 scaled_force = scale * kLST * (dir - dir_normalized * r); + btVector3 scaled_force = scale * m_elasticStiffness * (dir - dir_normalized * r); force[id1] += scaled_force; force[id2] -= scaled_force; } @@ -102,7 +104,7 @@ public: for (int i = 0; i < m_softBodies.size(); ++i) { const btSoftBody* psb = m_softBodies[i]; - btScalar scaled_k_damp = psb->m_dampingCoefficient * scale; + btScalar scaled_k_damp = m_dampingStiffness * scale; for (int j = 0; j < psb->m_links.size(); ++j) { const btSoftBody::Link& link = psb->m_links[j]; From c9ab033a8ba2e892de4d3453afcd0a9ae1dd2e95 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 15 Aug 2019 17:48:36 -0700 Subject: [PATCH 077/389] check in a good set of parameters for grasping deformable ball with nonlinear damping force (not as stable as linear damping) --- examples/DeformableDemo/DeformableMultibody.cpp | 4 +--- examples/DeformableDemo/DeformableRigid.cpp | 4 +--- examples/DeformableDemo/GraspDeformable.cpp | 16 ++++++++++------ examples/DeformableDemo/Pinch.cpp | 8 +------- examples/DeformableDemo/VolumetricDeformable.cpp | 6 +----- 5 files changed, 14 insertions(+), 24 deletions(-) diff --git a/examples/DeformableDemo/DeformableMultibody.cpp b/examples/DeformableDemo/DeformableMultibody.cpp index d32cd67a7..9ce15ff22 100644 --- a/examples/DeformableDemo/DeformableMultibody.cpp +++ b/examples/DeformableDemo/DeformableMultibody.cpp @@ -219,14 +219,12 @@ void DeformableMultibody::initPhysics() psb->getCollisionShape()->setMargin(0.25); psb->generateBendingConstraints(2); psb->setTotalMass(5); - psb->setSpringStiffness(2); - 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; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addSoftBody(psb); - getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce()); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(2, 0.01)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); } diff --git a/examples/DeformableDemo/DeformableRigid.cpp b/examples/DeformableDemo/DeformableRigid.cpp index 6cc3d7b4f..48809cf99 100644 --- a/examples/DeformableDemo/DeformableRigid.cpp +++ b/examples/DeformableDemo/DeformableRigid.cpp @@ -228,14 +228,12 @@ void DeformableRigid::initPhysics() psb->getCollisionShape()->setMargin(0.1); psb->generateBendingConstraints(2); psb->setTotalMass(1); - psb->setSpringStiffness(2); - psb->setDampingCoefficient(0.05); 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; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addSoftBody(psb); - getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce()); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(2, 0.05)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); // add a few rigid bodies diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index c0ca947af..6d8824515 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -339,20 +339,24 @@ void GraspDeformable::initPhysics() btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), path); // psb->scale(btVector3(30, 30, 30)); // for banana -// psb->scale(btVector3(.2, .2, .2)); - psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot + psb->scale(btVector3(.25, .25, .25)); +// psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot // psb->scale(btVector3(1, 1, 1)); // for ditto // psb->translate(btVector3(0, 0, 2)); for boot psb->getCollisionShape()->setMargin(0.02); psb->setTotalMass(.1); - psb->setSpringStiffness(0); - psb->setDampingCoefficient(.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 = 50; + psb->m_cfg.kDF = 10; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addSoftBody(psb); - getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce()); + // nonlinear damping +// getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(1,0.04, true)); +// getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); +// getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(0,6)); + + // linear damping + getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(0,0.01, false)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(6,6)); } diff --git a/examples/DeformableDemo/Pinch.cpp b/examples/DeformableDemo/Pinch.cpp index 44e5f4e5f..190658d62 100644 --- a/examples/DeformableDemo/Pinch.cpp +++ b/examples/DeformableDemo/Pinch.cpp @@ -331,18 +331,12 @@ void Pinch::initPhysics() psb->translate(btVector3(0, 4, 0)); psb->getCollisionShape()->setMargin(0.1); psb->setTotalMass(1); -// psb->scale(btVector3(5, 5, 5)); -// psb->translate(btVector3(-2.5, 4, -2.5)); -// psb->getCollisionShape()->setMargin(0.1); -// psb->setTotalMass(1); - psb->setSpringStiffness(2); - psb->setDampingCoefficient(0.02); psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb->m_cfg.kCHR = 1; // collision hardness with rigid body psb->m_cfg.kDF = 2; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addSoftBody(psb); - getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce()); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(2, 0.02)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); // add a grippers createGrip(); diff --git a/examples/DeformableDemo/VolumetricDeformable.cpp b/examples/DeformableDemo/VolumetricDeformable.cpp index 22755856b..5c5e395bd 100644 --- a/examples/DeformableDemo/VolumetricDeformable.cpp +++ b/examples/DeformableDemo/VolumetricDeformable.cpp @@ -230,17 +230,13 @@ void VolumetricDeformable::initPhysics() 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(0); - 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; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; - getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce()); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(0,0.01)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(.5,.5)); } From 86a1312875372778c52a6d528deaae6879a71396 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 16 Aug 2019 13:33:49 -0700 Subject: [PATCH 078/389] add author info --- src/BulletSoftBody/btCGProjection.h | 2 + src/BulletSoftBody/btConjugateGradient.h | 63 +------------------ .../btDeformableBackwardEulerObjective.cpp | 2 + .../btDeformableBackwardEulerObjective.h | 2 + src/BulletSoftBody/btDeformableBodySolver.cpp | 2 + src/BulletSoftBody/btDeformableBodySolver.h | 2 + .../btDeformableContactProjection.cpp | 2 + .../btDeformableContactProjection.h | 2 + .../btDeformableCorotatedForce.h | 2 + src/BulletSoftBody/btDeformableGravityForce.h | 2 + .../btDeformableLagrangianForce.h | 2 + .../btDeformableMassSpringForce.h | 2 + .../btDeformableRigidDynamicsWorld.cpp | 2 + .../btDeformableRigidDynamicsWorld.h | 2 + src/BulletSoftBody/btPreconditioner.h | 3 +- 15 files changed, 30 insertions(+), 62 deletions(-) diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index 9dc416cdd..493aafb7a 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h index d7e98761c..bb0b1586f 100644 --- a/src/BulletSoftBody/btConjugateGradient.h +++ b/src/BulletSoftBody/btConjugateGradient.h @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. @@ -32,67 +34,6 @@ public: virtual ~btConjugateGradient(){} -// // return the number of iterations taken -// int solve(MatrixX& A, TVStack& x, const TVStack& b, btScalar tolerance) -// { -// BT_PROFILE("CGSolve"); -// btAssert(x.size() == b.size()); -// reinitialize(b); -// -// // r = b - A * x --with assigned dof zeroed out -// A.multiply(x, temp); -// r = sub(b, temp); -// A.project(r); -// -// btScalar r_norm = std::sqrt(squaredNorm(r)); -// if (r_norm < tolerance) { -// std::cout << "Iteration = 0" << std::endl; -// std::cout << "Two norm of the residual = " << r_norm << std::endl; -// return 0; -// } -// -// // z = M^(-1) * r -// A.precondition(r, z); -// p = z; -// // temp = A*p -// A.multiply(p, temp); -// A.project(temp); -// btScalar r_dot_z = dot(z,r), r_dot_z_new; -// // alpha = r^T * z / (p^T * A * p) -// btScalar alpha = r_dot_z / dot(p, temp), beta; -// -// for (int k = 1; k < max_iterations; k++) { -// // x += alpha * p; -// // r -= alpha * temp; -// multAndAddTo(alpha, p, x); -// multAndAddTo(-alpha, temp, r); -// // zero out the dofs of r -// A.project(r); -//// A.enforceConstraint(x); -// r_norm = std::sqrt(squaredNorm(r)); -// -// if (r_norm < tolerance) { -// std::cout << "ConjugateGradient iterations " << k << std::endl; -// return k; -// } -// -// // z = M^(-1) * r -// A.precondition(r, z); -// r_dot_z_new = dot(r,z); -// beta = r_dot_z_new/ r_dot_z; -// r_dot_z = r_dot_z_new; -// // p = z + beta * p; -// p = multAndAdd(beta, p, z); -// // temp = A * p; -// A.multiply(p, temp); -// A.project(temp); -// // alpha = r^T * z / (p^T * A * p) -// alpha = r_dot_z / dot(p, temp); -// } -// std::cout << "ConjugateGradient max iterations reached " << max_iterations << std::endl; -// return max_iterations; -// } - // return the number of iterations taken int solve(MatrixX& A, TVStack& x, const TVStack& b, btScalar tolerance) { diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index d01825ad4..f722532e2 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index 3863970c6..1c3e7890a 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 850a625dc..93558ade3 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index 206354f52..93e430e8e 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index ec155fb68..7f7e8184a 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. diff --git a/src/BulletSoftBody/btDeformableContactProjection.h b/src/BulletSoftBody/btDeformableContactProjection.h index 331e1df6d..f9bd371d7 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.h +++ b/src/BulletSoftBody/btDeformableContactProjection.h @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. diff --git a/src/BulletSoftBody/btDeformableCorotatedForce.h b/src/BulletSoftBody/btDeformableCorotatedForce.h index 4d9b8440e..156794a50 100644 --- a/src/BulletSoftBody/btDeformableCorotatedForce.h +++ b/src/BulletSoftBody/btDeformableCorotatedForce.h @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2016 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. diff --git a/src/BulletSoftBody/btDeformableGravityForce.h b/src/BulletSoftBody/btDeformableGravityForce.h index 270222b7e..e238557b5 100644 --- a/src/BulletSoftBody/btDeformableGravityForce.h +++ b/src/BulletSoftBody/btDeformableGravityForce.h @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. diff --git a/src/BulletSoftBody/btDeformableLagrangianForce.h b/src/BulletSoftBody/btDeformableLagrangianForce.h index 2146d4ec5..ea21647bb 100644 --- a/src/BulletSoftBody/btDeformableLagrangianForce.h +++ b/src/BulletSoftBody/btDeformableLagrangianForce.h @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. diff --git a/src/BulletSoftBody/btDeformableMassSpringForce.h b/src/BulletSoftBody/btDeformableMassSpringForce.h index 4d90c904e..7dbd23907 100644 --- a/src/BulletSoftBody/btDeformableMassSpringForce.h +++ b/src/BulletSoftBody/btDeformableMassSpringForce.h @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp index 26aa7f82f..18864e126 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h index 6efbb204b..49b36748a 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. diff --git a/src/BulletSoftBody/btPreconditioner.h b/src/BulletSoftBody/btPreconditioner.h index 663731a58..15ee949a5 100644 --- a/src/BulletSoftBody/btPreconditioner.h +++ b/src/BulletSoftBody/btPreconditioner.h @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. @@ -18,7 +20,6 @@ class Preconditioner { public: typedef btAlignedObjectArray TVStack; -// using TVStack = btAlignedObjectArray; virtual void operator()(const TVStack& x, TVStack& b) = 0; virtual void reinitialize(bool nodeUpdated) = 0; }; From 8860f8bacc50403b4eb5ad74f68d139d8955be0d Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 16 Aug 2019 13:34:10 -0700 Subject: [PATCH 079/389] remove unused functions --- .../btDeformableContactProjection.cpp | 33 ------------------- 1 file changed, 33 deletions(-) diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index 7f7e8184a..61d08b3b8 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -17,39 +17,6 @@ #include "btDeformableRigidDynamicsWorld.h" #include #include -static void findJacobian(const btMultiBodyLinkCollider* multibodyLinkCol, - btMultiBodyJacobianData& jacobianData, - const btVector3& contact_point, - const btVector3& dir) -{ - const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; - jacobianData.m_jacobians.resize(ndof); - jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof); - btScalar* jac = &jacobianData.m_jacobians[0]; - - multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, contact_point, dir, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m); - multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0], &jacobianData.m_deltaVelocitiesUnitImpulse[0], jacobianData.scratch_r, jacobianData.scratch_v); -} - -static btVector3 generateUnitOrthogonalVector(const btVector3& u) -{ - btScalar ux = u.getX(); - btScalar uy = u.getY(); - btScalar uz = u.getZ(); - btScalar ax = std::abs(ux); - btScalar ay = std::abs(uy); - btScalar az = std::abs(uz); - btVector3 v; - if (ax <= ay && ax <= az) - v = btVector3(0, -uz, uy); - else if (ay <= ax && ay <= az) - v = btVector3(-uz, 0, ux); - else - v = btVector3(-uy, ux, 0); - v.normalize(); - return v; -} - void btDeformableContactProjection::update() { ///solve rigid body constraints From bf215a3ce1c5404cab7a12877a09be6ac0731fbe Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 16 Aug 2019 13:42:53 -0700 Subject: [PATCH 080/389] rename btDeformableRigidDynamicsWorld to btDeformableMultiBodyDynamicsWorld --- .../DeformableDemo/DeformableMultibody.cpp | 14 +++++------ examples/DeformableDemo/DeformableRigid.cpp | 14 +++++------ examples/DeformableDemo/GraspDeformable.cpp | 14 +++++------ examples/DeformableDemo/Pinch.cpp | 16 ++++++------- .../DeformableDemo/VolumetricDeformable.cpp | 14 +++++------ src/BulletSoftBody/CMakeLists.txt | 4 ++-- src/BulletSoftBody/btCGProjection.h | 6 ++--- .../btDeformableBackwardEulerObjective.h | 8 +++---- src/BulletSoftBody/btDeformableBodySolver.cpp | 2 +- src/BulletSoftBody/btDeformableBodySolver.h | 6 ++--- .../btDeformableContactProjection.cpp | 2 +- ...=> btDeformableMultiBodyDynamicsWorld.cpp} | 24 +++++++++---------- ...h => btDeformableMultiBodyDynamicsWorld.h} | 8 +++---- src/BulletSoftBody/premake4.lua | 2 +- 14 files changed, 67 insertions(+), 67 deletions(-) rename src/BulletSoftBody/{btDeformableRigidDynamicsWorld.cpp => btDeformableMultiBodyDynamicsWorld.cpp} (90%) rename src/BulletSoftBody/{btDeformableRigidDynamicsWorld.h => btDeformableMultiBodyDynamicsWorld.h} (91%) diff --git a/examples/DeformableDemo/DeformableMultibody.cpp b/examples/DeformableDemo/DeformableMultibody.cpp index 9ce15ff22..6c3740edf 100644 --- a/examples/DeformableDemo/DeformableMultibody.cpp +++ b/examples/DeformableDemo/DeformableMultibody.cpp @@ -28,7 +28,7 @@ #include "DeformableMultibody.h" ///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. #include "btBulletDynamicsCommon.h" -#include "BulletSoftBody/btDeformableRigidDynamicsWorld.h" +#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" #include "BulletSoftBody/btSoftBody.h" #include "BulletSoftBody/btSoftBodyHelpers.h" #include "BulletSoftBody/btDeformableBodySolver.h" @@ -79,20 +79,20 @@ public: void addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents); - virtual const btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() const + virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const { - return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld; + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; } - virtual btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() + virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() { - return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld; + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; } virtual void renderScene() { CommonMultiBodyBase::renderScene(); - btDeformableRigidDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); + btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++) { @@ -121,7 +121,7 @@ void DeformableMultibody::initPhysics() sol = new btMultiBodyConstraintSolver; m_solver = sol; - m_dynamicsWorld = new btDeformableRigidDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); + m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); deformableBodySolver->setWorld(getDeformableDynamicsWorld()); btVector3 gravity = btVector3(0, -10, 0); m_dynamicsWorld->setGravity(gravity); diff --git a/examples/DeformableDemo/DeformableRigid.cpp b/examples/DeformableDemo/DeformableRigid.cpp index 48809cf99..2b5186595 100644 --- a/examples/DeformableDemo/DeformableRigid.cpp +++ b/examples/DeformableDemo/DeformableRigid.cpp @@ -28,7 +28,7 @@ #include "DeformableRigid.h" ///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. #include "btBulletDynamicsCommon.h" -#include "BulletSoftBody/btDeformableRigidDynamicsWorld.h" +#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" #include "BulletSoftBody/btSoftBody.h" #include "BulletSoftBody/btSoftBodyHelpers.h" #include "BulletSoftBody/btDeformableBodySolver.h" @@ -115,24 +115,24 @@ public: createRigidBody(mass, startTransform, shape[0]); } - virtual const btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() const + virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const { ///just make it a btSoftRigidDynamicsWorld please ///or we will add type checking - return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld; + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; } - virtual btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() + virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() { ///just make it a btSoftRigidDynamicsWorld please ///or we will add type checking - return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld; + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; } virtual void renderScene() { CommonRigidBodyBase::renderScene(); - btDeformableRigidDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); + btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++) { @@ -163,7 +163,7 @@ void DeformableRigid::initPhysics() btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver(); m_solver = sol; - m_dynamicsWorld = new btDeformableRigidDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); + m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); deformableBodySolver->setWorld(getDeformableDynamicsWorld()); // m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality btVector3 gravity = btVector3(0, -10, 0); diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index 6d8824515..f439e9983 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -14,7 +14,7 @@ #include "GraspDeformable.h" ///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. #include "btBulletDynamicsCommon.h" -#include "BulletSoftBody/btDeformableRigidDynamicsWorld.h" +#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" #include "BulletSoftBody/btSoftBody.h" #include "BulletSoftBody/btSoftBodyHelpers.h" #include "BulletSoftBody/btDeformableBodySolver.h" @@ -148,20 +148,20 @@ public: } } - virtual const btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() const + virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const { - return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld; + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; } - virtual btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() + virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() { - return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld; + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; } virtual void renderScene() { CommonRigidBodyBase::renderScene(); - btDeformableRigidDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); + btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++) { @@ -189,7 +189,7 @@ void GraspDeformable::initPhysics() btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver(); m_solver = sol; - m_dynamicsWorld = new btDeformableRigidDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); + m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); deformableBodySolver->setWorld(getDeformableDynamicsWorld()); btVector3 gravity = btVector3(0, -10, 0); m_dynamicsWorld->setGravity(gravity); diff --git a/examples/DeformableDemo/Pinch.cpp b/examples/DeformableDemo/Pinch.cpp index 190658d62..abe428577 100644 --- a/examples/DeformableDemo/Pinch.cpp +++ b/examples/DeformableDemo/Pinch.cpp @@ -28,7 +28,7 @@ #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/btDeformableMultiBodyDynamicsWorld.h" #include "BulletSoftBody/btSoftBody.h" #include "BulletSoftBody/btSoftBodyHelpers.h" #include "BulletSoftBody/btDeformableBodySolver.h" @@ -102,20 +102,20 @@ public: } } - virtual const btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() const + virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const { - return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld; + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; } - virtual btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() + virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() { - return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld; + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; } virtual void renderScene() { CommonRigidBodyBase::renderScene(); - btDeformableRigidDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); + btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++) { @@ -128,7 +128,7 @@ public: } }; -void dynamics(btScalar time, btDeformableRigidDynamicsWorld* world) +void dynamics(btScalar time, btDeformableMultiBodyDynamicsWorld* world) { btAlignedObjectArray& rbs = world->getNonStaticRigidBodies(); if (rbs.size()<2) @@ -247,7 +247,7 @@ void Pinch::initPhysics() btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver(); m_solver = sol; - m_dynamicsWorld = new btDeformableRigidDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); + m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); deformableBodySolver->setWorld(getDeformableDynamicsWorld()); // m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality btVector3 gravity = btVector3(0, -10, 0); diff --git a/examples/DeformableDemo/VolumetricDeformable.cpp b/examples/DeformableDemo/VolumetricDeformable.cpp index 5c5e395bd..745c0cd87 100644 --- a/examples/DeformableDemo/VolumetricDeformable.cpp +++ b/examples/DeformableDemo/VolumetricDeformable.cpp @@ -28,7 +28,7 @@ #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/btDeformableMultiBodyDynamicsWorld.h" #include "BulletSoftBody/btSoftBody.h" #include "BulletSoftBody/btSoftBodyHelpers.h" #include "BulletSoftBody/btDeformableBodySolver.h" @@ -133,24 +133,24 @@ public: } } - virtual const btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() const + virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const { ///just make it a btSoftRigidDynamicsWorld please ///or we will add type checking - return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld; + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; } - virtual btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() + virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() { ///just make it a btSoftRigidDynamicsWorld please ///or we will add type checking - return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld; + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; } virtual void renderScene() { CommonRigidBodyBase::renderScene(); - btDeformableRigidDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); + btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++) { @@ -181,7 +181,7 @@ void VolumetricDeformable::initPhysics() btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver(); m_solver = sol; - m_dynamicsWorld = new btDeformableRigidDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); + m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); deformableBodySolver->setWorld(getDeformableDynamicsWorld()); // m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality btVector3 gravity = btVector3(0, -10, 0); diff --git a/src/BulletSoftBody/CMakeLists.txt b/src/BulletSoftBody/CMakeLists.txt index 40155786e..262b27e36 100644 --- a/src/BulletSoftBody/CMakeLists.txt +++ b/src/BulletSoftBody/CMakeLists.txt @@ -20,7 +20,7 @@ SET(BulletSoftBody_SRCS btDeformableBackwardEulerObjective.cpp btDeformableBodySolver.cpp btDeformableContactProjection.cpp - btDeformableRigidDynamicsWorld.cpp + btDeformableMultiBodyDynamicsWorld.cpp ) @@ -49,7 +49,7 @@ SET(BulletSoftBody_HDRS btDeformableBackwardEulerObjective.h btDeformableBodySolver.h btDeformableContactProjection.h - btDeformableRigidDynamicsWorld.h + btDeformableMultiBodyDynamicsWorld.h btSoftBodySolverVertexBuffer.h ) diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index 493aafb7a..bdc219945 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -20,7 +20,7 @@ #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" -class btDeformableRigidDynamicsWorld; +class btDeformableMultiBodyDynamicsWorld; struct DeformableContactConstraint { @@ -62,7 +62,7 @@ public: typedef btAlignedObjectArray > TVArrayStack; typedef btAlignedObjectArray > TArrayStack; btAlignedObjectArray& m_softBodies; - btDeformableRigidDynamicsWorld* m_world; + btDeformableMultiBodyDynamicsWorld* m_world; const btScalar& m_dt; btCGProjection(btAlignedObjectArray& softBodies, const btScalar& dt) @@ -87,7 +87,7 @@ public: { } - virtual void setWorld(btDeformableRigidDynamicsWorld* world) + virtual void setWorld(btDeformableMultiBodyDynamicsWorld* world) { m_world = world; } diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index 1c3e7890a..9dd85da6d 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -22,16 +22,16 @@ #include "btDeformableCorotatedForce.h" #include "btDeformableContactProjection.h" #include "btPreconditioner.h" -#include "btDeformableRigidDynamicsWorld.h" +#include "btDeformableMultiBodyDynamicsWorld.h" #include "LinearMath/btQuickprof.h" -class btDeformableRigidDynamicsWorld; +class btDeformableMultiBodyDynamicsWorld; class btDeformableBackwardEulerObjective { public: typedef btAlignedObjectArray TVStack; btScalar m_dt; - btDeformableRigidDynamicsWorld* m_world; + btDeformableMultiBodyDynamicsWorld* m_world; btAlignedObjectArray m_lf; btAlignedObjectArray& m_softBodies; Preconditioner* m_preconditioner; @@ -98,7 +98,7 @@ public: m_preconditioner->operator()(x,b); } - virtual void setWorld(btDeformableRigidDynamicsWorld* world) + virtual void setWorld(btDeformableMultiBodyDynamicsWorld* world) { m_world = world; projection.setWorld(world); diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 93558ade3..b173aa53b 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -87,7 +87,7 @@ void btDeformableBodySolver::setConstraints() } } -void btDeformableBodySolver::setWorld(btDeformableRigidDynamicsWorld* world) +void btDeformableBodySolver::setWorld(btDeformableMultiBodyDynamicsWorld* world) { m_objective->setWorld(world); } diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index 93e430e8e..205086d84 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -19,13 +19,13 @@ #include "btSoftBodySolvers.h" #include "btDeformableBackwardEulerObjective.h" -#include "btDeformableRigidDynamicsWorld.h" +#include "btDeformableMultiBodyDynamicsWorld.h" #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" struct btCollisionObjectWrapper; class btDeformableBackwardEulerObjective; -class btDeformableRigidDynamicsWorld; +class btDeformableMultiBodyDynamicsWorld; class btDeformableBodySolver : public btSoftBodySolver { @@ -91,7 +91,7 @@ public: } virtual void optimize(btAlignedObjectArray &softBodies, bool forceUpdate = false){} virtual bool checkInitialized(){return true;} - virtual void setWorld(btDeformableRigidDynamicsWorld* world); + virtual void setWorld(btDeformableMultiBodyDynamicsWorld* world); }; #endif /* btDeformableBodySolver_h */ diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index 61d08b3b8..e03001c3f 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -14,7 +14,7 @@ */ #include "btDeformableContactProjection.h" -#include "btDeformableRigidDynamicsWorld.h" +#include "btDeformableMultiBodyDynamicsWorld.h" #include #include void btDeformableContactProjection::update() diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp similarity index 90% rename from src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp rename to src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 18864e126..354ce3304 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -30,11 +30,11 @@ The algorithm also closely resembles the one in http://physbam.stanford.edu/~fed */ #include -#include "btDeformableRigidDynamicsWorld.h" +#include "btDeformableMultiBodyDynamicsWorld.h" #include "btDeformableBodySolver.h" #include "LinearMath/btQuickprof.h" -void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) +void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) { BT_PROFILE("internalSingleStepSimulation"); reinitialize(timeStep); @@ -66,7 +66,7 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS // /////////////////////////////// } -void btDeformableRigidDynamicsWorld::positionCorrection(btScalar timeStep) +void btDeformableMultiBodyDynamicsWorld::positionCorrection(btScalar timeStep) { // perform position correction for all constraints BT_PROFILE("positionCorrection"); @@ -141,7 +141,7 @@ void btDeformableRigidDynamicsWorld::positionCorrection(btScalar timeStep) } -void btDeformableRigidDynamicsWorld::integrateTransforms(btScalar timeStep) +void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) { BT_PROFILE("integrateTransforms"); m_deformableBodySolver->backupVelocity(); @@ -159,12 +159,12 @@ void btDeformableRigidDynamicsWorld::integrateTransforms(btScalar timeStep) m_deformableBodySolver->revertVelocity(); } -void btDeformableRigidDynamicsWorld::solveDeformableBodiesConstraints(btScalar timeStep) +void btDeformableMultiBodyDynamicsWorld::solveDeformableBodiesConstraints(btScalar timeStep) { m_deformableBodySolver->solveConstraints(timeStep); } -void btDeformableRigidDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask) +void btDeformableMultiBodyDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask) { m_softBodies.push_back(body); @@ -177,14 +177,14 @@ void btDeformableRigidDynamicsWorld::addSoftBody(btSoftBody* body, int collision collisionFilterMask); } -void btDeformableRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) +void btDeformableMultiBodyDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) { BT_PROFILE("predictUnconstraintMotion"); btMultiBodyDynamicsWorld::predictUnconstraintMotion(timeStep); m_deformableBodySolver->predictMotion(timeStep); } -void btDeformableRigidDynamicsWorld::reinitialize(btScalar timeStep) +void btDeformableMultiBodyDynamicsWorld::reinitialize(btScalar timeStep) { m_internalTime += timeStep; m_deformableBodySolver->reinitialize(m_softBodies, timeStep); @@ -195,7 +195,7 @@ void btDeformableRigidDynamicsWorld::reinitialize(btScalar timeStep) btMultiBodyDynamicsWorld::getSolverInfo().m_timeStep = timeStep; } -void btDeformableRigidDynamicsWorld::applyRigidBodyGravity(btScalar timeStep) +void btDeformableMultiBodyDynamicsWorld::applyRigidBodyGravity(btScalar timeStep) { // Gravity is applied in stepSimulation and then cleared here and then applied here and then cleared here again // so that 1) gravity is applied to velocity before constraint solve and 2) gravity is applied in each substep @@ -215,7 +215,7 @@ void btDeformableRigidDynamicsWorld::applyRigidBodyGravity(btScalar timeStep) clearMultiBodyForces(); } -void btDeformableRigidDynamicsWorld::beforeSolverCallbacks(btScalar timeStep) +void btDeformableMultiBodyDynamicsWorld::beforeSolverCallbacks(btScalar timeStep) { if (0 != m_internalTickCallback) { @@ -228,7 +228,7 @@ void btDeformableRigidDynamicsWorld::beforeSolverCallbacks(btScalar timeStep) } } -void btDeformableRigidDynamicsWorld::afterSolverCallbacks(btScalar timeStep) +void btDeformableMultiBodyDynamicsWorld::afterSolverCallbacks(btScalar timeStep) { if (0 != m_solverCallback) { @@ -236,7 +236,7 @@ void btDeformableRigidDynamicsWorld::afterSolverCallbacks(btScalar timeStep) } } -void btDeformableRigidDynamicsWorld::addForce(btSoftBody* psb, btDeformableLagrangianForce* force) +void btDeformableMultiBodyDynamicsWorld::addForce(btSoftBody* psb, btDeformableLagrangianForce* force) { btAlignedObjectArray& forces = m_deformableBodySolver->m_objective->m_lf; bool added = false; diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h similarity index 91% rename from src/BulletSoftBody/btDeformableRigidDynamicsWorld.h rename to src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h index 49b36748a..bd886d4dc 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h @@ -28,7 +28,7 @@ class btDeformableBodySolver; class btDeformableLagrangianForce; typedef btAlignedObjectArray btSoftBodyArray; -class btDeformableRigidDynamicsWorld : public btMultiBodyDynamicsWorld +class btDeformableMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld { typedef btAlignedObjectArray TVStack; // using TVStack = btAlignedObjectArray; @@ -42,7 +42,7 @@ class btDeformableRigidDynamicsWorld : public btMultiBodyDynamicsWorld btSoftBodyWorldInfo m_sbi; btScalar m_internalTime; - typedef void (*btSolverCallback)(btScalar time, btDeformableRigidDynamicsWorld* world); + typedef void (*btSolverCallback)(btScalar time, btDeformableMultiBodyDynamicsWorld* world); btSolverCallback m_solverCallback; protected: @@ -55,7 +55,7 @@ protected: void solveDeformableBodiesConstraints(btScalar timeStep); public: - btDeformableRigidDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0) + btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0) : btMultiBodyDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration), m_deformableBodySolver(deformableBodySolver), m_solverCallback(0) { @@ -83,7 +83,7 @@ public: m_solverCallback = cb; } - virtual ~btDeformableRigidDynamicsWorld() + virtual ~btDeformableMultiBodyDynamicsWorld() { } diff --git a/src/BulletSoftBody/premake4.lua b/src/BulletSoftBody/premake4.lua index 6f09196fa..c8a6e5151 100644 --- a/src/BulletSoftBody/premake4.lua +++ b/src/BulletSoftBody/premake4.lua @@ -11,4 +11,4 @@ files { "**.cpp", "**.h" - } \ No newline at end of file + } From 6d4e93d3bf064ade92ee007a1685aae7361c6f3d Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 16 Aug 2019 14:03:14 -0700 Subject: [PATCH 081/389] mods for compatibility with older compiler --- examples/DeformableDemo/GraspDeformable.cpp | 3 +-- src/BulletSoftBody/btSoftBodyHelpers.cpp | 6 +++--- src/BulletSoftBody/btSoftBodyHelpers.h | 2 +- 3 files changed, 5 insertions(+), 6 deletions(-) diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index f439e9983..8fdc2752b 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -330,13 +330,12 @@ void GraspDeformable::initPhysics() // b3FileUtils::findFile("bread.vtk", relative_path, 1024); // b3FileUtils::findFile("ditto.vtk", relative_path, 1024); // b3FileUtils::findFile("boot.vtk", relative_path, 1024); - std::string path(relative_path); // btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(), // TetraCube::getElements(), // 0, // TetraCube::getNodes(), // false, true, true); - btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), path); + btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), relative_path); // psb->scale(btVector3(30, 30, 30)); // for banana psb->scale(btVector3(.25, .25, .25)); diff --git a/src/BulletSoftBody/btSoftBodyHelpers.cpp b/src/BulletSoftBody/btSoftBodyHelpers.cpp index 3cdf4d7bd..6c67a3b78 100644 --- a/src/BulletSoftBody/btSoftBodyHelpers.cpp +++ b/src/BulletSoftBody/btSoftBodyHelpers.cpp @@ -746,9 +746,9 @@ btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo, const { const btScalar tx = ix / (btScalar)(rx - 1); btScalar pert = perturbation * btScalar(rand())/RAND_MAX; - btVector4 temp1 = py1; + btVector3 temp1 = py1; temp1.setY(py1.getY() + pert); - btVector4 temp = py0; + btVector3 temp = py0; pert = perturbation * btScalar(rand())/RAND_MAX; temp.setY(py0.getY() + pert); x[IDX(ix, iy)] = lerp(temp, temp1, tx); @@ -1239,7 +1239,7 @@ if(face&&face[0]) return (psb); } -btSoftBody* btSoftBodyHelpers::CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, const std::string& vtk_file) +btSoftBody* btSoftBodyHelpers::CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file) { std::ifstream fs; fs.open(vtk_file); diff --git a/src/BulletSoftBody/btSoftBodyHelpers.h b/src/BulletSoftBody/btSoftBodyHelpers.h index 6cdeb97c3..24c86afdd 100644 --- a/src/BulletSoftBody/btSoftBodyHelpers.h +++ b/src/BulletSoftBody/btSoftBodyHelpers.h @@ -142,7 +142,7 @@ struct btSoftBodyHelpers bool bfacelinks, bool btetralinks, bool bfacesfromtetras); - static btSoftBody* CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, const std::string& vtk_file); + static btSoftBody* CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file); static btSoftBody* CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, std::istream& in); From 74adce732200a51fc5945f6c10c2de3fdb2ea385 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 19 Aug 2019 11:28:41 -0700 Subject: [PATCH 082/389] bug fix in momentum conserving damping model for mass spring; update default damping model to momentum conserving one --- src/BulletSoftBody/btDeformableMassSpringForce.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/BulletSoftBody/btDeformableMassSpringForce.h b/src/BulletSoftBody/btDeformableMassSpringForce.h index 7dbd23907..8caf7702f 100644 --- a/src/BulletSoftBody/btDeformableMassSpringForce.h +++ b/src/BulletSoftBody/btDeformableMassSpringForce.h @@ -27,7 +27,7 @@ public: btDeformableMassSpringForce() : m_momentum_conserving(false), m_elasticStiffness(1), m_dampingStiffness(0.05) { } - btDeformableMassSpringForce(btScalar k, btScalar d, bool conserve_angular = false) : m_momentum_conserving(conserve_angular), m_elasticStiffness(k), m_dampingStiffness(d) + btDeformableMassSpringForce(btScalar k, btScalar d, bool conserve_angular = true) : m_momentum_conserving(conserve_angular), m_elasticStiffness(k), m_dampingStiffness(d) { } @@ -63,7 +63,7 @@ public: { if ((node2->m_q - node1->m_q).norm() > SIMD_EPSILON) { - btVector3 dir = (node2->m_q - node1->m_q).normalized(); + btVector3 dir = (node2->m_x - node1->m_x).normalized(); scaled_force = scale * m_dampingStiffness * v_diff.dot(dir) * dir; } } @@ -120,7 +120,7 @@ public: { if ((node2->m_q - node1->m_q).norm() > SIMD_EPSILON) { - btVector3 dir = (node2->m_q - node1->m_q).normalized(); + btVector3 dir = (node2->m_x - node1->m_x).normalized(); local_scaled_df= scaled_k_damp * (dv[id2] - dv[id1]).dot(dir) * dir; } } From 54bd93aad2fcb12b09ddbe1603da4ee98271f977 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 19 Aug 2019 11:30:25 -0700 Subject: [PATCH 083/389] move deformation update to before explicit force calculation to prevent repetition of F calculation --- .../btDeformableBackwardEulerObjective.cpp | 5 +++++ src/BulletSoftBody/btDeformableCorotatedForce.h | 16 ++-------------- src/BulletSoftBody/btSoftBody.cpp | 14 ++++++++++++++ src/BulletSoftBody/btSoftBody.h | 3 ++- 4 files changed, 23 insertions(+), 15 deletions(-) diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index f722532e2..244fbb6ce 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -119,6 +119,11 @@ btScalar btDeformableBackwardEulerObjective::computeNorm(const TVStack& residual void btDeformableBackwardEulerObjective::applyExplicitForce(TVStack& force) { + for (int i = 0; i < m_softBodies.size(); ++i) + { + m_softBodies[i]->updateDeformation(); + } + for (int i = 0; i < m_lf.size(); ++i) { m_lf[i]->addScaledExplicitForce(m_dt, force); diff --git a/src/BulletSoftBody/btDeformableCorotatedForce.h b/src/BulletSoftBody/btDeformableCorotatedForce.h index 156794a50..14896514e 100644 --- a/src/BulletSoftBody/btDeformableCorotatedForce.h +++ b/src/BulletSoftBody/btDeformableCorotatedForce.h @@ -2,7 +2,7 @@ Written by Xuchen Han Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2016 Google Inc. http://bulletphysics.org + Copyright (c) 2019 Google Inc. http://bulletphysics.org 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, @@ -63,10 +63,8 @@ public: for (int j = 0; j < psb->m_tetras.size(); ++j) { btSoftBody::Tetra& tetra = psb->m_tetras[j]; - updateDs(tetra); - btMatrix3x3 F = tetra.m_ds * tetra.m_Dm_inverse; btMatrix3x3 P; - firstPiola(F,P); + firstPiola(tetra.m_F,P); btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose(); @@ -106,16 +104,6 @@ public: P += (F-R) * 2 * m_mu; } } - void updateDs(btSoftBody::Tetra& t) - { - btVector3 c1 = t.m_n[1]->m_q - t.m_n[0]->m_q; - btVector3 c2 = t.m_n[2]->m_q - t.m_n[0]->m_q; - btVector3 c3 = t.m_n[3]->m_q - t.m_n[0]->m_q; - btMatrix3x3 Ds(c1.getX(), c2.getX(), c3.getX(), - c1.getY(), c2.getY(), c3.getY(), - c1.getZ(), c2.getZ(), c3.getZ()); - t.m_ds = Ds; - } virtual void addScaledForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) { diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 2da04d491..ac7b8ae7e 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -2831,6 +2831,20 @@ void btSoftBody::initializeDmInverse() } } +void btSoftBody::updateDeformation() +{ + for (int i = 0; i < m_tetras.size(); ++i) + { + btSoftBody::Tetra& t = m_tetras[i]; + btVector3 c1 = t.m_n[1]->m_q - t.m_n[0]->m_q; + btVector3 c2 = t.m_n[2]->m_q - t.m_n[0]->m_q; + btVector3 c3 = t.m_n[3]->m_q - t.m_n[0]->m_q; + btMatrix3x3 Ds(c1.getX(), c2.getX(), c3.getX(), + c1.getY(), c2.getY(), c3.getY(), + c1.getZ(), c2.getZ(), c3.getZ()); + t.m_F = Ds * t.m_Dm_inverse; + } +} // void btSoftBody::Joint::Prepare(btScalar dt, int) { diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index 0ee9e827d..cd235c29d 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -293,7 +293,7 @@ public: btScalar m_c1; // (4*kVST)/(im0+im1+im2+im3) btScalar m_c2; // m_c1/sum(|g0..3|^2) btMatrix3x3 m_Dm_inverse; // rest Dm^-1 - btMatrix3x3 m_ds; + btMatrix3x3 m_F; btScalar m_element_measure; }; /* RContact */ @@ -1027,6 +1027,7 @@ public: void dampClusters(); void setSpringStiffness(btScalar k); void initializeDmInverse(); + void updateDeformation(); void applyForces(); static void PSolve_Anchors(btSoftBody* psb, btScalar kst, btScalar ti); static void PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti); From 04595961cdd8efb9eb56236cd9933e021b9aa411 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 19 Aug 2019 12:02:57 -0700 Subject: [PATCH 084/389] add velocity clamp to prevent deformable objects from going too fast --- .../btDeformableMultiBodyDynamicsWorld.cpp | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 354ce3304..60e3bbbbd 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -153,6 +153,19 @@ void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) for (int j = 0; j < psb->m_nodes.size(); ++j) { btSoftBody::Node& node = psb->m_nodes[j]; + btScalar maxDisplacement = psb->getWorldInfo()->m_maxDisplacement; + btScalar clampDeltaV = maxDisplacement / timeStep; + for (int c = 0; c < 3; c++) + { + if (node.m_v[c] > clampDeltaV) + { + node.m_v[c] = clampDeltaV; + } + if (node.m_v[c] < -clampDeltaV) + { + node.m_v[c] = -clampDeltaV; + } + } node.m_x = node.m_q + timeStep * node.m_v; } } From 44e7c4a96dd14ba2ccf517e326a4cf076963237e Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 19 Aug 2019 12:03:45 -0700 Subject: [PATCH 085/389] add stable NeoHookean Model --- .../btDeformableBackwardEulerObjective.h | 1 + .../btDeformableLagrangianForce.h | 4 +- .../btDeformableNeoHookeanForce.h | 136 ++++++++++++++++++ 3 files changed, 139 insertions(+), 2 deletions(-) create mode 100644 src/BulletSoftBody/btDeformableNeoHookeanForce.h diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index 9dd85da6d..7e1bae29f 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -20,6 +20,7 @@ #include "btDeformableMassSpringForce.h" #include "btDeformableGravityForce.h" #include "btDeformableCorotatedForce.h" +#include "btDeformableNeoHookeanForce.h" #include "btDeformableContactProjection.h" #include "btPreconditioner.h" #include "btDeformableMultiBodyDynamicsWorld.h" diff --git a/src/BulletSoftBody/btDeformableLagrangianForce.h b/src/BulletSoftBody/btDeformableLagrangianForce.h index ea21647bb..daea0e86a 100644 --- a/src/BulletSoftBody/btDeformableLagrangianForce.h +++ b/src/BulletSoftBody/btDeformableLagrangianForce.h @@ -23,13 +23,13 @@ enum btDeformableLagrangianForceType { BT_GRAVITY_FORCE = 1, BT_MASSSPRING_FORCE = 2, - BT_COROTATED_FORCE = 3 + BT_COROTATED_FORCE = 3, + BT_NEOHOOKEAN_FORCE = 4 }; class btDeformableLagrangianForce { public: -// using TVStack = btAlignedObjectArray; typedef btAlignedObjectArray TVStack; btAlignedObjectArray m_softBodies; const btAlignedObjectArray* m_nodes; diff --git a/src/BulletSoftBody/btDeformableNeoHookeanForce.h b/src/BulletSoftBody/btDeformableNeoHookeanForce.h new file mode 100644 index 000000000..9bc232e24 --- /dev/null +++ b/src/BulletSoftBody/btDeformableNeoHookeanForce.h @@ -0,0 +1,136 @@ +/* +Written by Xuchen Han + +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2019 Google Inc. http://bulletphysics.org +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 BT_NEOHOOKEAN_H +#define BT_NEOHOOKEAN_H + +#include "btDeformableLagrangianForce.h" + +class btDeformableNeoHookeanForce : public btDeformableLagrangianForce +{ +public: + typedef btAlignedObjectArray TVStack; + btScalar m_mu, m_lambda; + btDeformableNeoHookeanForce(): m_mu(1), m_lambda(1) + { + + } + + btDeformableNeoHookeanForce(btScalar mu, btScalar lambda): m_mu(mu), m_lambda(lambda) + { + } + + virtual void addScaledImplicitForce(btScalar scale, TVStack& force) + { + addScaledDampingForce(scale, force); + } + + virtual void addScaledExplicitForce(btScalar scale, TVStack& force) + { + addScaledElasticForce(scale, force); + } + + virtual void addScaledDampingForce(btScalar scale, TVStack& force) + { + } + + virtual void addScaledElasticForce(btScalar scale, TVStack& force) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()) + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btMatrix3x3 P; + firstPiola(tetra.m_F,P); + btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose(); + + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + + // elastic force + // explicit elastic force + btScalar scale1 = scale * tetra.m_element_measure; + force[id0] -= scale1 * force_on_node0; + force[id1] -= scale1 * force_on_node123.getColumn(0); + force[id2] -= scale1 * force_on_node123.getColumn(1); + force[id3] -= scale1 * force_on_node123.getColumn(2); + } + } + } + + void firstPiola(const btMatrix3x3& F, btMatrix3x3& P) + { + btMatrix3x3 C = F.transpose()*F; + btScalar J = F.determinant(); + btScalar trace = C[0].getX() + C[1].getY() + C[2].getZ(); + P = F * m_mu * ( 1. - 1. / (trace + 1.)) + F.adjoint() * (m_lambda * (J - 1) - 0.75 * m_mu); + } + + virtual void addScaledForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) + { + } + + void firstPiolaDifferential(const btMatrix3x3& F, const btMatrix3x3& G, btMatrix3x3& P) + { + btScalar J = F.determinant(); + addScaledCofactorMatrixDifferential(F, G, m_lambda*(J-1), P); + P += F.adjoint() * m_lambda * DotProduct(F.adjoint(), G); + } + + btScalar DotProduct(const btMatrix3x3& A, const btMatrix3x3& B) + { + btScalar ans = 0; + for (int i = 0; i < 3; ++i) + { + for (int j = 0; j < 3; ++j) + { + ans += A[i][j] * B[i][j]; + } + } + return ans; + } + + void addScaledCofactorMatrixDifferential(const btMatrix3x3& F, const btMatrix3x3& dF, btScalar scale, btMatrix3x3& M) + { + M[0][0] = scale * (dF[1][1] * F[2][2] + F[1][1] * dF[2][2] - dF[2][1] * F[1][2] - F[2][1] * dF[1][2]); + M[1][0] = scale * (dF[2][1] * F[0][2] + F[2][1] * dF[0][2] - dF[0][1] * F[2][2] - F[0][1] * dF[2][2]); + M[2][0] = scale * (dF[0][1] * F[1][2] + F[0][1] * dF[1][2] - dF[1][1] * F[0][2] - F[1][1] * dF[0][2]); + M[0][1] = scale * (dF[2][0] * F[1][2] + F[2][0] * dF[1][2] - dF[1][0] * F[2][2] - F[1][0] * dF[2][2]); + M[1][1] = scale * (dF[0][0] * F[2][2] + F[0][0] * dF[2][2] - dF[2][0] * F[0][2] - F[2][0] * dF[0][2]); + M[2][1] = scale * (dF[1][0] * F[0][2] + F[1][0] * dF[0][2] - dF[0][0] * F[1][2] - F[0][0] * dF[1][2]); + M[0][2] = scale * (dF[1][0] * F[2][1] + F[1][0] * dF[2][1] - dF[2][0] * F[1][1] - F[2][0] * dF[1][1]); + M[1][2] = scale * (dF[2][0] * F[0][1] + F[2][0] * dF[0][1] - dF[0][0] * F[2][1] - F[0][0] * dF[2][1]); + M[2][2] = scale * (dF[0][0] * F[1][1] + F[0][0] * dF[1][1] - dF[1][0] * F[0][1] - F[1][0] * dF[0][1]); + } + + virtual btDeformableLagrangianForceType getForceType() + { + return BT_NEOHOOKEAN_FORCE; + } + +}; +#endif /* BT_NEOHOOKEAN_H */ From 9af25430ac03c7b313d8a1b8cd1d7ab9c0d4e223 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 19 Aug 2019 12:04:10 -0700 Subject: [PATCH 086/389] update examples to include NeoHookean Model and new damping model --- examples/DeformableDemo/DeformableMultibody.cpp | 2 +- examples/DeformableDemo/DeformableRigid.cpp | 2 +- examples/DeformableDemo/GraspDeformable.cpp | 13 +++++++------ examples/DeformableDemo/Pinch.cpp | 3 ++- examples/DeformableDemo/VolumetricDeformable.cpp | 4 ++-- 5 files changed, 13 insertions(+), 11 deletions(-) diff --git a/examples/DeformableDemo/DeformableMultibody.cpp b/examples/DeformableDemo/DeformableMultibody.cpp index 6c3740edf..f9c527b3c 100644 --- a/examples/DeformableDemo/DeformableMultibody.cpp +++ b/examples/DeformableDemo/DeformableMultibody.cpp @@ -224,7 +224,7 @@ void DeformableMultibody::initPhysics() psb->m_cfg.kDF = .1; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addSoftBody(psb); - getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(2, 0.01)); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(2, 0.01, false)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); } diff --git a/examples/DeformableDemo/DeformableRigid.cpp b/examples/DeformableDemo/DeformableRigid.cpp index 2b5186595..f6b0c3184 100644 --- a/examples/DeformableDemo/DeformableRigid.cpp +++ b/examples/DeformableDemo/DeformableRigid.cpp @@ -233,7 +233,7 @@ void DeformableRigid::initPhysics() psb->m_cfg.kDF = 1; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addSoftBody(psb); - getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(2, 0.05)); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(2, 0.01, false)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); // add a few rigid bodies diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index 8fdc2752b..10b273a2e 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -191,7 +191,7 @@ void GraspDeformable::initPhysics() m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); deformableBodySolver->setWorld(getDeformableDynamicsWorld()); - btVector3 gravity = btVector3(0, -10, 0); + btVector3 gravity = btVector3(0, -9.81, 0); m_dynamicsWorld->setGravity(gravity); getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); @@ -316,7 +316,7 @@ void GraspDeformable::initPhysics() body->setFriction(0.1); //add the ground to the dynamics world - m_dynamicsWorld->addRigidBody(body); + m_dynamicsWorld->addRigidBody(body,1,1+2); } // create a soft block @@ -342,22 +342,23 @@ void GraspDeformable::initPhysics() // psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot // psb->scale(btVector3(1, 1, 1)); // for ditto // psb->translate(btVector3(0, 0, 2)); for boot - psb->getCollisionShape()->setMargin(0.02); + psb->getCollisionShape()->setMargin(0.01); psb->setTotalMass(.1); psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb->m_cfg.kCHR = 1; // collision hardness with rigid body - psb->m_cfg.kDF = 10; + psb->m_cfg.kDF = 2; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addSoftBody(psb); + psb->getWorldInfo()->m_maxDisplacement = .1f; // nonlinear damping // getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(1,0.04, true)); // getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); // getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(0,6)); // linear damping - getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(0,0.01, false)); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(.5,0.04, true)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); - getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(6,6)); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableNeoHookeanForce(2,10)); } // // create a piece of cloth diff --git a/examples/DeformableDemo/Pinch.cpp b/examples/DeformableDemo/Pinch.cpp index abe428577..7bfbc7712 100644 --- a/examples/DeformableDemo/Pinch.cpp +++ b/examples/DeformableDemo/Pinch.cpp @@ -336,8 +336,9 @@ void Pinch::initPhysics() psb->m_cfg.kDF = 2; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addSoftBody(psb); - getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(2, 0.02)); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(1, 0.05)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableNeoHookeanForce(.2,1)); // add a grippers createGrip(); } diff --git a/examples/DeformableDemo/VolumetricDeformable.cpp b/examples/DeformableDemo/VolumetricDeformable.cpp index 745c0cd87..55331b5d5 100644 --- a/examples/DeformableDemo/VolumetricDeformable.cpp +++ b/examples/DeformableDemo/VolumetricDeformable.cpp @@ -236,9 +236,9 @@ void VolumetricDeformable::initPhysics() psb->m_cfg.kCHR = 1; // collision hardness with rigid body psb->m_cfg.kDF = 0.5; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; - getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(0,0.01)); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(0,0.03)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); - getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(.5,.5)); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableNeoHookeanForce(.5,2.5)); } // add a few rigid bodies Ctor_RbUpStack(4); From 9f559af2a8d25d275601471a6c4d9b1e6ca9d231 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 19 Aug 2019 13:07:26 -0700 Subject: [PATCH 087/389] set m_contact_iterations to solverInfo.m_solverIterations --- src/BulletSoftBody/btDeformableBodySolver.cpp | 5 ++++- src/BulletSoftBody/btDeformableContactProjection.cpp | 1 + 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index b173aa53b..85730cc1e 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -21,7 +21,6 @@ btDeformableBodySolver::btDeformableBodySolver() : m_numNodes(0) , m_cg(50) -, m_contact_iterations(5) { m_objective = new btDeformableBackwardEulerObjective(m_softBodySet, m_backupVelocity); } @@ -79,12 +78,16 @@ void btDeformableBodySolver::setConstraints() { BT_PROFILE("setConstraint"); m_objective->setConstraints(); + // m_contact_iterations takes over m_numIterations + m_contact_iterations = m_objective->m_world->getSolverInfo().m_numIterations; for (int i = 0; i < m_contact_iterations; ++i) { m_objective->projection.update(); m_objective->enforceConstraint(m_dv); m_objective->updateVelocity(m_dv); } + // recover m_numIterations from m_contact_iterations + m_objective->m_world->getSolverInfo().m_numIterations = m_contact_iterations; } void btDeformableBodySolver::setWorld(btDeformableMultiBodyDynamicsWorld* world) diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index e03001c3f..ba8f74144 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -21,6 +21,7 @@ void btDeformableContactProjection::update() { ///solve rigid body constraints { + // m_numIterations get temporarily to 1 so that we interleave one step of multibody solve with one step of multibody/deformable contact solve m_world->getSolverInfo().m_numIterations = 1; m_world->processIslands(); m_world->btMultiBodyDynamicsWorld::solveInternalConstraints(m_world->getSolverInfo()); // process constraints deferred in the previous step From 5cdfbf331300d9fd2c6fd7dafc13f29a3116ab1d Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 19 Aug 2019 13:09:14 -0700 Subject: [PATCH 088/389] add CMakeLists --- src/BulletSoftBody/CMakeLists.txt | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/BulletSoftBody/CMakeLists.txt b/src/BulletSoftBody/CMakeLists.txt index 262b27e36..40d07bd66 100644 --- a/src/BulletSoftBody/CMakeLists.txt +++ b/src/BulletSoftBody/CMakeLists.txt @@ -43,6 +43,8 @@ SET(BulletSoftBody_HDRS btConjugateGradient.h btDeformableGravityForce.h btDeformableMassSpringForce.h + btDeformableCorotatedForce.h + btDeformableNeoHookeanForce.h btDeformableLagrangianForce.h btPreconditioner.h From ef65d6422b0ec4e730de799f936d81c3fc5ad4bd Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 19 Aug 2019 17:28:22 -0700 Subject: [PATCH 089/389] remove CG printf outputs --- src/BulletSoftBody/btConjugateGradient.h | 19 ++++++++++++++----- 1 file changed, 14 insertions(+), 5 deletions(-) diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h index bb0b1586f..6fad0e60a 100644 --- a/src/BulletSoftBody/btConjugateGradient.h +++ b/src/BulletSoftBody/btConjugateGradient.h @@ -35,7 +35,7 @@ public: virtual ~btConjugateGradient(){} // return the number of iterations taken - int solve(MatrixX& A, TVStack& x, const TVStack& b, btScalar tolerance) + int solve(MatrixX& A, TVStack& x, const TVStack& b, btScalar tolerance, bool verbose = false) { BT_PROFILE("CGSolve"); btAssert(x.size() == b.size()); @@ -49,8 +49,11 @@ public: A.project(z); btScalar r_dot_z = dot(z,r); if (r_dot_z < tolerance) { - std::cout << "Iteration = 0" << std::endl; - std::cout << "Two norm of the residual = " << r_dot_z << std::endl; + if (verbose) + { + std::cout << "Iteration = 0" << std::endl; + std::cout << "Two norm of the residual = " << r_dot_z << std::endl; + } return 0; } p = z; @@ -70,13 +73,19 @@ public: r_dot_z = r_dot_z_new; r_dot_z_new = dot(r,z); if (r_dot_z_new < tolerance) { - std::cout << "ConjugateGradient iterations " << k << std::endl; + if (verbose) + { + std::cout << "ConjugateGradient iterations " << k << std::endl; + } return k; } btScalar beta = r_dot_z_new/ r_dot_z; p = multAndAdd(beta, p, z); } - std::cout << "ConjugateGradient max iterations reached " << max_iterations << std::endl; + if (verbose) + { + std::cout << "ConjugateGradient max iterations reached " << max_iterations << std::endl; + } return max_iterations; } From 3bf3b66fb72cb228d4ff8cc61b16c689efbc0b2d Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 19 Aug 2019 19:18:02 -0700 Subject: [PATCH 090/389] add method to remove softbody --- src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp | 5 ++++- src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp | 8 ++++++++ src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h | 2 ++ 3 files changed, 14 insertions(+), 1 deletion(-) diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index 244fbb6ce..bf88ae550 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -27,7 +27,10 @@ btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAligned void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated, btScalar dt) { BT_PROFILE("reinitialize"); - setDt(dt); + if (dt > 0) + { + setDt(dt); + } if(nodeUpdated) { updateId(); diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 60e3bbbbd..05e1c1ac9 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -269,3 +269,11 @@ void btDeformableMultiBodyDynamicsWorld::addForce(btSoftBody* psb, btDeformableL forces.push_back(force); } } + +void btDeformableMultiBodyDynamicsWorld::removeSoftBody(btSoftBody* body) +{ + m_softBodies.remove(body); + btCollisionWorld::removeCollisionObject(body); + // force a reinitialize so that node indices get updated. + m_deformableBodySolver->reinitialize(m_softBodies, btScalar(-1)); +} diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h index bd886d4dc..f8d368c5f 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h @@ -136,6 +136,8 @@ public: void addForce(btSoftBody* psb, btDeformableLagrangianForce* force); + void removeSoftBody(btSoftBody* body); + int getDrawFlags() const { return (m_drawFlags); } void setDrawFlags(int f) { m_drawFlags = f; } }; From 3d42a770fc2b140ebb69dcd97c5209e46c35687a Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Tue, 20 Aug 2019 07:29:49 -0700 Subject: [PATCH 091/389] Update btMultiBodyConstraintSolver.cpp --- src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp index 9b58c1a49..45c893b27 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp @@ -783,7 +783,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol ///warm starting (or zero if disabled) //disable warmstarting for btMultiBody, it has issues gaining energy (==explosion) - if (0) //infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + if (/* DISABLES CODE */ (0)) //infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) { solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor; From 76d37ec4756b0770c86a70434cc963e043cd9952 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 20 Aug 2019 10:37:25 -0700 Subject: [PATCH 092/389] bug fix in updateDeformation --- src/BulletSoftBody/btSoftBody.cpp | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index ac7b8ae7e..c8d20e35a 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -2835,10 +2835,12 @@ void btSoftBody::updateDeformation() { for (int i = 0; i < m_tetras.size(); ++i) { + // updateDeformation is called before predictMotion where m_q is sync'd. + // So m_x is the current position of the node. btSoftBody::Tetra& t = m_tetras[i]; - btVector3 c1 = t.m_n[1]->m_q - t.m_n[0]->m_q; - btVector3 c2 = t.m_n[2]->m_q - t.m_n[0]->m_q; - btVector3 c3 = t.m_n[3]->m_q - t.m_n[0]->m_q; + btVector3 c1 = t.m_n[1]->m_x - t.m_n[0]->m_x; + btVector3 c2 = t.m_n[2]->m_x - t.m_n[0]->m_x; + btVector3 c3 = t.m_n[3]->m_x - t.m_n[0]->m_x; btMatrix3x3 Ds(c1.getX(), c2.getX(), c3.getX(), c1.getY(), c2.getY(), c3.getY(), c1.getZ(), c2.getZ(), c3.getZ()); From 7e971d9f638db29519c5eaee59bf5f2d78c8df74 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 20 Aug 2019 11:12:36 -0700 Subject: [PATCH 093/389] safe guard against NaN in dv after CG solve --- src/BulletSoftBody/btDeformableBodySolver.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 85730cc1e..d36c19718 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -103,6 +103,11 @@ void btDeformableBodySolver::updateVelocity() btSoftBody* psb = m_softBodySet[i]; for (int j = 0; j < psb->m_nodes.size(); ++j) { + // set NaN to zero; + if (m_dv[counter] != m_dv[counter]) + { + m_dv[counter].setZero(); + } psb->m_nodes[j].m_v = m_backupVelocity[counter]+m_dv[counter]; ++counter; } From fadf6aa61249ae84aa7e0760fc96714af4501eee Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 20 Aug 2019 16:26:19 -0700 Subject: [PATCH 094/389] prevent division by zero in mass spring --- src/BulletSoftBody/btDeformableMassSpringForce.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/BulletSoftBody/btDeformableMassSpringForce.h b/src/BulletSoftBody/btDeformableMassSpringForce.h index 8caf7702f..14d4e8260 100644 --- a/src/BulletSoftBody/btDeformableMassSpringForce.h +++ b/src/BulletSoftBody/btDeformableMassSpringForce.h @@ -92,7 +92,7 @@ public: // elastic force // explicit elastic force btVector3 dir = (node2->m_q - node1->m_q); - btVector3 dir_normalized = dir.normalized(); + btVector3 dir_normalized = (dir.norm() > SIMD_EPSILON) ? dir.normalized() : btVector3(0,0,0); btVector3 scaled_force = scale * m_elasticStiffness * (dir - dir_normalized * r); force[id1] += scaled_force; force[id2] -= scaled_force; From 076c8b11df6392421a6d7b5b2e8090c4400aac4f Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 16 Aug 2019 13:51:50 -0700 Subject: [PATCH 095/389] revert the changes to damping of multibody external forces --- src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp | 4 ---- 1 file changed, 4 deletions(-) diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp index c05ab420f..386f1dfd1 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp @@ -593,14 +593,10 @@ void btMultiBodyDynamicsWorld::solveExternalForces(btContactSolverInfo& solverIn { if (!bod->isUsingRK4Integration()) { - // avoid damping in external forces (e.g. gravity) - const btScalar linearDamp = bod->getLinearDamping(); - bod->setLinearDamping(0); bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass, getSolverInfo().m_jointFeedbackInWorldSpace, getSolverInfo().m_jointFeedbackInJointFrame); - bod->setLinearDamping(linearDamp); } else { From f33532273a243cd3d0869540a5a0c2383be7e65a Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 21 Aug 2019 16:03:54 -0700 Subject: [PATCH 096/389] sync interpolationTransform for multibody in integrateTransform; revert changes to voxel size in sparseSDF --- src/BulletDynamics/Featherstone/btMultiBody.cpp | 2 ++ src/BulletSoftBody/btSparseSDF.h | 2 +- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp index 4d634b699..654f77c09 100644 --- a/src/BulletDynamics/Featherstone/btMultiBody.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp @@ -2142,6 +2142,7 @@ void btMultiBody::updateCollisionObjectWorldTransforms(btAlignedObjectArraysetWorldTransform(tr); + getBaseCollider()->setInterpolationWorldTransform(tr); } for (int k = 0; k < getNumLinks(); k++) @@ -2170,6 +2171,7 @@ void btMultiBody::updateCollisionObjectWorldTransforms(btAlignedObjectArraysetWorldTransform(tr); + col->setInterpolationWorldTransform(tr); } } } diff --git a/src/BulletSoftBody/btSparseSDF.h b/src/BulletSoftBody/btSparseSDF.h index 2b7fabea3..a52b2cb1c 100644 --- a/src/BulletSoftBody/btSparseSDF.h +++ b/src/BulletSoftBody/btSparseSDF.h @@ -103,7 +103,7 @@ struct btSparseSdf pc = pn; } } - voxelsz = 0.025; + voxelsz = 0.25; puid = 0; ncells = 0; nprobes = 1; From 4e1c1a30a7077d0b491545f8c540abe4c58a020c Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 21 Aug 2019 22:17:46 -0700 Subject: [PATCH 097/389] remove world dependency from btDeformableBodySolver,btDeformableBackwardEulerObjective, and btCGProjection; reduce invasion into multibody world, all chnages are cosmetic now --- .../DeformableDemo/DeformableMultibody.cpp | 2 +- examples/DeformableDemo/DeformableRigid.cpp | 2 +- examples/DeformableDemo/GraspDeformable.cpp | 3 +- examples/DeformableDemo/Pinch.cpp | 2 +- .../DeformableDemo/VolumetricDeformable.cpp | 2 +- .../btSimulationIslandManager.h | 4 +- .../Featherstone/btMultiBodyDynamicsWorld.cpp | 48 +++++++++++-------- .../Featherstone/btMultiBodyDynamicsWorld.h | 7 +-- src/BulletSoftBody/btCGProjection.h | 8 +--- .../btDeformableBackwardEulerObjective.cpp | 4 -- .../btDeformableBackwardEulerObjective.h | 12 ++--- src/BulletSoftBody/btDeformableBodySolver.cpp | 25 ++++------ src/BulletSoftBody/btDeformableBodySolver.h | 11 +++-- .../btDeformableContactProjection.cpp | 9 +--- .../btDeformableMultiBodyDynamicsWorld.cpp | 29 +++++++++-- .../btDeformableMultiBodyDynamicsWorld.h | 10 +++- 16 files changed, 98 insertions(+), 80 deletions(-) diff --git a/examples/DeformableDemo/DeformableMultibody.cpp b/examples/DeformableDemo/DeformableMultibody.cpp index f9c527b3c..084ff5a04 100644 --- a/examples/DeformableDemo/DeformableMultibody.cpp +++ b/examples/DeformableDemo/DeformableMultibody.cpp @@ -122,7 +122,7 @@ void DeformableMultibody::initPhysics() m_solver = sol; m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); - deformableBodySolver->setWorld(getDeformableDynamicsWorld()); +// deformableBodySolver->setWorld(getDeformableDynamicsWorld()); btVector3 gravity = btVector3(0, -10, 0); m_dynamicsWorld->setGravity(gravity); getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; diff --git a/examples/DeformableDemo/DeformableRigid.cpp b/examples/DeformableDemo/DeformableRigid.cpp index f6b0c3184..9b546086d 100644 --- a/examples/DeformableDemo/DeformableRigid.cpp +++ b/examples/DeformableDemo/DeformableRigid.cpp @@ -164,7 +164,7 @@ void DeformableRigid::initPhysics() m_solver = sol; m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); - deformableBodySolver->setWorld(getDeformableDynamicsWorld()); +// deformableBodySolver->setWorld(getDeformableDynamicsWorld()); // m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality btVector3 gravity = btVector3(0, -10, 0); m_dynamicsWorld->setGravity(gravity); diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index 10b273a2e..d07c3cb01 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -190,7 +190,7 @@ void GraspDeformable::initPhysics() m_solver = sol; m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); - deformableBodySolver->setWorld(getDeformableDynamicsWorld()); +// deformableBodySolver->setWorld(getDeformableDynamicsWorld()); btVector3 gravity = btVector3(0, -9.81, 0); m_dynamicsWorld->setGravity(gravity); getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; @@ -357,6 +357,7 @@ void GraspDeformable::initPhysics() // linear damping getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(.5,0.04, true)); +// getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(3,0.04, true)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableNeoHookeanForce(2,10)); } diff --git a/examples/DeformableDemo/Pinch.cpp b/examples/DeformableDemo/Pinch.cpp index 7bfbc7712..e1c3fd348 100644 --- a/examples/DeformableDemo/Pinch.cpp +++ b/examples/DeformableDemo/Pinch.cpp @@ -248,7 +248,7 @@ void Pinch::initPhysics() m_solver = sol; m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); - deformableBodySolver->setWorld(getDeformableDynamicsWorld()); +// deformableBodySolver->setWorld(getDeformableDynamicsWorld()); // m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality btVector3 gravity = btVector3(0, -10, 0); m_dynamicsWorld->setGravity(gravity); diff --git a/examples/DeformableDemo/VolumetricDeformable.cpp b/examples/DeformableDemo/VolumetricDeformable.cpp index 55331b5d5..9796ab963 100644 --- a/examples/DeformableDemo/VolumetricDeformable.cpp +++ b/examples/DeformableDemo/VolumetricDeformable.cpp @@ -182,7 +182,7 @@ void VolumetricDeformable::initPhysics() m_solver = sol; m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); - deformableBodySolver->setWorld(getDeformableDynamicsWorld()); +// deformableBodySolver->setWorld(getDeformableDynamicsWorld()); // m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality btVector3 gravity = btVector3(0, -10, 0); m_dynamicsWorld->setGravity(gravity); diff --git a/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h b/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h index 62c4c574c..197bb457c 100644 --- a/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h +++ b/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h @@ -57,9 +57,11 @@ public: }; void buildAndProcessIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback); - void processIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback); + void buildIslands(btDispatcher* dispatcher, btCollisionWorld* colWorld); + void processIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback); + bool getSplitIslands() { return m_splitIslands; diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp index 386f1dfd1..950edb1a2 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp @@ -428,27 +428,41 @@ void btMultiBodyDynamicsWorld::forwardKinematics() void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) { solveExternalForces(solverInfo); - m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback); + buildIslands(); solveInternalConstraints(solverInfo); } void btMultiBodyDynamicsWorld::buildIslands() { - m_islandManager->buildIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld()); -} - -void btMultiBodyDynamicsWorld::processIslands() -{ - m_islandManager->processIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback); + m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback); } void btMultiBodyDynamicsWorld::solveInternalConstraints(btContactSolverInfo& solverInfo) { /// solve all the constraints for this island m_solverMultiBodyIslandCallback->processConstraints(); - m_constraintSolver->allSolved(solverInfo, m_debugDrawer); + calculateJointForce(solverInfo); + processDeltaVee(); +} +void btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld::processConstraintsAndDeltaVee() +{ + m_solverMultiBodyIslandCallback->processConstraints(); + processDeltaVee(); +} + +void btMultiBodyDynamicsWorld::processDeltaVee() +{ + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + bod->processDeltaVeeMultiDof2(); + } +} + +void btMultiBodyDynamicsWorld::calculateJointForce(btContactSolverInfo& solverInfo) +{ { BT_PROFILE("btMultiBody stepVelocities"); for (int i = 0; i < this->m_multiBodies.size(); i++) @@ -489,13 +503,7 @@ void btMultiBodyDynamicsWorld::solveInternalConstraints(btContactSolverInfo& sol } } } - } - - for (int i = 0; i < this->m_multiBodies.size(); i++) - { - btMultiBody* bod = m_multiBodies[i]; - bod->processDeltaVeeMultiDof2(); - } + } } void btMultiBodyDynamicsWorld::solveExternalForces(btContactSolverInfo& solverInfo) @@ -1087,8 +1095,8 @@ void btMultiBodyDynamicsWorld::serializeMultiBodies(btSerializer* serializer) } } } - -void btMultiBodyDynamicsWorld::setSplitIslands(bool split) -{ - m_islandManager->setSplitIslands(split); -} +// +//void btMultiBodyDynamicsWorld::setSplitIslands(bool split) +//{ +// m_islandManager->setSplitIslands(split); +//} diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h index 605141bc6..a03687859 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h @@ -57,6 +57,7 @@ public: virtual ~btMultiBodyDynamicsWorld(); virtual void solveConstraints(btContactSolverInfo& solverInfo); + virtual void addMultiBody(btMultiBody* body, int group = btBroadphaseProxy::DefaultFilter, int mask = btBroadphaseProxy::AllFilter); virtual void removeMultiBody(btMultiBody* body); @@ -118,8 +119,8 @@ public: virtual void solveExternalForces(btContactSolverInfo& solverInfo); virtual void solveInternalConstraints(btContactSolverInfo& solverInfo); void buildIslands(); - void processIslands(); - void setSplitIslands(bool split); - + void calculateJointForce(btContactSolverInfo& solverInfo); + void processDeltaVee(); + void processConstraintsAndDeltaVee(); }; #endif //BT_MULTIBODY_DYNAMICS_WORLD_H diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index bdc219945..c5a1bb55b 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -20,7 +20,7 @@ #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" -class btDeformableMultiBodyDynamicsWorld; +//class btDeformableMultiBodyDynamicsWorld; struct DeformableContactConstraint { @@ -62,7 +62,6 @@ public: typedef btAlignedObjectArray > TVArrayStack; typedef btAlignedObjectArray > TArrayStack; btAlignedObjectArray& m_softBodies; - btDeformableMultiBodyDynamicsWorld* m_world; const btScalar& m_dt; btCGProjection(btAlignedObjectArray& softBodies, const btScalar& dt) @@ -86,11 +85,6 @@ public: virtual void reinitialize(bool nodeUpdated) { } - - virtual void setWorld(btDeformableMultiBodyDynamicsWorld* world) - { - m_world = world; - } }; diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index bf88ae550..1dee17be8 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -151,10 +151,6 @@ void btDeformableBackwardEulerObjective::initialGuess(TVStack& dv, const TVStack //set constraints as projections void btDeformableBackwardEulerObjective::setConstraints() { - // build islands for multibody solve - m_world->btMultiBodyDynamicsWorld::buildIslands(); - // for repeated constraint solve, splitIslands has to be set to true - m_world->setSplitIslands(true); projection.setConstraints(); } diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index 7e1bae29f..cf8ba9920 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -26,13 +26,13 @@ #include "btDeformableMultiBodyDynamicsWorld.h" #include "LinearMath/btQuickprof.h" -class btDeformableMultiBodyDynamicsWorld; +//class btDeformableMultiBodyDynamicsWorld; class btDeformableBackwardEulerObjective { public: typedef btAlignedObjectArray TVStack; btScalar m_dt; - btDeformableMultiBodyDynamicsWorld* m_world; +// btDeformableMultiBodyDynamicsWorld* m_world; btAlignedObjectArray m_lf; btAlignedObjectArray& m_softBodies; Preconditioner* m_preconditioner; @@ -98,13 +98,7 @@ public: { m_preconditioner->operator()(x,b); } - - virtual void setWorld(btDeformableMultiBodyDynamicsWorld* world) - { - m_world = world; - projection.setWorld(world); - } - + virtual void updateId() { size_t id = 0; diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index d36c19718..03a9be07e 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -30,14 +30,14 @@ btDeformableBodySolver::~btDeformableBodySolver() delete m_objective; } -void btDeformableBodySolver::solveConstraints(float solverdt) +void btDeformableBodySolver::solveDeformableConstraints(float solverdt) { BT_PROFILE("solveConstraints"); // save v_{n+1}^* velocity after explicit forces - backupVelocity(); +// backupVelocity(); // add constraints to the solver - setConstraints(); +// setConstraints(); m_objective->computeResidual(solverdt, m_residual); m_objective->applyDynamicFriction(m_residual); computeStep(m_dv, m_residual); @@ -47,7 +47,6 @@ void btDeformableBodySolver::solveConstraints(float solverdt) void btDeformableBodySolver::computeStep(TVStack& dv, const TVStack& residual) { - btScalar tolerance = std::numeric_limits::epsilon() * 16 * m_objective->computeNorm(residual); m_cg.solve(*m_objective, dv, residual, tolerance); } @@ -78,23 +77,17 @@ void btDeformableBodySolver::setConstraints() { BT_PROFILE("setConstraint"); m_objective->setConstraints(); - // m_contact_iterations takes over m_numIterations - m_contact_iterations = m_objective->m_world->getSolverInfo().m_numIterations; - for (int i = 0; i < m_contact_iterations; ++i) - { - m_objective->projection.update(); - m_objective->enforceConstraint(m_dv); - m_objective->updateVelocity(m_dv); - } - // recover m_numIterations from m_contact_iterations - m_objective->m_world->getSolverInfo().m_numIterations = m_contact_iterations; } -void btDeformableBodySolver::setWorld(btDeformableMultiBodyDynamicsWorld* world) +void btDeformableBodySolver::solveContactConstraints() { - m_objective->setWorld(world); + BT_PROFILE("setConstraint"); + m_objective->projection.update(); + m_objective->enforceConstraint(m_dv); + m_objective->updateVelocity(m_dv); } + void btDeformableBodySolver::updateVelocity() { int counter = 0; diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index 205086d84..55f940328 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -61,7 +61,11 @@ public: void extracted(float solverdt); - virtual void solveConstraints(float solverdt); + virtual void solveDeformableConstraints(btScalar solverdt); + + void solveContactConstraints(); + + virtual void solveConstraints(float dt){} void reinitialize(const btAlignedObjectArray& softBodies, btScalar dt); @@ -77,7 +81,7 @@ public: void computeStep(TVStack& dv, const TVStack& residual); - virtual void predictMotion(float solverdt); + virtual void predictMotion(btScalar solverdt); virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer) {} @@ -90,8 +94,9 @@ public: softBody->defaultCollisionHandler(otherSoftBody); } virtual void optimize(btAlignedObjectArray &softBodies, bool forceUpdate = false){} + virtual bool checkInitialized(){return true;} - virtual void setWorld(btDeformableMultiBodyDynamicsWorld* world); + }; #endif /* btDeformableBodySolver_h */ diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index ba8f74144..f9d4b7d99 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -19,13 +19,8 @@ #include void btDeformableContactProjection::update() { - ///solve rigid body constraints - { - // m_numIterations get temporarily to 1 so that we interleave one step of multibody solve with one step of multibody/deformable contact solve - m_world->getSolverInfo().m_numIterations = 1; - m_world->processIslands(); - m_world->btMultiBodyDynamicsWorld::solveInternalConstraints(m_world->getSolverInfo()); // process constraints deferred in the previous step - } +// m_world->getSolverInfo().m_numIterations = 1; + // loop through constraints to set constrained values for (int index = 0; index < m_constraints.size(); ++index) { diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 05e1c1ac9..825e7cd66 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -33,7 +33,6 @@ The algorithm also closely resembles the one in http://physbam.stanford.edu/~fed #include "btDeformableMultiBodyDynamicsWorld.h" #include "btDeformableBodySolver.h" #include "LinearMath/btQuickprof.h" - void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) { BT_PROFILE("internalSingleStepSimulation"); @@ -52,7 +51,7 @@ void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar t beforeSolverCallbacks(timeStep); ///solve deformable bodies constraints - solveDeformableBodiesConstraints(timeStep); + solveConstraints(timeStep); afterSolverCallbacks(timeStep); @@ -172,9 +171,31 @@ void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) m_deformableBodySolver->revertVelocity(); } -void btDeformableMultiBodyDynamicsWorld::solveDeformableBodiesConstraints(btScalar timeStep) +void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep) { - m_deformableBodySolver->solveConstraints(timeStep); + // save v_{n+1}^* velocity after explicit forces + m_deformableBodySolver->backupVelocity(); + + // setup constraints among multibodies and between multibodies and deformable bodies + setupConstraints(); + solveMultiBodyConstraints(); + m_deformableBodySolver->solveDeformableConstraints(timeStep); +} + +void btDeformableMultiBodyDynamicsWorld::setupConstraints() +{ + m_deformableBodySolver->setConstraints(); + m_islandManager->buildIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld()); +} + +void btDeformableMultiBodyDynamicsWorld::solveMultiBodyConstraints() +{ + for (int i = 0; i < m_contact_iterations; ++i) + { + m_islandManager->processIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), (btSimulationIslandManager::IslandCallback*)m_solverMultiBodyIslandCallback); + btMultiBodyDynamicsWorld::processConstraintsAndDeltaVee(); + m_deformableBodySolver->solveContactConstraints(); + } } void btDeformableMultiBodyDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask) diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h index f8d368c5f..b4f7dbe5a 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h @@ -21,11 +21,14 @@ #include "btDeformableMassSpringForce.h" #include "btDeformableBodySolver.h" #include "btSoftBodyHelpers.h" +#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h" #include typedef btAlignedObjectArray btSoftBodyArray; class btDeformableBodySolver; class btDeformableLagrangianForce; +struct MultiBodyInplaceSolverIslandCallback; + typedef btAlignedObjectArray btSoftBodyArray; class btDeformableMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld @@ -41,6 +44,7 @@ class btDeformableMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld bool m_drawClusterTree; btSoftBodyWorldInfo m_sbi; btScalar m_internalTime; + int m_contact_iterations; typedef void (*btSolverCallback)(btScalar time, btDeformableMultiBodyDynamicsWorld* world); btSolverCallback m_solverCallback; @@ -52,7 +56,7 @@ protected: void positionCorrection(btScalar timeStep); - void solveDeformableBodiesConstraints(btScalar timeStep); + void solveConstraints(btScalar timeStep); public: btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0) @@ -76,6 +80,7 @@ public: m_sbi.m_sparsesdf.Initialize(); m_internalTime = 0.0; + m_contact_iterations = 1; } void setSolverCallback(btSolverCallback cb) @@ -140,6 +145,9 @@ public: int getDrawFlags() const { return (m_drawFlags); } void setDrawFlags(int f) { m_drawFlags = f; } + + void setupConstraints(); + void solveMultiBodyConstraints(); }; #endif //BT_DEFORMABLE_RIGID_DYNAMICS_WORLD_H From 75d0cfaf695b9e0841c4c23af9c1b3173b8cc9ea Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 21 Aug 2019 22:29:53 -0700 Subject: [PATCH 098/389] restore default voxelsz and add option to change voxelsz --- .../btDeformableMultiBodyDynamicsWorld.h | 1 + src/BulletSoftBody/btSparseSDF.h | 10 +++++++++- 2 files changed, 10 insertions(+), 1 deletion(-) diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h index b4f7dbe5a..1b1806bac 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h @@ -70,6 +70,7 @@ public: m_sbi.m_broadphase = pairCache; m_sbi.m_dispatcher = dispatcher; m_sbi.m_sparsesdf.Initialize(); + m_sbi.m_sparsesdf.setDefaultVoxelsz(0.0025); m_sbi.m_sparsesdf.Reset(); m_sbi.air_density = (btScalar)1.2; diff --git a/src/BulletSoftBody/btSparseSDF.h b/src/BulletSoftBody/btSparseSDF.h index a52b2cb1c..8258c3eeb 100644 --- a/src/BulletSoftBody/btSparseSDF.h +++ b/src/BulletSoftBody/btSparseSDF.h @@ -70,6 +70,7 @@ struct btSparseSdf btAlignedObjectArray cells; btScalar voxelsz; + btScalar m_defaultVoxelsz; int puid; int ncells; int m_clampCells; @@ -87,9 +88,16 @@ struct btSparseSdf //if this limit is reached, the SDF is reset (at the cost of some performance during the reset) m_clampCells = clampCells; cells.resize(hashsize, 0); + m_defaultVoxelsz = 0.25; Reset(); } // + + void setDefaultVoxelsz(btScalar sz) + { + m_defaultVoxelsz = sz; + } + void Reset() { for (int i = 0, ni = cells.size(); i < ni; ++i) @@ -103,7 +111,7 @@ struct btSparseSdf pc = pn; } } - voxelsz = 0.25; + voxelsz = m_defaultVoxelsz; puid = 0; ncells = 0; nprobes = 1; From 4df31305a8677828725318805b5555c56e612ab5 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 21 Aug 2019 22:31:30 -0700 Subject: [PATCH 099/389] remove iostream dependency --- src/BulletSoftBody/btSoftBody.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index c8d20e35a..fcfb330c3 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -20,7 +20,6 @@ subject to the following restrictions: #include "LinearMath/btSerializer.h" #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" -#include // btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo, int node_count, const btVector3* x, const btScalar* m) : m_softBodySolver(0), m_worldInfo(worldInfo) From 750ff33f265ced732e08c1381866824d52c62013 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 21 Aug 2019 22:39:07 -0700 Subject: [PATCH 100/389] remove the std::istream version of vtkfileread --- src/BulletSoftBody/btSoftBodyHelpers.cpp | 16 +++++----------- src/BulletSoftBody/btSoftBodyHelpers.h | 2 +- 2 files changed, 6 insertions(+), 12 deletions(-) diff --git a/src/BulletSoftBody/btSoftBodyHelpers.cpp b/src/BulletSoftBody/btSoftBodyHelpers.cpp index 6c67a3b78..d9bd513ad 100644 --- a/src/BulletSoftBody/btSoftBodyHelpers.cpp +++ b/src/BulletSoftBody/btSoftBodyHelpers.cpp @@ -1244,13 +1244,7 @@ btSoftBody* btSoftBodyHelpers::CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, std::ifstream fs; fs.open(vtk_file); btAssert(fs); - btSoftBody* psb = CreateFromVtkFile(worldInfo, fs); - fs.close(); - return psb; -} - -btSoftBody* btSoftBodyHelpers::CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, std::istream& in) -{ + typedef btAlignedObjectArray Index; std::string line; btAlignedObjectArray X; @@ -1262,7 +1256,7 @@ btSoftBody* btSoftBodyHelpers::CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, size_t n_tets = 0; size_t x_count = 0; size_t indices_count = 0; - while (std::getline(in, line)) + while (std::getline(fs, line)) { std::stringstream ss(line); if (line.size() == (size_t)(0)) @@ -1332,7 +1326,7 @@ btSoftBody* btSoftBodyHelpers::CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, printf("Links: %u\r\n", psb->m_links.size()); printf("Faces: %u\r\n", psb->m_faces.size()); printf("Tetras: %u\r\n", psb->m_tetras.size()); - return (psb); + + fs.close(); + return psb; } - - diff --git a/src/BulletSoftBody/btSoftBodyHelpers.h b/src/BulletSoftBody/btSoftBodyHelpers.h index 24c86afdd..60e0d6133 100644 --- a/src/BulletSoftBody/btSoftBodyHelpers.h +++ b/src/BulletSoftBody/btSoftBodyHelpers.h @@ -143,7 +143,7 @@ struct btSoftBodyHelpers bool btetralinks, bool bfacesfromtetras); static btSoftBody* CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file); - static btSoftBody* CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, std::istream& in); + /// Sort the list of links to move link calculations that are dependent upon earlier From b93c3c56eda08f06ed3b28d1beeb9dd08d4b3a96 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 21 Aug 2019 22:44:10 -0700 Subject: [PATCH 101/389] delete preconditioner in destructor --- src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp | 5 +++++ src/BulletSoftBody/btDeformableBackwardEulerObjective.h | 4 +--- src/BulletSoftBody/btPreconditioner.h | 4 +++- 3 files changed, 9 insertions(+), 4 deletions(-) diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index 1dee17be8..41b1f74c7 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -24,6 +24,11 @@ btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAligned m_preconditioner = new DefaultPreconditioner(); } +btDeformableBackwardEulerObjective::~btDeformableBackwardEulerObjective() +{ + delete m_preconditioner; +} + void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated, btScalar dt) { BT_PROFILE("reinitialize"); diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index cf8ba9920..e028564c5 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -26,13 +26,11 @@ #include "btDeformableMultiBodyDynamicsWorld.h" #include "LinearMath/btQuickprof.h" -//class btDeformableMultiBodyDynamicsWorld; class btDeformableBackwardEulerObjective { public: typedef btAlignedObjectArray TVStack; btScalar m_dt; -// btDeformableMultiBodyDynamicsWorld* m_world; btAlignedObjectArray m_lf; btAlignedObjectArray& m_softBodies; Preconditioner* m_preconditioner; @@ -41,7 +39,7 @@ public: btAlignedObjectArray m_nodes; btDeformableBackwardEulerObjective(btAlignedObjectArray& softBodies, const TVStack& backup_v); - virtual ~btDeformableBackwardEulerObjective() {} + virtual ~btDeformableBackwardEulerObjective(); void initialize(){} diff --git a/src/BulletSoftBody/btPreconditioner.h b/src/BulletSoftBody/btPreconditioner.h index 15ee949a5..32d697a63 100644 --- a/src/BulletSoftBody/btPreconditioner.h +++ b/src/BulletSoftBody/btPreconditioner.h @@ -22,6 +22,7 @@ public: typedef btAlignedObjectArray TVStack; virtual void operator()(const TVStack& x, TVStack& b) = 0; virtual void reinitialize(bool nodeUpdated) = 0; + virtual ~Preconditioner(){} }; class DefaultPreconditioner : public Preconditioner @@ -35,8 +36,9 @@ public: } virtual void reinitialize(bool nodeUpdated) { - } + + virtual ~DefaultPreconditioner(){} }; class MassPreconditioner : public Preconditioner From 3fbd7a7eddc0f8505858dec52e716b56bf6606ba Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 21 Aug 2019 23:00:18 -0700 Subject: [PATCH 102/389] delete forces in exitPhysics --- .../DeformableDemo/DeformableMultibody.cpp | 19 +++++++++++--- examples/DeformableDemo/DeformableRigid.cpp | 17 +++++++++--- examples/DeformableDemo/GraspDeformable.cpp | 24 ++++++++++++----- examples/DeformableDemo/Pinch.cpp | 25 +++++++++++++----- .../DeformableDemo/VolumetricDeformable.cpp | 26 ++++++++++++++----- 5 files changed, 86 insertions(+), 25 deletions(-) diff --git a/examples/DeformableDemo/DeformableMultibody.cpp b/examples/DeformableDemo/DeformableMultibody.cpp index 084ff5a04..e1a75f07a 100644 --- a/examples/DeformableDemo/DeformableMultibody.cpp +++ b/examples/DeformableDemo/DeformableMultibody.cpp @@ -49,6 +49,7 @@ static bool g_floatingBase = true; static float friction = 1.; class DeformableMultibody : public CommonMultiBodyBase { + btAlignedObjectArray forces; public: DeformableMultibody(struct GUIHelperInterface* helper) : CommonMultiBodyBase(helper) @@ -122,7 +123,6 @@ void DeformableMultibody::initPhysics() m_solver = sol; m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); -// deformableBodySolver->setWorld(getDeformableDynamicsWorld()); btVector3 gravity = btVector3(0, -10, 0); m_dynamicsWorld->setGravity(gravity); getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; @@ -224,8 +224,14 @@ void DeformableMultibody::initPhysics() psb->m_cfg.kDF = .1; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addSoftBody(psb); - getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(2, 0.01, false)); - getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); + + btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2, 0.01, false); + getDeformableDynamicsWorld()->addForce(psb, mass_spring); + forces.push_back(mass_spring); + + btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); + getDeformableDynamicsWorld()->addForce(psb, gravity_force); + forces.push_back(gravity_force); } m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); @@ -248,7 +254,12 @@ void DeformableMultibody::exitPhysics() m_dynamicsWorld->removeCollisionObject(obj); delete obj; } - + // delete forces + for (int j = 0; j < forces.size(); j++) + { + btDeformableLagrangianForce* force = forces[j]; + delete force; + } //delete collision shapes for (int j = 0; j < m_collisionShapes.size(); j++) { diff --git a/examples/DeformableDemo/DeformableRigid.cpp b/examples/DeformableDemo/DeformableRigid.cpp index 9b546086d..5c149ad19 100644 --- a/examples/DeformableDemo/DeformableRigid.cpp +++ b/examples/DeformableDemo/DeformableRigid.cpp @@ -44,6 +44,7 @@ ///Generally it is best to leave the rolling friction coefficient zero (or close to zero). class DeformableRigid : public CommonRigidBodyBase { + btAlignedObjectArray forces; public: DeformableRigid(struct GUIHelperInterface* helper) : CommonRigidBodyBase(helper) @@ -233,9 +234,14 @@ void DeformableRigid::initPhysics() psb->m_cfg.kDF = 1; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addSoftBody(psb); - getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(2, 0.01, false)); - getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); + btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2,0.01, false); + getDeformableDynamicsWorld()->addForce(psb, mass_spring); + forces.push_back(mass_spring); + + btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); + getDeformableDynamicsWorld()->addForce(psb, gravity_force); + forces.push_back(gravity_force); // add a few rigid bodies Ctor_RbUpStack(1); } @@ -259,7 +265,12 @@ void DeformableRigid::exitPhysics() m_dynamicsWorld->removeCollisionObject(obj); delete obj; } - + // delete forces + for (int j = 0; j < forces.size(); j++) + { + btDeformableLagrangianForce* force = forces[j]; + delete force; + } //delete collision shapes for (int j = 0; j < m_collisionShapes.size(); j++) { diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index d07c3cb01..31cc97734 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -59,6 +59,7 @@ static bool supportsJointMotor(btMultiBody* mb, int mbLinkIndex) class GraspDeformable : public CommonRigidBodyBase { + btAlignedObjectArray forces; public: GraspDeformable(struct GUIHelperInterface* helper) : CommonRigidBodyBase(helper) @@ -355,11 +356,17 @@ void GraspDeformable::initPhysics() // getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); // getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(0,6)); - // linear damping - getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(.5,0.04, true)); -// getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(3,0.04, true)); - getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); - getDeformableDynamicsWorld()->addForce(psb, new btDeformableNeoHookeanForce(2,10)); + btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(.5,0.04, true); + getDeformableDynamicsWorld()->addForce(psb, mass_spring); + forces.push_back(mass_spring); + + btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); + getDeformableDynamicsWorld()->addForce(psb, gravity_force); + forces.push_back(gravity_force); + + btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(2,10); + getDeformableDynamicsWorld()->addForce(psb, neohookean); + forces.push_back(neohookean); } // // create a piece of cloth @@ -431,7 +438,12 @@ void GraspDeformable::exitPhysics() m_dynamicsWorld->removeCollisionObject(obj); delete obj; } - + // delete forces + for (int j = 0; j < forces.size(); j++) + { + btDeformableLagrangianForce* force = forces[j]; + delete force; + } //delete collision shapes for (int j = 0; j < m_collisionShapes.size(); j++) { diff --git a/examples/DeformableDemo/Pinch.cpp b/examples/DeformableDemo/Pinch.cpp index e1c3fd348..733a60f08 100644 --- a/examples/DeformableDemo/Pinch.cpp +++ b/examples/DeformableDemo/Pinch.cpp @@ -56,6 +56,7 @@ struct TetraBunny class Pinch : public CommonRigidBodyBase { + btAlignedObjectArray forces; public: Pinch(struct GUIHelperInterface* helper) : CommonRigidBodyBase(helper) @@ -248,8 +249,6 @@ void Pinch::initPhysics() m_solver = sol; m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); -// deformableBodySolver->setWorld(getDeformableDynamicsWorld()); - // m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality btVector3 gravity = btVector3(0, -10, 0); m_dynamicsWorld->setGravity(gravity); getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; @@ -336,9 +335,18 @@ void Pinch::initPhysics() psb->m_cfg.kDF = 2; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addSoftBody(psb); - getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(1, 0.05)); - getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); - getDeformableDynamicsWorld()->addForce(psb, new btDeformableNeoHookeanForce(.2,1)); + + btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(1,0.05); + getDeformableDynamicsWorld()->addForce(psb, mass_spring); + forces.push_back(mass_spring); + + btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); + getDeformableDynamicsWorld()->addForce(psb, gravity_force); + forces.push_back(gravity_force); + + btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(.2,1); + getDeformableDynamicsWorld()->addForce(psb, neohookean); + forces.push_back(neohookean); // add a grippers createGrip(); } @@ -362,7 +370,12 @@ void Pinch::exitPhysics() m_dynamicsWorld->removeCollisionObject(obj); delete obj; } - + // delete forces + for (int j = 0; j < forces.size(); j++) + { + btDeformableLagrangianForce* force = forces[j]; + delete force; + } //delete collision shapes for (int j = 0; j < m_collisionShapes.size(); j++) { diff --git a/examples/DeformableDemo/VolumetricDeformable.cpp b/examples/DeformableDemo/VolumetricDeformable.cpp index 9796ab963..8bdafc5e9 100644 --- a/examples/DeformableDemo/VolumetricDeformable.cpp +++ b/examples/DeformableDemo/VolumetricDeformable.cpp @@ -51,6 +51,7 @@ struct TetraCube class VolumetricDeformable : public CommonRigidBodyBase { + btAlignedObjectArray forces; public: VolumetricDeformable(struct GUIHelperInterface* helper) : CommonRigidBodyBase(helper) @@ -177,13 +178,10 @@ void VolumetricDeformable::initPhysics() 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 btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); -// deformableBodySolver->setWorld(getDeformableDynamicsWorld()); - // m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality btVector3 gravity = btVector3(0, -10, 0); m_dynamicsWorld->setGravity(gravity); getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; @@ -236,9 +234,19 @@ void VolumetricDeformable::initPhysics() psb->m_cfg.kCHR = 1; // collision hardness with rigid body psb->m_cfg.kDF = 0.5; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; - getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(0,0.03)); - getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); - getDeformableDynamicsWorld()->addForce(psb, new btDeformableNeoHookeanForce(.5,2.5)); + + btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(0,0.03); + getDeformableDynamicsWorld()->addForce(psb, mass_spring); + forces.push_back(mass_spring); + + btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); + getDeformableDynamicsWorld()->addForce(psb, gravity_force); + forces.push_back(gravity_force); + + btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(.5,2.5); + getDeformableDynamicsWorld()->addForce(psb, neohookean); + forces.push_back(neohookean); + } // add a few rigid bodies Ctor_RbUpStack(4); @@ -263,6 +271,12 @@ void VolumetricDeformable::exitPhysics() m_dynamicsWorld->removeCollisionObject(obj); delete obj; } + // delete forces + for (int j = 0; j < forces.size(); j++) + { + btDeformableLagrangianForce* force = forces[j]; + delete force; + } //delete collision shapes for (int j = 0; j < m_collisionShapes.size(); j++) From 9a7b89c95a8ecc1bfa143870bbed4b5b03444a67 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Thu, 22 Aug 2019 07:38:23 -0700 Subject: [PATCH 103/389] Update PhysicsServerCommandProcessor.cpp also allow to extract collision info (pybullet. getCollisionShapeData ) for concave meshes. Thanks to Brent. --- .../PhysicsServerCommandProcessor.cpp | 22 ++++++++++--------- 1 file changed, 12 insertions(+), 10 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index d9db25737..249c2ae16 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -11524,16 +11524,18 @@ int PhysicsServerCommandProcessor::extractCollisionShapes(const btCollisionShape switch (colShape->getShapeType()) { - case STATIC_PLANE_PROXYTYPE: - { - btStaticPlaneShape* plane = (btStaticPlaneShape*) colShape; - collisionShapeBuffer[0].m_collisionGeometryType = GEOM_PLANE; - collisionShapeBuffer[0].m_dimensions[0] = plane->getPlaneNormal()[0]; - collisionShapeBuffer[0].m_dimensions[1] = plane->getPlaneNormal()[1]; - collisionShapeBuffer[0].m_dimensions[2] = plane->getPlaneNormal()[2]; - numConverted += 1; - break; - } + case STATIC_PLANE_PROXYTYPE: + { + btStaticPlaneShape* plane = (btStaticPlaneShape*) colShape; + collisionShapeBuffer[0].m_collisionGeometryType = GEOM_PLANE; + collisionShapeBuffer[0].m_dimensions[0] = plane->getPlaneNormal()[0]; + collisionShapeBuffer[0].m_dimensions[1] = plane->getPlaneNormal()[1]; + collisionShapeBuffer[0].m_dimensions[2] = plane->getPlaneNormal()[2]; + numConverted += 1; + break; + } + case TRIANGLE_MESH_SHAPE_PROXYTYPE: + case SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE: case CONVEX_HULL_SHAPE_PROXYTYPE: { UrdfCollision* urdfCol = m_data->m_bulletCollisionShape2UrdfCollision.find(colShape); From ccd8c3a47c4c5885ed50a0fc79573790d339f660 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 22 Aug 2019 10:12:14 -0700 Subject: [PATCH 104/389] fix scope override in btMultiBody and scalar type inconsistency in btDeformableBodySolver --- src/BulletDynamics/Featherstone/btMultiBody.cpp | 8 ++++---- src/BulletSoftBody/btDeformableBodySolver.cpp | 9 ++------- .../btDeformableMultiBodyDynamicsWorld.cpp | 1 + 3 files changed, 7 insertions(+), 11 deletions(-) diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp index 654f77c09..bdaa47347 100644 --- a/src/BulletDynamics/Featherstone/btMultiBody.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp @@ -1707,9 +1707,9 @@ void btMultiBody::predictPositionsMultiDof(btScalar dt) { //reset to current pos - for (int i = 0; i < 4; ++i) + for (int j = 0; j < 4; ++j) { - pJointPos[i] = m_links[i].m_jointPos[i]; + pJointPos[j] = m_links[i].m_jointPos[j]; } btVector3 jointVel; @@ -1725,9 +1725,9 @@ void btMultiBody::predictPositionsMultiDof(btScalar dt) } case btMultibodyLink::ePlanar: { - for (int i = 0; i < 3; ++i) + for (int j = 0; j < 3; ++j) { - pJointPos[i] = m_links[i].m_jointPos[i]; + pJointPos[j] = m_links[i].m_jointPos[j]; } pJointPos[0] += dt * getJointVelMultiDof(i)[0]; diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 03a9be07e..f7a26e01e 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -30,14 +30,9 @@ btDeformableBodySolver::~btDeformableBodySolver() delete m_objective; } -void btDeformableBodySolver::solveDeformableConstraints(float solverdt) +void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt) { BT_PROFILE("solveConstraints"); - // save v_{n+1}^* velocity after explicit forces -// backupVelocity(); - - // add constraints to the solver -// setConstraints(); m_objective->computeResidual(solverdt, m_residual); m_objective->applyDynamicFriction(m_residual); computeStep(m_dv, m_residual); @@ -147,7 +142,7 @@ bool btDeformableBodySolver::updateNodes() } -void btDeformableBodySolver::predictMotion(float solverdt) +void btDeformableBodySolver::predictMotion(btScalar solverdt) { for (int i = 0; i < m_softBodySet.size(); ++i) { diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 825e7cd66..95f9b48b5 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -196,6 +196,7 @@ void btDeformableMultiBodyDynamicsWorld::solveMultiBodyConstraints() btMultiBodyDynamicsWorld::processConstraintsAndDeltaVee(); m_deformableBodySolver->solveContactConstraints(); } + // todo @xuchenhan: add joint force feedback } void btDeformableMultiBodyDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask) From 6beeac7065b9799f2bf7f5fb4f6127d7ca4b29f1 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 23 Aug 2019 13:41:14 -0700 Subject: [PATCH 105/389] refactor contact solve --- .../DeformableDemo/DeformableMultibody.cpp | 6 +- examples/DeformableDemo/DeformableRigid.cpp | 13 +- examples/DeformableDemo/GraspDeformable.cpp | 3 +- examples/DeformableDemo/Pinch.cpp | 3 +- .../DeformableDemo/VolumetricDeformable.cpp | 3 +- .../Featherstone/btMultiBodyDynamicsWorld.cpp | 310 +++--------------- .../Featherstone/btMultiBodyDynamicsWorld.h | 4 +- .../btMultiBodyInplaceSolverIslandCallback.h | 229 +++++++++++++ src/BulletSoftBody/CMakeLists.txt | 2 + src/BulletSoftBody/btCGProjection.h | 2 +- src/BulletSoftBody/btDeformableBodySolver.cpp | 7 +- src/BulletSoftBody/btDeformableBodySolver.h | 4 +- .../btDeformableContactProjection.cpp | 15 +- .../btDeformableContactProjection.h | 2 +- .../btDeformableMultiBodyConstraintSolver.cpp | 44 +++ .../btDeformableMultiBodyConstraintSolver.h | 98 ++++++ .../btDeformableMultiBodyDynamicsWorld.cpp | 145 +++++++- .../btDeformableMultiBodyDynamicsWorld.h | 16 +- 18 files changed, 597 insertions(+), 309 deletions(-) create mode 100644 src/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h create mode 100644 src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp create mode 100644 src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h diff --git a/examples/DeformableDemo/DeformableMultibody.cpp b/examples/DeformableDemo/DeformableMultibody.cpp index e1a75f07a..6a99e08db 100644 --- a/examples/DeformableDemo/DeformableMultibody.cpp +++ b/examples/DeformableDemo/DeformableMultibody.cpp @@ -118,8 +118,9 @@ void DeformableMultibody::initPhysics() m_broadphase = new btDbvtBroadphase(); btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver(); - btMultiBodyConstraintSolver* sol; - sol = new btMultiBodyConstraintSolver; + btDeformableMultiBodyConstraintSolver* sol; + sol = new btDeformableMultiBodyConstraintSolver; + sol->setDeformableSolver(deformableBodySolver); m_solver = sol; m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); @@ -223,6 +224,7 @@ void DeformableMultibody::initPhysics() psb->m_cfg.kCHR = 1; // collision hardness with rigid body psb->m_cfg.kDF = .1; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; + psb->setCollisionFlags(0); getDeformableDynamicsWorld()->addSoftBody(psb); btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2, 0.01, false); diff --git a/examples/DeformableDemo/DeformableRigid.cpp b/examples/DeformableDemo/DeformableRigid.cpp index 5c149ad19..576803cc8 100644 --- a/examples/DeformableDemo/DeformableRigid.cpp +++ b/examples/DeformableDemo/DeformableRigid.cpp @@ -161,7 +161,8 @@ void DeformableRigid::initPhysics() btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver(); ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded) - btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver(); + btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver(); + sol->setDeformableSolver(deformableBodySolver); m_solver = sol; m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); @@ -208,10 +209,12 @@ void DeformableRigid::initPhysics() { bool onGround = false; const btScalar s = 4; - btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s), - btVector3(+s, 0, -s), - btVector3(-s, 0, +s), - btVector3(+s, 0, +s), + const btScalar h = 0; + + btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s), + btVector3(+s, h, -s), + btVector3(-s, h, +s), + btVector3(+s, h, +s), // 3,3, 20,20, 1 + 2 + 4 + 8, true); diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index 31cc97734..6b01bc66d 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -187,7 +187,8 @@ void GraspDeformable::initPhysics() m_broadphase = new btDbvtBroadphase(); btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver(); - btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver(); + btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver(); + sol->setDeformableSolver(deformableBodySolver); m_solver = sol; m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); diff --git a/examples/DeformableDemo/Pinch.cpp b/examples/DeformableDemo/Pinch.cpp index 733a60f08..3685869a0 100644 --- a/examples/DeformableDemo/Pinch.cpp +++ b/examples/DeformableDemo/Pinch.cpp @@ -245,7 +245,8 @@ void Pinch::initPhysics() m_broadphase = new btDbvtBroadphase(); btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver(); - btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver(); + btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver(); + sol->setDeformableSolver(deformableBodySolver); m_solver = sol; m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); diff --git a/examples/DeformableDemo/VolumetricDeformable.cpp b/examples/DeformableDemo/VolumetricDeformable.cpp index 8bdafc5e9..b6657de0c 100644 --- a/examples/DeformableDemo/VolumetricDeformable.cpp +++ b/examples/DeformableDemo/VolumetricDeformable.cpp @@ -178,7 +178,8 @@ void VolumetricDeformable::initPhysics() m_broadphase = new btDbvtBroadphase(); btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver(); - btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver(); + btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver(); + sol->setDeformableSolver(deformableBodySolver); m_solver = sol; m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp index 950edb1a2..cd1bad089 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp @@ -169,218 +169,6 @@ void btMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep) btDiscreteDynamicsWorld::updateActivationState(timeStep); } -SIMD_FORCE_INLINE int btGetConstraintIslandId2(const btTypedConstraint* lhs) -{ - int islandId; - - const btCollisionObject& rcolObj0 = lhs->getRigidBodyA(); - const btCollisionObject& rcolObj1 = lhs->getRigidBodyB(); - islandId = rcolObj0.getIslandTag() >= 0 ? rcolObj0.getIslandTag() : rcolObj1.getIslandTag(); - return islandId; -} - -class btSortConstraintOnIslandPredicate2 -{ -public: - bool operator()(const btTypedConstraint* lhs, const btTypedConstraint* rhs) const - { - int rIslandId0, lIslandId0; - rIslandId0 = btGetConstraintIslandId2(rhs); - lIslandId0 = btGetConstraintIslandId2(lhs); - return lIslandId0 < rIslandId0; - } -}; - -SIMD_FORCE_INLINE int btGetMultiBodyConstraintIslandId(const btMultiBodyConstraint* lhs) -{ - int islandId; - - int islandTagA = lhs->getIslandIdA(); - int islandTagB = lhs->getIslandIdB(); - islandId = islandTagA >= 0 ? islandTagA : islandTagB; - return islandId; -} - -class btSortMultiBodyConstraintOnIslandPredicate -{ -public: - bool operator()(const btMultiBodyConstraint* lhs, const btMultiBodyConstraint* rhs) const - { - int rIslandId0, lIslandId0; - rIslandId0 = btGetMultiBodyConstraintIslandId(rhs); - lIslandId0 = btGetMultiBodyConstraintIslandId(lhs); - return lIslandId0 < rIslandId0; - } -}; - - -struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback -{ - btContactSolverInfo* m_solverInfo; - btMultiBodyConstraintSolver* m_solver; - btMultiBodyConstraint** m_multiBodySortedConstraints; - int m_numMultiBodyConstraints; - - btTypedConstraint** m_sortedConstraints; - int m_numConstraints; - btIDebugDraw* m_debugDrawer; - btDispatcher* m_dispatcher; - - btAlignedObjectArray m_bodies; - btAlignedObjectArray m_manifolds; - btAlignedObjectArray m_constraints; - btAlignedObjectArray m_multiBodyConstraints; - - btAlignedObjectArray m_islandAnalyticsData; - - MultiBodyInplaceSolverIslandCallback(btMultiBodyConstraintSolver* solver, - btDispatcher* dispatcher) - : m_solverInfo(NULL), - m_solver(solver), - m_multiBodySortedConstraints(NULL), - m_numConstraints(0), - m_debugDrawer(NULL), - m_dispatcher(dispatcher) - { - } - - MultiBodyInplaceSolverIslandCallback& operator=(const MultiBodyInplaceSolverIslandCallback& other) - { - btAssert(0); - (void)other; - return *this; - } - - SIMD_FORCE_INLINE void setup(btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints, int numConstraints, btMultiBodyConstraint** sortedMultiBodyConstraints, int numMultiBodyConstraints, btIDebugDraw* debugDrawer) - { - m_islandAnalyticsData.clear(); - btAssert(solverInfo); - m_solverInfo = solverInfo; - - m_multiBodySortedConstraints = sortedMultiBodyConstraints; - m_numMultiBodyConstraints = numMultiBodyConstraints; - m_sortedConstraints = sortedConstraints; - m_numConstraints = numConstraints; - - m_debugDrawer = debugDrawer; - m_bodies.resize(0); - m_manifolds.resize(0); - m_constraints.resize(0); - m_multiBodyConstraints.resize(0); - } - - void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver) - { - m_solver = solver; - } - - virtual void processIsland(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifolds, int numManifolds, int islandId) - { - if (islandId < 0) - { - ///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id - m_solver->solveMultiBodyGroup(bodies, numBodies, manifolds, numManifolds, m_sortedConstraints, m_numConstraints, &m_multiBodySortedConstraints[0], m_numConstraints, *m_solverInfo, m_debugDrawer, m_dispatcher); - if (m_solverInfo->m_reportSolverAnalytics&1) - { - m_solver->m_analyticsData.m_islandId = islandId; - m_islandAnalyticsData.push_back(m_solver->m_analyticsData); - } - } - else - { - //also add all non-contact constraints/joints for this island - btTypedConstraint** startConstraint = 0; - btMultiBodyConstraint** startMultiBodyConstraint = 0; - - int numCurConstraints = 0; - int numCurMultiBodyConstraints = 0; - - int i; - - //find the first constraint for this island - - for (i = 0; i < m_numConstraints; i++) - { - if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId) - { - startConstraint = &m_sortedConstraints[i]; - break; - } - } - //count the number of constraints in this island - for (; i < m_numConstraints; i++) - { - if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId) - { - numCurConstraints++; - } - } - - for (i = 0; i < m_numMultiBodyConstraints; i++) - { - if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId) - { - startMultiBodyConstraint = &m_multiBodySortedConstraints[i]; - break; - } - } - //count the number of multi body constraints in this island - for (; i < m_numMultiBodyConstraints; i++) - { - if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId) - { - numCurMultiBodyConstraints++; - } - } - - //if (m_solverInfo->m_minimumSolverBatchSize<=1) - //{ - // m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher); - //} else - { - for (i = 0; i < numBodies; i++) - m_bodies.push_back(bodies[i]); - for (i = 0; i < numManifolds; i++) - m_manifolds.push_back(manifolds[i]); - for (i = 0; i < numCurConstraints; i++) - m_constraints.push_back(startConstraint[i]); - - for (i = 0; i < numCurMultiBodyConstraints; i++) - m_multiBodyConstraints.push_back(startMultiBodyConstraint[i]); - - if ((m_multiBodyConstraints.size() + m_constraints.size() + m_manifolds.size()) > m_solverInfo->m_minimumSolverBatchSize) - { - processConstraints(islandId); - } - else - { - //printf("deferred\n"); - } - } - } - } - void processConstraints(int islandId=-1) - { - btCollisionObject** bodies = m_bodies.size() ? &m_bodies[0] : 0; - btPersistentManifold** manifold = m_manifolds.size() ? &m_manifolds[0] : 0; - btTypedConstraint** constraints = m_constraints.size() ? &m_constraints[0] : 0; - btMultiBodyConstraint** multiBodyConstraints = m_multiBodyConstraints.size() ? &m_multiBodyConstraints[0] : 0; - - //printf("mb contacts = %d, mb constraints = %d\n", mbContacts, m_multiBodyConstraints.size()); - - m_solver->solveMultiBodyGroup(bodies, m_bodies.size(), manifold, m_manifolds.size(), constraints, m_constraints.size(), multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo, m_debugDrawer, m_dispatcher); - if (m_bodies.size() && (m_solverInfo->m_reportSolverAnalytics&1)) - { - m_solver->m_analyticsData.m_islandId = islandId; - m_islandAnalyticsData.push_back(m_solver->m_analyticsData); - } - m_bodies.resize(0); - m_manifolds.resize(0); - m_constraints.resize(0); - m_multiBodyConstraints.resize(0); - } -}; - void btMultiBodyDynamicsWorld::getAnalyticsData(btAlignedObjectArray& islandAnalyticsData) const { islandAnalyticsData = m_solverMultiBodyIslandCallback->m_islandAnalyticsData; @@ -442,18 +230,47 @@ void btMultiBodyDynamicsWorld::solveInternalConstraints(btContactSolverInfo& sol /// solve all the constraints for this island m_solverMultiBodyIslandCallback->processConstraints(); m_constraintSolver->allSolved(solverInfo, m_debugDrawer); - calculateJointForce(solverInfo); - processDeltaVee(); -} - -void btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld::processConstraintsAndDeltaVee() -{ - m_solverMultiBodyIslandCallback->processConstraints(); - processDeltaVee(); -} - -void btMultiBodyDynamicsWorld::processDeltaVee() -{ + { + BT_PROFILE("btMultiBody stepVelocities"); + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) + m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) + m_scratch_v.resize(bod->getNumLinks() + 1); + m_scratch_m.resize(bod->getNumLinks() + 1); + + if (bod->internalNeedsJointFeedback()) + { + if (!bod->isUsingRK4Integration()) + { + if (bod->internalNeedsJointFeedback()) + { + bool isConstraintPass = true; + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass, + getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + } + } + } + } + } + } for (int i = 0; i < this->m_multiBodies.size(); i++) { btMultiBody* bod = m_multiBodies[i]; @@ -461,51 +278,6 @@ void btMultiBodyDynamicsWorld::processDeltaVee() } } -void btMultiBodyDynamicsWorld::calculateJointForce(btContactSolverInfo& solverInfo) -{ - { - BT_PROFILE("btMultiBody stepVelocities"); - for (int i = 0; i < this->m_multiBodies.size(); i++) - { - btMultiBody* bod = m_multiBodies[i]; - - bool isSleeping = false; - - if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) - { - isSleeping = true; - } - for (int b = 0; b < bod->getNumLinks(); b++) - { - if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) - isSleeping = true; - } - - if (!isSleeping) - { - //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) - m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) - m_scratch_v.resize(bod->getNumLinks() + 1); - m_scratch_m.resize(bod->getNumLinks() + 1); - - if (bod->internalNeedsJointFeedback()) - { - if (!bod->isUsingRK4Integration()) - { - if (bod->internalNeedsJointFeedback()) - { - bool isConstraintPass = true; - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass, - getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - } - } - } - } - } - } -} - void btMultiBodyDynamicsWorld::solveExternalForces(btContactSolverInfo& solverInfo) { forwardKinematics(); diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h index a03687859..9ac46f4b6 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h @@ -17,6 +17,7 @@ subject to the following restrictions: #define BT_MULTIBODY_DYNAMICS_WORLD_H #include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h" +#include "BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h" #define BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY @@ -119,8 +120,5 @@ public: virtual void solveExternalForces(btContactSolverInfo& solverInfo); virtual void solveInternalConstraints(btContactSolverInfo& solverInfo); void buildIslands(); - void calculateJointForce(btContactSolverInfo& solverInfo); - void processDeltaVee(); - void processConstraintsAndDeltaVee(); }; #endif //BT_MULTIBODY_DYNAMICS_WORLD_H diff --git a/src/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h b/src/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h new file mode 100644 index 000000000..accf7c50b --- /dev/null +++ b/src/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h @@ -0,0 +1,229 @@ +// +// btMultiBodyInplaceSolverCallback.h +// BulletDynamics +// +// Created by Xuchen Han on 8/22/19. +// + +#ifndef BT_MULTIBODY_INPLACE_SOLVER_ISLAND_CALLBACK_H +#define BT_MULTIBODY_INPLACE_SOLVER_ISLAND_CALLBACK_H + +#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" +#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h" +#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h" +#include "btMultiBodyConstraintSolver.h" + +SIMD_FORCE_INLINE int btGetConstraintIslandId2(const btTypedConstraint* lhs) +{ + int islandId; + + const btCollisionObject& rcolObj0 = lhs->getRigidBodyA(); + const btCollisionObject& rcolObj1 = lhs->getRigidBodyB(); + islandId = rcolObj0.getIslandTag() >= 0 ? rcolObj0.getIslandTag() : rcolObj1.getIslandTag(); + return islandId; +} +class btSortConstraintOnIslandPredicate2 +{ +public: + bool operator()(const btTypedConstraint* lhs, const btTypedConstraint* rhs) const + { + int rIslandId0, lIslandId0; + rIslandId0 = btGetConstraintIslandId2(rhs); + lIslandId0 = btGetConstraintIslandId2(lhs); + return lIslandId0 < rIslandId0; + } +}; + +SIMD_FORCE_INLINE int btGetMultiBodyConstraintIslandId(const btMultiBodyConstraint* lhs) +{ + int islandId; + + int islandTagA = lhs->getIslandIdA(); + int islandTagB = lhs->getIslandIdB(); + islandId = islandTagA >= 0 ? islandTagA : islandTagB; + return islandId; +} + +class btSortMultiBodyConstraintOnIslandPredicate +{ +public: + bool operator()(const btMultiBodyConstraint* lhs, const btMultiBodyConstraint* rhs) const + { + int rIslandId0, lIslandId0; + rIslandId0 = btGetMultiBodyConstraintIslandId(rhs); + lIslandId0 = btGetMultiBodyConstraintIslandId(lhs); + return lIslandId0 < rIslandId0; + } +}; + +struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback +{ + + btContactSolverInfo* m_solverInfo; + btMultiBodyConstraintSolver* m_solver; + btMultiBodyConstraint** m_multiBodySortedConstraints; + int m_numMultiBodyConstraints; + + btTypedConstraint** m_sortedConstraints; + int m_numConstraints; + btIDebugDraw* m_debugDrawer; + btDispatcher* m_dispatcher; + + btAlignedObjectArray m_bodies; + btAlignedObjectArray m_manifolds; + btAlignedObjectArray m_constraints; + btAlignedObjectArray m_multiBodyConstraints; + + btAlignedObjectArray m_islandAnalyticsData; + + MultiBodyInplaceSolverIslandCallback(btMultiBodyConstraintSolver* solver, + btDispatcher* dispatcher) + : m_solverInfo(NULL), + m_solver(solver), + m_multiBodySortedConstraints(NULL), + m_numConstraints(0), + m_debugDrawer(NULL), + m_dispatcher(dispatcher) + { + } + + MultiBodyInplaceSolverIslandCallback& operator=(const MultiBodyInplaceSolverIslandCallback& other) + { + btAssert(0); + (void)other; + return *this; + } + + SIMD_FORCE_INLINE virtual void setup(btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints, int numConstraints, btMultiBodyConstraint** sortedMultiBodyConstraints, int numMultiBodyConstraints, btIDebugDraw* debugDrawer) + { + m_islandAnalyticsData.clear(); + btAssert(solverInfo); + m_solverInfo = solverInfo; + + m_multiBodySortedConstraints = sortedMultiBodyConstraints; + m_numMultiBodyConstraints = numMultiBodyConstraints; + m_sortedConstraints = sortedConstraints; + m_numConstraints = numConstraints; + + m_debugDrawer = debugDrawer; + m_bodies.resize(0); + m_manifolds.resize(0); + m_constraints.resize(0); + m_multiBodyConstraints.resize(0); + } + + void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver) + { + m_solver = solver; + } + + virtual void processIsland(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifolds, int numManifolds, int islandId) + { + if (islandId < 0) + { + ///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id + m_solver->solveMultiBodyGroup(bodies, numBodies, manifolds, numManifolds, m_sortedConstraints, m_numConstraints, &m_multiBodySortedConstraints[0], m_numConstraints, *m_solverInfo, m_debugDrawer, m_dispatcher); + if (m_solverInfo->m_reportSolverAnalytics&1) + { + m_solver->m_analyticsData.m_islandId = islandId; + m_islandAnalyticsData.push_back(m_solver->m_analyticsData); + } + } + else + { + //also add all non-contact constraints/joints for this island + btTypedConstraint** startConstraint = 0; + btMultiBodyConstraint** startMultiBodyConstraint = 0; + + int numCurConstraints = 0; + int numCurMultiBodyConstraints = 0; + + int i; + + //find the first constraint for this island + + for (i = 0; i < m_numConstraints; i++) + { + if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId) + { + startConstraint = &m_sortedConstraints[i]; + break; + } + } + //count the number of constraints in this island + for (; i < m_numConstraints; i++) + { + if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId) + { + numCurConstraints++; + } + } + + for (i = 0; i < m_numMultiBodyConstraints; i++) + { + if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId) + { + startMultiBodyConstraint = &m_multiBodySortedConstraints[i]; + break; + } + } + //count the number of multi body constraints in this island + for (; i < m_numMultiBodyConstraints; i++) + { + if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId) + { + numCurMultiBodyConstraints++; + } + } + + //if (m_solverInfo->m_minimumSolverBatchSize<=1) + //{ + // m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher); + //} else + { + for (i = 0; i < numBodies; i++) + m_bodies.push_back(bodies[i]); + for (i = 0; i < numManifolds; i++) + m_manifolds.push_back(manifolds[i]); + for (i = 0; i < numCurConstraints; i++) + m_constraints.push_back(startConstraint[i]); + + for (i = 0; i < numCurMultiBodyConstraints; i++) + m_multiBodyConstraints.push_back(startMultiBodyConstraint[i]); + + if ((m_multiBodyConstraints.size() + m_constraints.size() + m_manifolds.size()) > m_solverInfo->m_minimumSolverBatchSize) + { + processConstraints(islandId); + } + else + { + //printf("deferred\n"); + } + } + } + } + + virtual void processConstraints(int islandId=-1) + { + btCollisionObject** bodies = m_bodies.size() ? &m_bodies[0] : 0; + btPersistentManifold** manifold = m_manifolds.size() ? &m_manifolds[0] : 0; + btTypedConstraint** constraints = m_constraints.size() ? &m_constraints[0] : 0; + btMultiBodyConstraint** multiBodyConstraints = m_multiBodyConstraints.size() ? &m_multiBodyConstraints[0] : 0; + + //printf("mb contacts = %d, mb constraints = %d\n", mbContacts, m_multiBodyConstraints.size()); + + m_solver->solveMultiBodyGroup(bodies, m_bodies.size(), manifold, m_manifolds.size(), constraints, m_constraints.size(), multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo, m_debugDrawer, m_dispatcher); + if (m_bodies.size() && (m_solverInfo->m_reportSolverAnalytics&1)) + { + m_solver->m_analyticsData.m_islandId = islandId; + m_islandAnalyticsData.push_back(m_solver->m_analyticsData); + } + m_bodies.resize(0); + m_manifolds.resize(0); + m_constraints.resize(0); + m_multiBodyConstraints.resize(0); + } +}; + + +#endif /*BT_MULTIBODY_INPLACE_SOLVER_ISLAND_CALLBACK_H */ diff --git a/src/BulletSoftBody/CMakeLists.txt b/src/BulletSoftBody/CMakeLists.txt index 40d07bd66..1e9edbd91 100644 --- a/src/BulletSoftBody/CMakeLists.txt +++ b/src/BulletSoftBody/CMakeLists.txt @@ -16,6 +16,7 @@ SET(BulletSoftBody_SRCS btSoftMultiBodyDynamicsWorld.cpp btSoftSoftCollisionAlgorithm.cpp btDefaultSoftBodySolver.cpp + btDeformableMultiBodyConstraintSolver.cpp btDeformableBackwardEulerObjective.cpp btDeformableBodySolver.cpp @@ -50,6 +51,7 @@ SET(BulletSoftBody_HDRS btDeformableBackwardEulerObjective.h btDeformableBodySolver.h + btDeformableMultiBodyConstraintSolver.h btDeformableContactProjection.h btDeformableMultiBodyDynamicsWorld.h diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index c5a1bb55b..d074ca6ed 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -80,7 +80,7 @@ public: virtual void setConstraints() = 0; // update the constraints - virtual void update() = 0; + virtual btScalar update() = 0; virtual void reinitialize(bool nodeUpdated) { diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index f7a26e01e..0e26e2c6d 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -74,12 +74,13 @@ void btDeformableBodySolver::setConstraints() m_objective->setConstraints(); } -void btDeformableBodySolver::solveContactConstraints() +btScalar btDeformableBodySolver::solveContactConstraints() { BT_PROFILE("setConstraint"); - m_objective->projection.update(); + btScalar maxSquaredResidual = m_objective->projection.update(); m_objective->enforceConstraint(m_dv); m_objective->updateVelocity(m_dv); + return maxSquaredResidual; } @@ -142,7 +143,7 @@ bool btDeformableBodySolver::updateNodes() } -void btDeformableBodySolver::predictMotion(btScalar solverdt) +void btDeformableBodySolver::predictMotion(float solverdt) { for (int i = 0; i < m_softBodySet.size(); ++i) { diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index 55f940328..9839df7f2 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -63,7 +63,7 @@ public: virtual void solveDeformableConstraints(btScalar solverdt); - void solveContactConstraints(); + btScalar solveContactConstraints(); virtual void solveConstraints(float dt){} @@ -81,7 +81,7 @@ public: void computeStep(TVStack& dv, const TVStack& residual); - virtual void predictMotion(btScalar solverdt); + virtual void predictMotion(float solverdt); virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer) {} diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index f9d4b7d99..25c14b5b9 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -17,10 +17,9 @@ #include "btDeformableMultiBodyDynamicsWorld.h" #include #include -void btDeformableContactProjection::update() +btScalar btDeformableContactProjection::update() { -// m_world->getSolverInfo().m_numIterations = 1; - + btScalar residualSquare = 0; // loop through constraints to set constrained values for (int index = 0; index < m_constraints.size(); ++index) { @@ -129,21 +128,28 @@ void btDeformableContactProjection::update() } } impulse = impulse_normal + impulse_tangent; + + // dn is the normal component of velocity diffrerence. Approximates the residual. + residualSquare = btMax(residualSquare, dn*dn); + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) { if (rigidCol) + { rigidCol->applyImpulse(impulse, c->m_c1); + } } else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) { if (multibodyLinkCol) { + multibodyLinkCol->m_multiBody->processDeltaVeeMultiDof2(); // make sure velocity is up-to-date; // apply normal component of the impulse multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_normal, impulse.dot(cti.m_normal)); if (impulse_tangent.norm() > SIMD_EPSILON) { // apply tangential component of the impulse - const btScalar* deltaV_t1 = &c->jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + const btScalar* deltaV_t1 = &c->jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_t1, impulse.dot(c->t1)); const btScalar* deltaV_t2 = &c->jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_t2, impulse.dot(c->t2)); @@ -153,6 +159,7 @@ void btDeformableContactProjection::update() } } } + return residualSquare; } void btDeformableContactProjection::setConstraints() diff --git a/src/BulletSoftBody/btDeformableContactProjection.h b/src/BulletSoftBody/btDeformableContactProjection.h index f9bd371d7..774da1ae3 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.h +++ b/src/BulletSoftBody/btDeformableContactProjection.h @@ -44,7 +44,7 @@ public: virtual void enforceConstraint(TVStack& x); // update the constraints - virtual void update(); + virtual btScalar update(); virtual void setConstraints(); diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp new file mode 100644 index 000000000..a331d1ba2 --- /dev/null +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp @@ -0,0 +1,44 @@ +// +// btDeformableMultiBodyConstraintSolver.cpp +// BulletSoftBody +// +// Created by Xuchen Han on 8/23/19. +// + +#include "btDeformableMultiBodyConstraintSolver.h" +#include +// override the iterations method to include deformable/multibody contact +btScalar btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) +{ + { + ///this is a special step to resolve penetrations (just for contacts) + solveGroupCacheFriendlySplitImpulseIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); + + int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations; + for (int iteration = 0; iteration < maxIterations; iteration++) + { + m_leastSquaresResidual = solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); + + solverBodyWriteBack(infoGlobal); + m_leastSquaresResidual = btMax(m_leastSquaresResidual, m_deformableSolver->solveContactConstraints()); + writeToSolverBody(bodies, numBodies, infoGlobal); + + if (m_leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || (iteration >= (maxIterations - 1))) + { +#ifdef VERBOSE_RESIDUAL_PRINTF + printf("residual = %f at iteration #%d\n", m_leastSquaresResidual, iteration); +#endif + m_analyticsData.m_numSolverCalls++; + m_analyticsData.m_numIterationsUsed = iteration+1; + m_analyticsData.m_islandId = -2; + if (numBodies>0) + m_analyticsData.m_islandId = bodies[0]->getCompanionId(); + m_analyticsData.m_numBodies = numBodies; + m_analyticsData.m_numContactManifolds = numManifolds; + m_analyticsData.m_remainingLeastSquaresResidual = m_leastSquaresResidual; + break; + } + } + } + return 0.f; +} diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h new file mode 100644 index 000000000..c5c37cefc --- /dev/null +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h @@ -0,0 +1,98 @@ +// +// btDeformableMultiBodyConstraintSolver.h +// BulletSoftBody +// +// Created by Xuchen Han on 8/22/19. +// + +#ifndef BT_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H +#define BT_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H + +#include "btDeformableBodySolver.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" + +class btDeformableBodySolver; + +ATTRIBUTE_ALIGNED16(class) +btDeformableMultiBodyConstraintSolver : public btMultiBodyConstraintSolver +{ + btDeformableBodySolver* m_deformableSolver; + +protected: + // override the iterations method to include deformable/multibody contact + virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); + + void solverBodyWriteBack(const btContactSolverInfo& infoGlobal) + { + for (int i = 0; i < m_tmpSolverBodyPool.size(); i++) + { + btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody; + if (body) + { + m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(m_tmpSolverBodyPool[i].m_linearVelocity + m_tmpSolverBodyPool[i].m_deltaLinearVelocity); + m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(m_tmpSolverBodyPool[i].m_angularVelocity+m_tmpSolverBodyPool[i].m_deltaAngularVelocity); + } + } + } + + void writeToSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) + { + btSISolverSingleIterationData siData(m_tmpSolverBodyPool, + m_tmpSolverContactConstraintPool, + m_tmpSolverNonContactConstraintPool, + m_tmpSolverContactFrictionConstraintPool, + m_tmpSolverContactRollingFrictionConstraintPool, + m_orderTmpConstraintPool, + m_orderNonContactConstraintPool, + m_orderFrictionConstraintPool, + m_tmpConstraintSizesPool, + m_resolveSingleConstraintRowGeneric, + m_resolveSingleConstraintRowLowerLimit, + m_resolveSplitPenetrationImpulse, + m_kinematicBodyUniqueIdToSolverBodyTable, + m_btSeed2, + m_fixedBodyId, + m_maxOverrideNumSolverIterations); + + for (int i = 0; i < numBodies; i++) + { + int bodyId = siData.getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep); + + btRigidBody* body = btRigidBody::upcast(bodies[i]); + if (body && body->getInvMass()) + { + btSolverBody& solverBody = siData.m_tmpSolverBodyPool[bodyId]; + solverBody.m_linearVelocity = body->getLinearVelocity() - solverBody.m_deltaLinearVelocity; + solverBody.m_angularVelocity = body->getAngularVelocity() - solverBody.m_deltaAngularVelocity; + } + } + } + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + void setDeformableSolver(btDeformableBodySolver* deformableSolver) + { + m_deformableSolver = deformableSolver; + } + + virtual void solveMultiBodyGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher) + { + m_tmpMultiBodyConstraints = multiBodyConstraints; + m_tmpNumMultiBodyConstraints = numMultiBodyConstraints; + + // inherited from MultiBodyConstraintSolver + solveGroupCacheFriendlySetup(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer); + + // overriden + solveGroupCacheFriendlyIterations(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer); + + // inherited from MultiBodyConstraintSolver + solveGroupCacheFriendlyFinish(bodies, numBodies, info); + + m_tmpMultiBodyConstraints = 0; + m_tmpNumMultiBodyConstraints = 0; + } +}; + +#endif /* BT_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H */ diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 95f9b48b5..58907fcd3 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -33,6 +33,7 @@ The algorithm also closely resembles the one in http://physbam.stanford.edu/~fed #include "btDeformableMultiBodyDynamicsWorld.h" #include "btDeformableBodySolver.h" #include "LinearMath/btQuickprof.h" + void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) { BT_PROFILE("internalSingleStepSimulation"); @@ -176,27 +177,108 @@ void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep) // save v_{n+1}^* velocity after explicit forces m_deformableBodySolver->backupVelocity(); - // setup constraints among multibodies and between multibodies and deformable bodies + // set up constraints among multibodies and between multibodies and deformable bodies setupConstraints(); - solveMultiBodyConstraints(); + solveMultiBodyRelatedConstraints(); m_deformableBodySolver->solveDeformableConstraints(timeStep); } void btDeformableMultiBodyDynamicsWorld::setupConstraints() { + // set up constraints between multibody and deformable bodies m_deformableBodySolver->setConstraints(); - m_islandManager->buildIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld()); + + // set up constraints among multibodies + { + sortConstraints(); + // setup the solver callback + btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0; + btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0; + m_solverMultiBodyIslandCallback->setup(&m_solverInfo, constraintsPtr, m_sortedConstraints.size(), sortedMultiBodyConstraints, m_sortedMultiBodyConstraints.size(), getDebugDrawer()); + m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); + + // build islands + m_islandManager->buildIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld()); + // write the constraint information of each island to the callback, and also setup the constraints in solver + } } -void btDeformableMultiBodyDynamicsWorld::solveMultiBodyConstraints() +void btDeformableMultiBodyDynamicsWorld::sortConstraints() { - for (int i = 0; i < m_contact_iterations; ++i) + m_sortedConstraints.resize(m_constraints.size()); + int i; + for (i = 0; i < getNumConstraints(); i++) { - m_islandManager->processIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), (btSimulationIslandManager::IslandCallback*)m_solverMultiBodyIslandCallback); - btMultiBodyDynamicsWorld::processConstraintsAndDeltaVee(); - m_deformableBodySolver->solveContactConstraints(); + m_sortedConstraints[i] = m_constraints[i]; + } + m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate2()); + + m_sortedMultiBodyConstraints.resize(m_multiBodyConstraints.size()); + for (i = 0; i < m_multiBodyConstraints.size(); i++) + { + m_sortedMultiBodyConstraints[i] = m_multiBodyConstraints[i]; + } + m_sortedMultiBodyConstraints.quickSort(btSortMultiBodyConstraintOnIslandPredicate()); +} + + +void btDeformableMultiBodyDynamicsWorld::solveMultiBodyRelatedConstraints() +{ + // process constraints on each island + m_islandManager->processIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback); + + // process deferred + m_solverMultiBodyIslandCallback->processConstraints(); + m_constraintSolver->allSolved(m_solverInfo, m_debugDrawer); + + // write joint feedback + { + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) + m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) + m_scratch_v.resize(bod->getNumLinks() + 1); + m_scratch_m.resize(bod->getNumLinks() + 1); + + if (bod->internalNeedsJointFeedback()) + { + if (!bod->isUsingRK4Integration()) + { + if (bod->internalNeedsJointFeedback()) + { + bool isConstraintPass = true; + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(m_solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass, + getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + } + } + } + } + } + } + + // todo : may not be necessary + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + bod->processDeltaVeeMultiDof2(); } - // todo @xuchenhan: add joint force feedback } void btDeformableMultiBodyDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask) @@ -244,8 +326,51 @@ void btDeformableMultiBodyDynamicsWorld::applyRigidBodyGravity(btScalar timeStep btRigidBody* rb = m_nonStaticRigidBodies[i]; rb->integrateVelocities(timeStep); } + // integrate multibody gravity - btMultiBodyDynamicsWorld::solveExternalForces(btMultiBodyDynamicsWorld::getSolverInfo()); + { + forwardKinematics(); + clearMultiBodyConstraintForces(); + { + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + m_scratch_r.resize(bod->getNumLinks() + 1); + m_scratch_v.resize(bod->getNumLinks() + 1); + m_scratch_m.resize(bod->getNumLinks() + 1); + bool isConstraintPass = false; + { + if (!bod->isUsingRK4Integration()) + { + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(m_solverInfo.m_timeStep, + m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass, + getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + } + else + { + btAssert(" RK4Integration is not supported" ); + } + } + } + } + } + } clearForces(); clearMultiBodyForces(); } diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h index 1b1806bac..a91944c55 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h @@ -20,6 +20,7 @@ #include "btDeformableLagrangianForce.h" #include "btDeformableMassSpringForce.h" #include "btDeformableBodySolver.h" +#include "btDeformableMultiBodyConstraintSolver.h" #include "btSoftBodyHelpers.h" #include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h" #include @@ -28,6 +29,7 @@ typedef btAlignedObjectArray btSoftBodyArray; class btDeformableBodySolver; class btDeformableLagrangianForce; struct MultiBodyInplaceSolverIslandCallback; +class btDeformableMultiBodyConstraintSolver; typedef btAlignedObjectArray btSoftBodyArray; @@ -59,8 +61,8 @@ protected: void solveConstraints(btScalar timeStep); public: - btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0) - : btMultiBodyDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration), + btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btDeformableMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0) + : btMultiBodyDynamicsWorld(dispatcher, pairCache, (btMultiBodyConstraintSolver*)constraintSolver, collisionConfiguration), m_deformableBodySolver(deformableBodySolver), m_solverCallback(0) { m_drawFlags = fDrawFlags::Std; @@ -70,7 +72,7 @@ public: m_sbi.m_broadphase = pairCache; m_sbi.m_dispatcher = dispatcher; m_sbi.m_sparsesdf.Initialize(); - m_sbi.m_sparsesdf.setDefaultVoxelsz(0.0025); + m_sbi.m_sparsesdf.setDefaultVoxelsz(0.025); m_sbi.m_sparsesdf.Reset(); m_sbi.air_density = (btScalar)1.2; @@ -78,10 +80,7 @@ public: m_sbi.water_offset = 0; m_sbi.water_normal = btVector3(0, 0, 0); m_sbi.m_gravity.setValue(0, -10, 0); - - m_sbi.m_sparsesdf.Initialize(); m_internalTime = 0.0; - m_contact_iterations = 1; } void setSolverCallback(btSolverCallback cb) @@ -148,7 +147,12 @@ public: void setDrawFlags(int f) { m_drawFlags = f; } void setupConstraints(); + void solveMultiBodyConstraints(); + + void solveMultiBodyRelatedConstraints(); + + void sortConstraints(); }; #endif //BT_DEFORMABLE_RIGID_DYNAMICS_WORLD_H From f2d8ed71ac03fa4310fa07620acd3271138db7c6 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 23 Aug 2019 20:06:41 -0700 Subject: [PATCH 106/389] float->btScalar --- src/BulletSoftBody/btDefaultSoftBodySolver.cpp | 2 +- src/BulletSoftBody/btDefaultSoftBodySolver.h | 4 ++-- src/BulletSoftBody/btDeformableBodySolver.cpp | 2 +- src/BulletSoftBody/btDeformableBodySolver.h | 6 ++---- src/BulletSoftBody/btSoftBodySolvers.h | 4 ++-- 5 files changed, 8 insertions(+), 10 deletions(-) diff --git a/src/BulletSoftBody/btDefaultSoftBodySolver.cpp b/src/BulletSoftBody/btDefaultSoftBodySolver.cpp index 8b7ff9abc..dfd7072b6 100644 --- a/src/BulletSoftBody/btDefaultSoftBodySolver.cpp +++ b/src/BulletSoftBody/btDefaultSoftBodySolver.cpp @@ -132,7 +132,7 @@ void btDefaultSoftBodySolver::processCollision(btSoftBody *softBody, const btCol softBody->defaultCollisionHandler(collisionObjectWrap); } // btDefaultSoftBodySolver::processCollision -void btDefaultSoftBodySolver::predictMotion(float timeStep) +void btDefaultSoftBodySolver::predictMotion(btScalar timeStep) { for (int i = 0; i < m_softBodySet.size(); ++i) { diff --git a/src/BulletSoftBody/btDefaultSoftBodySolver.h b/src/BulletSoftBody/btDefaultSoftBodySolver.h index 50bd73516..3965b07c5 100644 --- a/src/BulletSoftBody/btDefaultSoftBodySolver.h +++ b/src/BulletSoftBody/btDefaultSoftBodySolver.h @@ -46,9 +46,9 @@ public: virtual void copyBackToSoftBodies(bool bMove = true); - virtual void solveConstraints(float solverdt); + virtual void solveConstraints(btScalar solverdt); - virtual void predictMotion(float solverdt); + virtual void predictMotion(btScalar solverdt); virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer); diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 0e26e2c6d..4489296f0 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -143,7 +143,7 @@ bool btDeformableBodySolver::updateNodes() } -void btDeformableBodySolver::predictMotion(float solverdt) +void btDeformableBodySolver::predictMotion(btScalar solverdt) { for (int i = 0; i < m_softBodySet.size(); ++i) { diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index 9839df7f2..a40d1fb99 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -58,14 +58,12 @@ public: virtual void updateSoftBodies(); virtual void copyBackToSoftBodies(bool bMove = true) {} - - void extracted(float solverdt); virtual void solveDeformableConstraints(btScalar solverdt); btScalar solveContactConstraints(); - virtual void solveConstraints(float dt){} + virtual void solveConstraints(btScalar dt){} void reinitialize(const btAlignedObjectArray& softBodies, btScalar dt); @@ -81,7 +79,7 @@ public: void computeStep(TVStack& dv, const TVStack& residual); - virtual void predictMotion(float solverdt); + virtual void predictMotion(btScalar solverdt); virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer) {} diff --git a/src/BulletSoftBody/btSoftBodySolvers.h b/src/BulletSoftBody/btSoftBodySolvers.h index 405475529..c4ac4141a 100644 --- a/src/BulletSoftBody/btSoftBodySolvers.h +++ b/src/BulletSoftBody/btSoftBodySolvers.h @@ -72,10 +72,10 @@ public: virtual void copyBackToSoftBodies(bool bMove = true) = 0; /** Predict motion of soft bodies into next timestep */ - virtual void predictMotion(float solverdt) = 0; + virtual void predictMotion(btScalar solverdt) = 0; /** Solve constraints for a set of soft bodies */ - virtual void solveConstraints(float solverdt) = 0; + virtual void solveConstraints(btScalar solverdt) = 0; /** Perform necessary per-step updates of soft bodies such as recomputing normals and bounding boxes */ virtual void updateSoftBodies() = 0; From bb4a554e68a75141ab725a22f84e219f947ae9a1 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Sat, 24 Aug 2019 11:51:33 -0700 Subject: [PATCH 107/389] bug fix in multibody interpolation world transform: update cached rotation and vector --- src/BulletDynamics/Featherstone/btMultiBodyLink.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/BulletDynamics/Featherstone/btMultiBodyLink.h b/src/BulletDynamics/Featherstone/btMultiBodyLink.h index 565bb6b3e..01d5583c2 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyLink.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyLink.h @@ -197,7 +197,7 @@ struct btMultibodyLink { btScalar *pJointPos = (pq ? pq : &m_jointPos[0]); btQuaternion& cachedRot = m_cachedRotParentToThis; - btVector3& cachedVector =m_cachedRVector; + btVector3& cachedVector = m_cachedRVector; switch (m_jointType) { case eRevolute: @@ -241,6 +241,8 @@ struct btMultibodyLink btAssert(0); } } + m_cachedRotParentToThis_interpolate = m_cachedRotParentToThis; + m_cachedRVector_interpolate = m_cachedRVector; } void updateInterpolationCacheMultiDof() From b0a91bb30696bfeea5f9b3350992d6f948a6e586 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Sat, 24 Aug 2019 11:55:34 -0700 Subject: [PATCH 108/389] float->btScalar --- src/BulletSoftBody/btDefaultSoftBodySolver.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/BulletSoftBody/btDefaultSoftBodySolver.cpp b/src/BulletSoftBody/btDefaultSoftBodySolver.cpp index dfd7072b6..5a79ef86e 100644 --- a/src/BulletSoftBody/btDefaultSoftBodySolver.cpp +++ b/src/BulletSoftBody/btDefaultSoftBodySolver.cpp @@ -60,7 +60,7 @@ bool btDefaultSoftBodySolver::checkInitialized() return true; } -void btDefaultSoftBodySolver::solveConstraints(float solverdt) +void btDefaultSoftBodySolver::solveConstraints(btScalar solverdt) { // Solve constraints for non-solver softbodies for (int i = 0; i < m_softBodySet.size(); ++i) From 8b38076376afe1bcbb7723e0174c9dd652f63c88 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Sat, 24 Aug 2019 12:44:58 -0700 Subject: [PATCH 109/389] update license --- .../btMultiBodyInplaceSolverIslandCallback.h | 18 ++++++++++------ .../btDeformableMultiBodyConstraintSolver.cpp | 21 +++++++++++++------ .../btDeformableMultiBodyConstraintSolver.h | 21 +++++++++++++------ 3 files changed, 42 insertions(+), 18 deletions(-) diff --git a/src/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h b/src/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h index accf7c50b..458e62a78 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h @@ -1,9 +1,15 @@ -// -// btMultiBodyInplaceSolverCallback.h -// BulletDynamics -// -// Created by Xuchen Han on 8/22/19. -// +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + 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 BT_MULTIBODY_INPLACE_SOLVER_ISLAND_CALLBACK_H #define BT_MULTIBODY_INPLACE_SOLVER_ISLAND_CALLBACK_H diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp index a331d1ba2..65ba43e04 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp @@ -1,9 +1,18 @@ -// -// btDeformableMultiBodyConstraintSolver.cpp -// BulletSoftBody -// -// Created by Xuchen Han on 8/23/19. -// +/* + Written by Xuchen Han + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + 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. + */ + #include "btDeformableMultiBodyConstraintSolver.h" #include diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h index c5c37cefc..f7d156e4d 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h @@ -1,9 +1,18 @@ -// -// btDeformableMultiBodyConstraintSolver.h -// BulletSoftBody -// -// Created by Xuchen Han on 8/22/19. -// +/* + Written by Xuchen Han + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + 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 BT_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H #define BT_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H From 908cf69f0673baee92f3c2ad2f1477b00505d0a4 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Sat, 24 Aug 2019 14:58:11 -0700 Subject: [PATCH 110/389] change deformable/multibody solve to be in dv space --- src/BulletDynamics/Featherstone/btMultiBody.h | 5 +++++ .../btDeformableContactProjection.cpp | 16 +++++++--------- 2 files changed, 12 insertions(+), 9 deletions(-) diff --git a/src/BulletDynamics/Featherstone/btMultiBody.h b/src/BulletDynamics/Featherstone/btMultiBody.h index 91b5c3edb..afed669a7 100644 --- a/src/BulletDynamics/Featherstone/btMultiBody.h +++ b/src/BulletDynamics/Featherstone/btMultiBody.h @@ -273,6 +273,11 @@ public: { return &m_realBuf[0]; } + + const btScalar *getDeltaVelocityVector() const + { + return &m_deltaV[0]; + } /* btScalar * getVelocityVector() { return &real_buf[0]; diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index 25c14b5b9..33feb4bc6 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -58,26 +58,26 @@ btScalar btDeformableContactProjection::update() const btScalar* J_t1 = &c->jacobianData_t1.m_jacobians[0]; const btScalar* J_t2 = &c->jacobianData_t2.m_jacobians[0]; const btScalar* local_v = multibodyLinkCol->m_multiBody->getVelocityVector(); + const btScalar* local_dv = multibodyLinkCol->m_multiBody->getDeltaVelocityVector(); deltaV_normal = &c->jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; // add in the normal component of the va btScalar vel = 0.0; for (int k = 0; k < ndof; ++k) { - vel += local_v[k] * J_n[k]; + vel += (local_v[k]+local_dv[k]) * J_n[k]; } va = cti.m_normal * vel * m_dt; - // add in the tangential components of the va vel = 0.0; for (int k = 0; k < ndof; ++k) { - vel += local_v[k] * J_t1[k]; + vel += (local_v[k]+local_dv[k]) * J_t1[k]; } va += c->t1 * vel * m_dt; vel = 0.0; for (int k = 0; k < ndof; ++k) { - vel += local_v[k] * J_t2[k]; + vel += (local_v[k]+local_dv[k]) * J_t2[k]; } va += c->t2 * vel * m_dt; } @@ -131,7 +131,6 @@ btScalar btDeformableContactProjection::update() // dn is the normal component of velocity diffrerence. Approximates the residual. residualSquare = btMax(residualSquare, dn*dn); - if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) { if (rigidCol) @@ -143,16 +142,15 @@ btScalar btDeformableContactProjection::update() { if (multibodyLinkCol) { - multibodyLinkCol->m_multiBody->processDeltaVeeMultiDof2(); // make sure velocity is up-to-date; // apply normal component of the impulse - multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_normal, impulse.dot(cti.m_normal)); + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_normal, impulse.dot(cti.m_normal)); if (impulse_tangent.norm() > SIMD_EPSILON) { // apply tangential component of the impulse const btScalar* deltaV_t1 = &c->jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; - multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_t1, impulse.dot(c->t1)); + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t1, impulse.dot(c->t1)); const btScalar* deltaV_t2 = &c->jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; - multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_t2, impulse.dot(c->t2)); + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t2, impulse.dot(c->t2)); } } } From 4c209a4834826269d3391cd4c91adbd99e34a981 Mon Sep 17 00:00:00 2001 From: muupan Date: Tue, 3 Sep 2019 17:29:43 +0900 Subject: [PATCH 111/389] Fix typo: s/duraction/duration/g --- examples/pybullet/examples/changeTexture.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/pybullet/examples/changeTexture.py b/examples/pybullet/examples/changeTexture.py index 835b4533e..e14ec39cf 100644 --- a/examples/pybullet/examples/changeTexture.py +++ b/examples/pybullet/examples/changeTexture.py @@ -34,7 +34,7 @@ for i in range(100000): start = time.time() p.getCameraImage(300, 300, renderer=p.ER_BULLET_HARDWARE_OPENGL) end = time.time() - print("rendering duraction") + print("rendering duration") print(end - start) p.stopStateLogging(logId) #p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1) From e4a5f9e06e257ef839fc80c226ffd6099c96b187 Mon Sep 17 00:00:00 2001 From: Chuyuan Fu Date: Tue, 3 Sep 2019 14:27:19 -0700 Subject: [PATCH 112/389] add body type info to dynamics info --- .../SharedMemory/PhysicsServerCommandProcessor.cpp | 13 +++++++------ examples/SharedMemory/SharedMemoryPublic.h | 11 ++++++++++- examples/pybullet/examples/load_soft_body.py | 5 +++++ examples/pybullet/pybullet.c | 3 ++- 4 files changed, 24 insertions(+), 8 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 249c2ae16..09bb25988 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -8818,7 +8818,8 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S { SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_GET_DYNAMICS_INFO_COMPLETED; - + serverCmd.m_dynamicsInfo.m_bodyType = BT_MULTI_BODY; + btMultiBody* mb = body->m_multiBody; if (linkIndex == -1) { @@ -8932,6 +8933,7 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S { SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_GET_DYNAMICS_INFO_COMPLETED; + serverCmd.m_dynamicsInfo.m_bodyType = BT_RIGID_BODY; btRigidBody* rb = body->m_rigidBody; serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = rb->getFriction(); @@ -8943,11 +8945,10 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S } #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD else if (body && body->m_softBody){ - //todo: @fuchuyuan implement dynamics info - b3Warning("Softbody dynamics info not set!!!"); - SharedMemoryStatus& serverCmd = serverStatusOut; - serverCmd.m_type = CMD_GET_DYNAMICS_INFO_COMPLETED; - } + SharedMemoryStatus& serverCmd = serverStatusOut; + serverCmd.m_type = CMD_GET_DYNAMICS_INFO_COMPLETED; + serverCmd.m_dynamicsInfo.m_bodyType = BT_SOFT_BODY; + } #endif return hasStatus; } diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index c5b32b05a..78c0c0fcb 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -7,7 +7,8 @@ //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 201908110 +#define SHARED_MEMORY_MAGIC_NUMBER 201909030 +//#define SHARED_MEMORY_MAGIC_NUMBER 201908110 //#define SHARED_MEMORY_MAGIC_NUMBER 201908050 //#define SHARED_MEMORY_MAGIC_NUMBER 2019060190 //#define SHARED_MEMORY_MAGIC_NUMBER 201904030 @@ -340,6 +341,13 @@ enum DynamicsActivationState eActivationStateDisableWakeup = 32, }; +enum b3BodyType +{ + BT_RIGID_BODY = 1, + BT_MULTI_BODY = 2, + BT_SOFT_BODY = 3, +}; + struct b3DynamicsInfo { double m_mass; @@ -353,6 +361,7 @@ struct b3DynamicsInfo double m_contactStiffness; double m_contactDamping; int m_activationState; + int m_bodyType; double m_angularDamping; double m_linearDamping; double m_ccdSweptSphereRadius; diff --git a/examples/pybullet/examples/load_soft_body.py b/examples/pybullet/examples/load_soft_body.py index 401c25a92..1d1052c88 100644 --- a/examples/pybullet/examples/load_soft_body.py +++ b/examples/pybullet/examples/load_soft_body.py @@ -5,6 +5,7 @@ physicsClient = p.connect(p.DIRECT) p.setGravity(0, 0, -10) planeId = p.loadURDF("plane.urdf") +boxId = p.loadURDF("cube.urdf", useMaximalCoordinates = True) bunnyId = p.loadSoftBody("bunny.obj") #meshData = p.getMeshData(bunnyId) #print("meshData=",meshData) @@ -14,6 +15,10 @@ useRealTimeSimulation = 1 if (useRealTimeSimulation): p.setRealTimeSimulation(1) +print(p.getDynamicsInfo(planeId, -1)) +print(p.getDynamicsInfo(bunnyId, 0)) +print(p.getDynamicsInfo(boxId, -1)) + while p.isConnected(): p.setGravity(0, 0, -10) if (useRealTimeSimulation): diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index e7a799c32..45bad547e 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -1462,7 +1462,7 @@ static PyObject* pybullet_getDynamicsInfo(PyObject* self, PyObject* args, PyObje if (b3GetDynamicsInfo(status_handle, &info)) { - int numFields = 10; + int numFields = 11; PyObject* pyDynamicsInfo = PyTuple_New(numFields); PyTuple_SetItem(pyDynamicsInfo, 0, PyFloat_FromDouble(info.m_mass)); PyTuple_SetItem(pyDynamicsInfo, 1, PyFloat_FromDouble(info.m_lateralFrictionCoeff)); @@ -1494,6 +1494,7 @@ static PyObject* pybullet_getDynamicsInfo(PyObject* self, PyObject* args, PyObje PyTuple_SetItem(pyDynamicsInfo, 7, PyFloat_FromDouble(info.m_spinningFrictionCoeff)); PyTuple_SetItem(pyDynamicsInfo, 8, PyFloat_FromDouble(info.m_contactDamping)); PyTuple_SetItem(pyDynamicsInfo, 9, PyFloat_FromDouble(info.m_contactStiffness)); + PyTuple_SetItem(pyDynamicsInfo, 10, PyInt_FromLong(info.m_bodyType)); return pyDynamicsInfo; } } From ecc28d6472dd5a34a33a5ed98a9f51fbec06f4d0 Mon Sep 17 00:00:00 2001 From: Chuyuan Fu Date: Tue, 3 Sep 2019 14:35:33 -0700 Subject: [PATCH 113/389] revert testing example --- examples/pybullet/examples/load_soft_body.py | 5 ----- 1 file changed, 5 deletions(-) diff --git a/examples/pybullet/examples/load_soft_body.py b/examples/pybullet/examples/load_soft_body.py index 1d1052c88..401c25a92 100644 --- a/examples/pybullet/examples/load_soft_body.py +++ b/examples/pybullet/examples/load_soft_body.py @@ -5,7 +5,6 @@ physicsClient = p.connect(p.DIRECT) p.setGravity(0, 0, -10) planeId = p.loadURDF("plane.urdf") -boxId = p.loadURDF("cube.urdf", useMaximalCoordinates = True) bunnyId = p.loadSoftBody("bunny.obj") #meshData = p.getMeshData(bunnyId) #print("meshData=",meshData) @@ -15,10 +14,6 @@ useRealTimeSimulation = 1 if (useRealTimeSimulation): p.setRealTimeSimulation(1) -print(p.getDynamicsInfo(planeId, -1)) -print(p.getDynamicsInfo(bunnyId, 0)) -print(p.getDynamicsInfo(boxId, -1)) - while p.isConnected(): p.setGravity(0, 0, -10) if (useRealTimeSimulation): From c374d0158739d06b95507ca634ac3ace1233b7b6 Mon Sep 17 00:00:00 2001 From: Michel Breyer Date: Wed, 4 Sep 2019 13:10:34 +0200 Subject: [PATCH 114/389] Deallocate importer in RestoreState --- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 249c2ae16..4d6b2360f 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -12152,6 +12152,7 @@ bool PhysicsServerCommandProcessor::processRestoreStateCommand(const struct Shar b3Error("Error in restoreState: cannot load file %s\n", clientCmd.m_fileArguments.m_fileName); } } + delete importer; if (ok) { serverCmd.m_type = CMD_RESTORE_STATE_COMPLETED; From 0b391798b700f048ebd659be5f2ae3cd375f740d Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 26 Aug 2019 15:43:21 -0700 Subject: [PATCH 115/389] hook deformable world into the physics server --- .../CommonGUIHelperInterface.h | 3 +- examples/DeformableDemo/GraspDeformable.cpp | 2 +- .../ImportURDFDemo/UrdfFindMeshFile.h | 6 +- .../Importers/ImportURDFDemo/UrdfParser.h | 1 + examples/SharedMemory/PhysicsClientC_API.cpp | 69 ++++++- examples/SharedMemory/PhysicsClientC_API.h | 7 + .../PhysicsServerCommandProcessor.cpp | 185 +++++++++++++++--- .../SharedMemory/PhysicsServerExample.cpp | 20 +- examples/SharedMemory/SharedMemoryCommands.h | 27 ++- 9 files changed, 277 insertions(+), 43 deletions(-) diff --git a/examples/CommonInterfaces/CommonGUIHelperInterface.h b/examples/CommonInterfaces/CommonGUIHelperInterface.h index c604410a8..323fe103a 100644 --- a/examples/CommonInterfaces/CommonGUIHelperInterface.h +++ b/examples/CommonInterfaces/CommonGUIHelperInterface.h @@ -1,6 +1,5 @@ #ifndef GUI_HELPER_INTERFACE_H #define GUI_HELPER_INTERFACE_H - class btRigidBody; class btVector3; class btCollisionObject; @@ -118,6 +117,8 @@ struct GUIHelperInterface //empty name stops dumping video virtual void dumpFramesToVideo(const char* mp4FileName){}; + virtual void drawDebugDrawerLines(){} + virtual void clearLines(){} }; ///the DummyGUIHelper does nothing, so we can test the examples without GUI/graphics (in 'console mode') diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index 6b01bc66d..341f4c737 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -128,7 +128,7 @@ public: //use a smaller internal timestep, there are stability issues float internalTimeStep = 1. / 250.f; - m_dynamicsWorld->stepSimulation(deltaTime, 100, internalTimeStep); + m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep); } void createGrip() diff --git a/examples/Importers/ImportURDFDemo/UrdfFindMeshFile.h b/examples/Importers/ImportURDFDemo/UrdfFindMeshFile.h index 2903e7cf2..147d8c911 100644 --- a/examples/Importers/ImportURDFDemo/UrdfFindMeshFile.h +++ b/examples/Importers/ImportURDFDemo/UrdfFindMeshFile.h @@ -45,6 +45,10 @@ static bool UrdfFindMeshFile( { *out_type = UrdfGeometry::FILE_CDF; } + else if (ext == ".vtk") + { + *out_type = UrdfGeometry::FILE_VTK; + } else { b3Warning("%s: invalid mesh filename extension '%s'\n", error_message_prefix.c_str(), ext.c_str()); @@ -115,4 +119,4 @@ static bool UrdfFindMeshFile( } } -#endif //URDF_FIND_MESH_FILE_H \ No newline at end of file +#endif //URDF_FIND_MESH_FILE_H diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.h b/examples/Importers/ImportURDFDemo/UrdfParser.h index 77c2fabf3..48463044d 100644 --- a/examples/Importers/ImportURDFDemo/UrdfParser.h +++ b/examples/Importers/ImportURDFDemo/UrdfParser.h @@ -82,6 +82,7 @@ struct UrdfGeometry FILE_OBJ = 3, FILE_CDF = 4, MEMORY_VERTICES = 5, + FILE_VTK = 6, }; int m_meshFileType; diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index cac6b161f..87276b264 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -338,6 +338,74 @@ B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle return 0; } +B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; + b3Assert(command->m_type == CMD_LOAD_SOFT_BODY); + command->m_loadSoftBodyArguments.m_corotatedMu = corotatedMu; + command->m_loadSoftBodyArguments.m_corotatedLambda = corotatedLambda; + command->m_updateFlags |= LOAD_SOFT_BODY_ADD_COROTATED_FORCE; + return 0; +} + +B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; + b3Assert(command->m_type == CMD_LOAD_SOFT_BODY); + command->m_loadSoftBodyArguments.m_NeoHookeanMu = NeoHookeanMu; + command->m_loadSoftBodyArguments.m_NeoHookeanLambda = NeoHookeanLambda; + command->m_updateFlags |= LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE; + return 0; +} + +B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; + b3Assert(command->m_type == CMD_LOAD_SOFT_BODY); + command->m_loadSoftBodyArguments.m_springElasticStiffness = springElasticStiffness; + command->m_loadSoftBodyArguments.m_springDampingStiffness = springDampingStiffness; + command->m_updateFlags |= LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE; + return 0; +} + +B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; + b3Assert(command->m_type == CMD_LOAD_SOFT_BODY); + command->m_loadSoftBodyArguments.m_gravity[0] = gravityX; + command->m_loadSoftBodyArguments.m_gravity[1] = gravityY; + command->m_loadSoftBodyArguments.m_gravity[2] = gravityZ; + command->m_updateFlags |= LOAD_SOFT_BODY_ADD_GRAVITY_FORCE; + return 0; +} + +B3_SHARED_API int b3LoadSoftBodySetCollsionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; + b3Assert(command->m_type == CMD_LOAD_SOFT_BODY); + command->m_loadSoftBodyArguments.m_collisionHardness = collisionHardness; + command->m_updateFlags |= LOAD_SOFT_BODY_SET_COLLISION_HARDNESS; + return 0; +} + +B3_SHARED_API int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle commandHandle, double frictionCoefficient) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; + b3Assert(command->m_type == CMD_LOAD_SOFT_BODY); + command->m_loadSoftBodyArguments.m_frictionCoeff = frictionCoefficient; + command->m_updateFlags |= LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT; + return 0; +} + +B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle commandHandle, int useBendingSprings) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; + b3Assert(command->m_type == CMD_LOAD_SOFT_BODY); + command->m_loadSoftBodyArguments.m_useBendingSprings = useBendingSprings; + command->m_updateFlags |= LOAD_SOFT_BODY_ADD_BENDING_SPRINGS; + return 0; +} + B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName) { PhysicsClient* cl = (PhysicsClient*)physClient; @@ -1373,7 +1441,6 @@ B3_SHARED_API int b3CreateCollisionShapeAddHeightfield2(b3PhysicsClientHandle ph command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldRows = numHeightfieldRows; command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldColumns = numHeightfieldColumns; command->m_createUserShapeArgs.m_shapes[shapeIndex].m_replaceHeightfieldIndex = replaceHeightfieldIndex; - cl->uploadBulletFileToSharedMemory((const char*)heightfieldData, numHeightfieldRows*numHeightfieldColumns* sizeof(float)); command->m_createUserShapeArgs.m_numUserShapes++; return shapeIndex; diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 9a488562f..886e7a6ea 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -631,6 +631,13 @@ extern "C" B3_SHARED_API int b3LoadSoftBodySetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, double collisionMargin); B3_SHARED_API int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ); B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW); + B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda); + B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda); + B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness); + B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ); + B3_SHARED_API int b3LoadSoftBodySetCollsionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness); + B3_SHARED_API int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle commandHandle, double frictionCoefficient); + B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle commandHandle, int useBendingSprings); B3_SHARED_API b3SharedMemoryCommandHandle b3RequestVREventsCommandInit(b3PhysicsClientHandle physClient); B3_SHARED_API void b3VREventsSetDeviceTypeFilter(b3SharedMemoryCommandHandle commandHandle, int deviceTypeFilter); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 6b8981674..47a4de27a 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -101,7 +101,11 @@ #include "BulletSoftBody/btSoftBodySolvers.h" #include "BulletSoftBody/btSoftBodyHelpers.h" #include "BulletSoftBody/btSoftMultiBodyDynamicsWorld.h" +#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" +#include "BulletSoftBody/btDeformableBodySolver.h" +#include "BulletSoftBody/btDeformableMultiBodyConstraintSolver.h" #include "../SoftDemo/BunnyMesh.h" +#define SKIP_DEFORMABLE_BODY #else #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h" #endif @@ -1619,12 +1623,22 @@ struct PhysicsServerCommandProcessorInternalData btHashedOverlappingPairCache* m_pairCache; btBroadphaseInterface* m_broadphase; btCollisionDispatcher* m_dispatcher; +#ifdef SKIP_DEFORMABLE_BODY btMultiBodyConstraintSolver* m_solver; +#else + btDeformableMultiBodyConstraintSolver* m_solver; +#endif + btDefaultCollisionConfiguration* m_collisionConfiguration; #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD +#ifndef SKIP_DEFORMABLE_BODY + btDeformableMultiBodyDynamicsWorld* m_dynamicsWorld; + btDeformableBodySolver* m_deformablebodySolver; +#else btSoftMultiBodyDynamicsWorld* m_dynamicsWorld; btSoftBodySolver* m_softbodySolver; +#endif #else btMultiBodyDynamicsWorld* m_dynamicsWorld; #endif @@ -2607,10 +2621,19 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld() bv->setVelocityPrediction(0); m_data->m_broadphase = bv; +#ifdef SKIP_DEFORMABLE_BODY m_data->m_solver = new btMultiBodyConstraintSolver; +#endif #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD +#ifndef SKIP_DEFORMABLE_BODY + m_data->m_deformablebodySolver = new btDeformableBodySolver(); + m_data->m_solver = new btDeformableMultiBodyConstraintSolver; + m_data->m_solver->setDeformableSolver(m_data->m_deformablebodySolver); + m_data->m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration, m_data->m_deformablebodySolver); +#else m_data->m_dynamicsWorld = new btSoftMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration); +#endif #else m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration); #endif @@ -2775,7 +2798,9 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld() for (i = m_data->m_dynamicsWorld->getSoftBodyArray().size() - 1; i >= 0; i--) { btSoftBody* sb = m_data->m_dynamicsWorld->getSoftBodyArray()[i]; +#ifdef SKIP_DEFORMABLE_BODY m_data->m_dynamicsWorld->removeSoftBody(sb); +#endif delete sb; } #endif @@ -4728,8 +4753,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str break; } - - case GEOM_MESH: + case GEOM_MESH: { btVector3 meshScale(clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[0], clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[1], @@ -4909,6 +4933,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str } break; } + default: { } @@ -8014,26 +8039,113 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar int out_type; bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type); - std::vector shapes; - tinyobj::attrib_t attribute; - std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), "", fileIO); - if (!shapes.empty()) - { - const tinyobj::shape_t& shape = shapes[0]; - btAlignedObjectArray vertices; - btAlignedObjectArray indices; - for (int i = 0; i < attribute.vertices.size(); i++) - { - vertices.push_back(attribute.vertices[i]); - } - for (int i = 0; i < shape.mesh.indices.size(); i++) - { - indices.push_back(shape.mesh.indices[i].vertex_index); - } - int numTris = shape.mesh.indices.size() / 3; - if (numTris > 0) - { - btSoftBody* psb = btSoftBodyHelpers::CreateFromTriMesh(m_data->m_dynamicsWorld->getWorldInfo(), &vertices[0], &indices[0], numTris); + btSoftBody* psb = NULL; + if (out_type == UrdfGeometry::FILE_OBJ) + { + std::vector shapes; + tinyobj::attrib_t attribute; + std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), "", fileIO); + if (!shapes.empty()) + { + const tinyobj::shape_t& shape = shapes[0]; + btAlignedObjectArray vertices; + btAlignedObjectArray indices; + for (int i = 0; i < attribute.vertices.size(); i++) + { + vertices.push_back(attribute.vertices[i]); + } + for (int i = 0; i < shape.mesh.indices.size(); i++) + { + indices.push_back(shape.mesh.indices[i].vertex_index); + } + int numTris = shape.mesh.indices.size() / 3; + if (numTris > 0) + { + psb = btSoftBodyHelpers::CreateFromTriMesh(m_data->m_dynamicsWorld->getWorldInfo(), &vertices[0], &indices[0], numTris); + } + } + } + else if (out_type = UrdfGeometry::FILE_VTK) + { +#ifndef SKIP_DEFORMABLE_BODY + psb = btSoftBodyHelpers::CreateFromVtkFile(m_data->m_dynamicsWorld->getWorldInfo(), out_found_filename.c_str()); + btScalar corotated_mu, corotated_lambda; + btScalar spring_elastic_stiffness, spring_damping_stiffness; + btScalar gravity_constant; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE) + { + corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu; + corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda; + m_data->m_dynamicsWorld->addForce(psb, new btDeformableCorotatedForce(corotated_mu, corotated_lambda)); + } + btScalar neohookean_mu, neohookean_lambda; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE) + { + neohookean_mu = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanMu; + neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda; + m_data->m_dynamicsWorld->addForce(psb, new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda)); + } +#endif + } + if (psb != NULL) + { +#ifndef SKIP_DEFORMABLE_BODY + btScalar corotated_mu, corotated_lambda; + btScalar spring_elastic_stiffness, spring_damping_stiffness; + btScalar gravity_constant; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE) + { + corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu; + corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda; + m_data->m_dynamicsWorld->addForce(psb, new btDeformableCorotatedForce(corotated_mu, corotated_lambda)); + } + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE) + { + spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; + spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; + m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false)); + } + btVector3 gravity(0,0,0); + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_GRAVITY_FORCE) + { + gravity[0] = loadSoftBodyArgs.m_gravity[0]; + gravity[1] = loadSoftBodyArgs.m_gravity[1]; + gravity[2] = loadSoftBodyArgs.m_gravity[2]; + m_data->m_dynamicsWorld->addForce(psb, new btDeformableGravityForce(gravity)); + } + btScalar collision_hardness = 1; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_COLLISION_HARDNESS) + { + collision_hardness = loadSoftBodyArgs.m_collisionHardness; + } + psb->m_cfg.kKHR = collision_hardness; + psb->m_cfg.kCHR = collision_hardness; + + btScalar friction_coeff = 0; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT) + { + friction_coeff = loadSoftBodyArgs.m_frictionCoeff; + } + psb->m_cfg.kDF = friction_coeff; + + bool use_bending_spring = true; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS) + { + use_bending_spring = loadSoftBodyArgs.m_useBendingSprings; + } + btSoftBody::Material* pm = psb->appendMaterial(); + pm->m_flags -= btSoftBody::fMaterial::DebugDraw; + if (use_bending_spring) + { + psb->generateBendingConstraints(2,pm); + } + + // turn on the collision flag for deformable + // collision + psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; + psb->setCollisionFlags(0); + psb->setTotalMass(mass); +#else btSoftBody::Material* pm = psb->appendMaterial(); pm->m_kLST = 0.5; pm->m_flags -= btSoftBody::fMaterial::DebugDraw; @@ -8043,11 +8155,12 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar //turn on softbody vs softbody collision psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS; psb->randomizeConstraints(); + psb->setTotalMass(mass, true); +#endif psb->scale(btVector3(scale, scale, scale)); psb->rotate(initialOrn); psb->translate(initialPos); - psb->setTotalMass(mass, true); psb->getCollisionShape()->setMargin(collisionMargin); psb->getCollisionShape()->setUserPointer(psb); m_data->m_dynamicsWorld->addSoftBody(psb); @@ -8108,10 +8221,8 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar notification.m_notificationType = BODY_ADDED; notification.m_bodyArgs.m_bodyUniqueId = bodyUniqueId; m_data->m_pluginManager.addNotification(notification); - } } } - #endif return hasStatus; } @@ -9134,6 +9245,7 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st } }; +#ifdef SKIP_DEFORMABLE_BODY if (newSolver) { delete oldSolver; @@ -9142,6 +9254,7 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st m_data->m_solver = newSolver; printf("switched solver\n"); } +#endif } } @@ -10281,10 +10394,14 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared btSoftBody* psb = bodyHandle->m_softBody; if (m_data->m_pluginManager.getRenderInterface()) { +#ifdef SKIP_DEFORMABLE_BODY m_data->m_pluginManager.getRenderInterface()->removeVisualShape(psb->getBroadphaseHandle()->getUid()); +#endif } serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId; +#ifdef SKIP_DEFORMABLE_BODY m_data->m_dynamicsWorld->removeSoftBody(psb); +#endif int graphicsInstance = psb->getUserIndex2(); m_data->m_guiHelper->removeGraphicsInstance(graphicsInstance); delete psb; @@ -12020,7 +12137,7 @@ bool PhysicsServerCommandProcessor::processLoadTextureCommand(const struct Share bool PhysicsServerCommandProcessor::processSaveStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) { BT_PROFILE("CMD_SAVE_STATE"); - bool hasStatus = true; + bool hasStatus = true; SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_SAVE_STATE_FAILED; @@ -12430,7 +12547,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } case CMD_LOAD_SOFT_BODY: { - hasStatus = processLoadSoftBodyCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes); + hasStatus = processLoadSoftBodyCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes); break; } case CMD_CREATE_SENSOR: @@ -12716,6 +12833,20 @@ 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 + for (int i = 0; i < m_data->m_dynamicsWorld->getSoftBodyArray().size(); i++) + { + btSoftBody* psb = (btSoftBody*)m_data->m_dynamicsWorld->getSoftBodyArray()[i]; + { + btSoftBodyHelpers::DrawFrame(psb, m_data->m_dynamicsWorld->getDebugDrawer()); + btSoftBodyHelpers::Draw(psb, m_data->m_dynamicsWorld->getDebugDrawer(), m_data->m_dynamicsWorld->getDrawFlags()); + } + } + m_data->m_guiHelper->drawDebugDrawerLines(); + m_data->m_guiHelper->clearLines(); +#endif +#endif } } diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp index f3e670c0d..0c0640884 100644 --- a/examples/SharedMemory/PhysicsServerExample.cpp +++ b/examples/SharedMemory/PhysicsServerExample.cpp @@ -546,7 +546,7 @@ MultithreadedDebugDrawer : public btIDebugDraw btHashMap m_hashedLines; public: - void drawDebugDrawerLines() + virtual void drawDebugDrawerLines() { if (m_hashedLines.size()) { @@ -628,7 +628,7 @@ public: return m_debugMode; } - virtual void clearLines() + virtual void clearLines() override { m_hashedLines.clear(); m_sortedIndices.clear(); @@ -650,13 +650,21 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface public: MultithreadedDebugDrawer* m_debugDraw; - void drawDebugDrawerLines() + virtual void drawDebugDrawerLines() { if (m_debugDraw) { m_debugDraw->drawDebugDrawerLines(); } } + virtual void clearLines() + { + if (m_debugDraw) + { + m_debugDraw->clearLines(); + } + } + GUIHelperInterface* m_childGuiHelper; btHashMap m_cachedTextureIds; @@ -847,10 +855,8 @@ public: delete m_debugDraw; m_debugDraw = 0; } - - m_debugDraw = new MultithreadedDebugDrawer(this); - - rbWorld->setDebugDrawer(m_debugDraw); + m_debugDraw = new MultithreadedDebugDrawer(this); + rbWorld->setDebugDrawer(m_debugDraw); //m_childGuiHelper->createPhysicsDebugDrawer(rbWorld); } diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 4ff925a59..58d72ce8d 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -489,11 +489,18 @@ enum EnumSimParamUpdateFlags enum EnumLoadSoftBodyUpdateFlags { LOAD_SOFT_BODY_FILE_NAME = 1, - LOAD_SOFT_BODY_UPDATE_SCALE = 2, - LOAD_SOFT_BODY_UPDATE_MASS = 4, - LOAD_SOFT_BODY_UPDATE_COLLISION_MARGIN = 8, - LOAD_SOFT_BODY_INITIAL_POSITION = 16, - LOAD_SOFT_BODY_INITIAL_ORIENTATION = 32 + LOAD_SOFT_BODY_UPDATE_SCALE = 1<<1, + LOAD_SOFT_BODY_UPDATE_MASS = 1<<2, + LOAD_SOFT_BODY_UPDATE_COLLISION_MARGIN = 1<<3, + LOAD_SOFT_BODY_INITIAL_POSITION = 1<<4, + LOAD_SOFT_BODY_INITIAL_ORIENTATION = 1<<5, + LOAD_SOFT_BODY_ADD_COROTATED_FORCE = 1<<6, + LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE = 1<<7, + LOAD_SOFT_BODY_ADD_GRAVITY_FORCE = 1<<8, + LOAD_SOFT_BODY_SET_COLLISION_HARDNESS = 1<<9, + LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT = 1<<10, + LOAD_SOFT_BODY_ADD_BENDING_SPRINGS = 1<<11, + LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE = 1<<12, }; enum EnumSimParamInternalSimFlags @@ -512,6 +519,16 @@ struct LoadSoftBodyArgs double m_collisionMargin; double m_initialPosition[3]; double m_initialOrientation[4]; + double m_springElasticStiffness; + double m_springDampingStiffness; + double m_corotatedMu; + double m_corotatedLambda; + double m_gravity[3]; + bool m_useBendingSprings; + double m_collisionHardness; + double m_frictionCoeff; + double m_NeoHookeanMu; + double m_NeoHookeanLambda; }; struct b3LoadSoftBodyResultArgs From 7c39052163e308120ff5cf8a0d45ac1fb7ad3670 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 26 Aug 2019 16:01:29 -0700 Subject: [PATCH 116/389] clean up forces --- examples/DeformableDemo/DeformableMultibody.cpp | 11 ++++++----- examples/DeformableDemo/DeformableRigid.cpp | 11 ++++++----- examples/DeformableDemo/GraspDeformable.cpp | 14 ++++++++------ examples/DeformableDemo/Pinch.cpp | 13 +++++++------ examples/DeformableDemo/VolumetricDeformable.cpp | 15 ++++++++------- 5 files changed, 35 insertions(+), 29 deletions(-) diff --git a/examples/DeformableDemo/DeformableMultibody.cpp b/examples/DeformableDemo/DeformableMultibody.cpp index 6a99e08db..5ffaefc36 100644 --- a/examples/DeformableDemo/DeformableMultibody.cpp +++ b/examples/DeformableDemo/DeformableMultibody.cpp @@ -49,7 +49,7 @@ static bool g_floatingBase = true; static float friction = 1.; class DeformableMultibody : public CommonMultiBodyBase { - btAlignedObjectArray forces; + btAlignedObjectArray m_forces; public: DeformableMultibody(struct GUIHelperInterface* helper) : CommonMultiBodyBase(helper) @@ -229,11 +229,11 @@ void DeformableMultibody::initPhysics() btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2, 0.01, false); getDeformableDynamicsWorld()->addForce(psb, mass_spring); - forces.push_back(mass_spring); + m_forces.push_back(mass_spring); btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); getDeformableDynamicsWorld()->addForce(psb, gravity_force); - forces.push_back(gravity_force); + m_forces.push_back(gravity_force); } m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); @@ -257,11 +257,12 @@ void DeformableMultibody::exitPhysics() delete obj; } // delete forces - for (int j = 0; j < forces.size(); j++) + for (int j = 0; j < m_forces.size(); j++) { - btDeformableLagrangianForce* force = forces[j]; + btDeformableLagrangianForce* force = m_forces[j]; delete force; } + m_forces.clear(); //delete collision shapes for (int j = 0; j < m_collisionShapes.size(); j++) { diff --git a/examples/DeformableDemo/DeformableRigid.cpp b/examples/DeformableDemo/DeformableRigid.cpp index 576803cc8..3cbfba451 100644 --- a/examples/DeformableDemo/DeformableRigid.cpp +++ b/examples/DeformableDemo/DeformableRigid.cpp @@ -44,7 +44,7 @@ ///Generally it is best to leave the rolling friction coefficient zero (or close to zero). class DeformableRigid : public CommonRigidBodyBase { - btAlignedObjectArray forces; + btAlignedObjectArray m_forces; public: DeformableRigid(struct GUIHelperInterface* helper) : CommonRigidBodyBase(helper) @@ -240,11 +240,11 @@ void DeformableRigid::initPhysics() btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2,0.01, false); getDeformableDynamicsWorld()->addForce(psb, mass_spring); - forces.push_back(mass_spring); + m_forces.push_back(mass_spring); btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); getDeformableDynamicsWorld()->addForce(psb, gravity_force); - forces.push_back(gravity_force); + m_forces.push_back(gravity_force); // add a few rigid bodies Ctor_RbUpStack(1); } @@ -269,11 +269,12 @@ void DeformableRigid::exitPhysics() delete obj; } // delete forces - for (int j = 0; j < forces.size(); j++) + for (int j = 0; j < m_forces.size(); j++) { - btDeformableLagrangianForce* force = forces[j]; + btDeformableLagrangianForce* force = m_forces[j]; delete force; } + m_forces.clear(); //delete collision shapes for (int j = 0; j < m_collisionShapes.size(); j++) { diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index 341f4c737..b5cc66626 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -59,7 +59,7 @@ static bool supportsJointMotor(btMultiBody* mb, int mbLinkIndex) class GraspDeformable : public CommonRigidBodyBase { - btAlignedObjectArray forces; + btAlignedObjectArray m_forces; public: GraspDeformable(struct GUIHelperInterface* helper) : CommonRigidBodyBase(helper) @@ -359,15 +359,15 @@ void GraspDeformable::initPhysics() btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(.5,0.04, true); getDeformableDynamicsWorld()->addForce(psb, mass_spring); - forces.push_back(mass_spring); + m_forces.push_back(mass_spring); btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); getDeformableDynamicsWorld()->addForce(psb, gravity_force); - forces.push_back(gravity_force); + m_forces.push_back(gravity_force); btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(2,10); getDeformableDynamicsWorld()->addForce(psb, neohookean); - forces.push_back(neohookean); + m_forces.push_back(neohookean); } // // create a piece of cloth @@ -440,11 +440,13 @@ void GraspDeformable::exitPhysics() delete obj; } // delete forces - for (int j = 0; j < forces.size(); j++) + for (int j = 0; j < m_forces.size(); j++) { - btDeformableLagrangianForce* force = forces[j]; + btDeformableLagrangianForce* force = m_forces[j]; delete force; } + m_forces.clear(); + //delete collision shapes for (int j = 0; j < m_collisionShapes.size(); j++) { diff --git a/examples/DeformableDemo/Pinch.cpp b/examples/DeformableDemo/Pinch.cpp index 3685869a0..661698a06 100644 --- a/examples/DeformableDemo/Pinch.cpp +++ b/examples/DeformableDemo/Pinch.cpp @@ -56,7 +56,7 @@ struct TetraBunny class Pinch : public CommonRigidBodyBase { - btAlignedObjectArray forces; + btAlignedObjectArray m_forces; public: Pinch(struct GUIHelperInterface* helper) : CommonRigidBodyBase(helper) @@ -339,15 +339,15 @@ void Pinch::initPhysics() btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(1,0.05); getDeformableDynamicsWorld()->addForce(psb, mass_spring); - forces.push_back(mass_spring); + m_forces.push_back(mass_spring); btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); getDeformableDynamicsWorld()->addForce(psb, gravity_force); - forces.push_back(gravity_force); + m_forces.push_back(gravity_force); btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(.2,1); getDeformableDynamicsWorld()->addForce(psb, neohookean); - forces.push_back(neohookean); + m_forces.push_back(neohookean); // add a grippers createGrip(); } @@ -372,11 +372,12 @@ void Pinch::exitPhysics() delete obj; } // delete forces - for (int j = 0; j < forces.size(); j++) + for (int j = 0; j < m_forces.size(); j++) { - btDeformableLagrangianForce* force = forces[j]; + btDeformableLagrangianForce* force = m_forces[j]; delete force; } + m_forces.clear(); //delete collision shapes for (int j = 0; j < m_collisionShapes.size(); j++) { diff --git a/examples/DeformableDemo/VolumetricDeformable.cpp b/examples/DeformableDemo/VolumetricDeformable.cpp index b6657de0c..cff07a175 100644 --- a/examples/DeformableDemo/VolumetricDeformable.cpp +++ b/examples/DeformableDemo/VolumetricDeformable.cpp @@ -51,7 +51,7 @@ struct TetraCube class VolumetricDeformable : public CommonRigidBodyBase { - btAlignedObjectArray forces; + btAlignedObjectArray m_forces; public: VolumetricDeformable(struct GUIHelperInterface* helper) : CommonRigidBodyBase(helper) @@ -238,15 +238,15 @@ void VolumetricDeformable::initPhysics() btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(0,0.03); getDeformableDynamicsWorld()->addForce(psb, mass_spring); - forces.push_back(mass_spring); + m_forces.push_back(mass_spring); btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); getDeformableDynamicsWorld()->addForce(psb, gravity_force); - forces.push_back(gravity_force); + m_forces.push_back(gravity_force); btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(.5,2.5); getDeformableDynamicsWorld()->addForce(psb, neohookean); - forces.push_back(neohookean); + m_forces.push_back(neohookean); } // add a few rigid bodies @@ -273,12 +273,13 @@ void VolumetricDeformable::exitPhysics() delete obj; } // delete forces - for (int j = 0; j < forces.size(); j++) + for (int j = 0; j < m_forces.size(); j++) { - btDeformableLagrangianForce* force = forces[j]; + btDeformableLagrangianForce* force = m_forces[j]; delete force; } - + m_forces.clear(); + //delete collision shapes for (int j = 0; j < m_collisionShapes.size(); j++) { From e73f70efa28ab052e06298ff39005a8d22d78aad Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 26 Aug 2019 16:18:56 -0700 Subject: [PATCH 117/389] swap m_x and m_q in softbody to align with rendering convention --- src/BulletSoftBody/btDeformableBodySolver.cpp | 4 ++-- src/BulletSoftBody/btDeformableCorotatedForce.h | 2 +- src/BulletSoftBody/btDeformableMassSpringForce.h | 6 +++--- .../btDeformableMultiBodyDynamicsWorld.cpp | 2 +- src/BulletSoftBody/btSoftBody.cpp | 6 +++--- src/BulletSoftBody/btSoftBodyInternals.h | 12 ++++++------ 6 files changed, 16 insertions(+), 16 deletions(-) diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 4489296f0..431a07d28 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -174,7 +174,7 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d { btSoftBody::Node& n = psb->m_nodes[i]; n.m_q = n.m_x; - n.m_x += n.m_v * dt; + n.m_q += n.m_v * dt; } /* Bounds */ psb->updateBounds(); @@ -184,7 +184,7 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d for (i = 0, ni = psb->m_nodes.size(); i < ni; ++i) { btSoftBody::Node& n = psb->m_nodes[i]; - vol = btDbvtVolume::FromCR(n.m_x, psb->m_sst.radmrg); + vol = btDbvtVolume::FromCR(n.m_q, psb->m_sst.radmrg); psb->m_ndbvt.update(n.m_leaf, vol, n.m_v * psb->m_sst.velmrg, diff --git a/src/BulletSoftBody/btDeformableCorotatedForce.h b/src/BulletSoftBody/btDeformableCorotatedForce.h index 14896514e..240dbb5d4 100644 --- a/src/BulletSoftBody/btDeformableCorotatedForce.h +++ b/src/BulletSoftBody/btDeformableCorotatedForce.h @@ -92,7 +92,7 @@ public: { // btMatrix3x3 JFinvT = F.adjoint(); btScalar J = F.determinant(); - P = F.adjoint() * (m_lambda * (J-1)); + P = F.adjoint().transpose() * (m_lambda * (J-1)); if (m_mu > SIMD_EPSILON) { btMatrix3x3 R,S; diff --git a/src/BulletSoftBody/btDeformableMassSpringForce.h b/src/BulletSoftBody/btDeformableMassSpringForce.h index 14d4e8260..f36e54e41 100644 --- a/src/BulletSoftBody/btDeformableMassSpringForce.h +++ b/src/BulletSoftBody/btDeformableMassSpringForce.h @@ -61,7 +61,7 @@ public: btVector3 scaled_force = scale * m_dampingStiffness * v_diff; if (m_momentum_conserving) { - if ((node2->m_q - node1->m_q).norm() > SIMD_EPSILON) + if ((node2->m_x - node1->m_x).norm() > SIMD_EPSILON) { btVector3 dir = (node2->m_x - node1->m_x).normalized(); scaled_force = scale * m_dampingStiffness * v_diff.dot(dir) * dir; @@ -91,7 +91,7 @@ public: // elastic force // explicit elastic force - btVector3 dir = (node2->m_q - node1->m_q); + btVector3 dir = (node2->m_x - node1->m_x); btVector3 dir_normalized = (dir.norm() > SIMD_EPSILON) ? dir.normalized() : btVector3(0,0,0); btVector3 scaled_force = scale * m_elasticStiffness * (dir - dir_normalized * r); force[id1] += scaled_force; @@ -118,7 +118,7 @@ public: btVector3 local_scaled_df = scaled_k_damp * (dv[id2] - dv[id1]); if (m_momentum_conserving) { - if ((node2->m_q - node1->m_q).norm() > SIMD_EPSILON) + if ((node2->m_x - node1->m_x).norm() > SIMD_EPSILON) { btVector3 dir = (node2->m_x - node1->m_x).normalized(); local_scaled_df= scaled_k_damp * (dv[id2] - dv[id1]).dot(dir) * dir; diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 58907fcd3..c6a0417bc 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -166,7 +166,7 @@ void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) node.m_v[c] = -clampDeltaV; } } - node.m_x = node.m_q + timeStep * node.m_v; + node.m_x = node.m_x + timeStep * node.m_v; } } m_deformableBodySolver->revertVelocity(); diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index fcfb330c3..c4de6a823 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -2819,9 +2819,9 @@ void btSoftBody::initializeDmInverse() for (int i = 0; i < m_tetras.size(); ++i) { Tetra &t = m_tetras[i]; - btVector3 c1 = t.m_n[1]->m_q - t.m_n[0]->m_q; - btVector3 c2 = t.m_n[2]->m_q - t.m_n[0]->m_q; - btVector3 c3 = t.m_n[3]->m_q - t.m_n[0]->m_q; + btVector3 c1 = t.m_n[1]->m_x - t.m_n[0]->m_x; + btVector3 c2 = t.m_n[2]->m_x - t.m_n[0]->m_x; + btVector3 c3 = t.m_n[3]->m_x - t.m_n[0]->m_x; btMatrix3x3 Dm(c1.getX(), c2.getX(), c3.getX(), c1.getY(), c2.getY(), c3.getY(), c1.getZ(), c2.getZ(), c3.getZ()); diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index a39394e0b..fc4c6b556 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -998,7 +998,7 @@ struct btSoftColliders if (!n.m_battach) { // check for collision at x_{n+1}^* - if (psb->checkDeformableContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predict = */ true)) + if (psb->checkDeformableContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predict = */ true)) { const btScalar ima = n.m_im; const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; @@ -1006,7 +1006,7 @@ struct btSoftColliders if (ms > 0) { // resolve contact at x_n - psb->checkDeformableContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predict = */ false); + psb->checkDeformableContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predict = */ false); btSoftBody::sCti& cti = c.m_cti; c.m_node = &n; const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); @@ -1019,7 +1019,7 @@ struct btSoftColliders const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform(); static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0); const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic; - const btVector3 ra = n.m_q - wtr.getOrigin(); + const btVector3 ra = n.m_x - wtr.getOrigin(); c.m_c0 = ImpulseMatrix(psb->m_sst.sdt, ima, imb, iwi, ra); c.m_c1 = ra; @@ -1035,9 +1035,9 @@ struct btSoftColliders btVector3 t1 = generateUnitOrthogonalVector(normal); btVector3 t2 = btCross(normal, t1); btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2; - findJacobian(multibodyLinkCol, jacobianData_normal, c.m_node->m_q, normal); - findJacobian(multibodyLinkCol, jacobianData_t1, c.m_node->m_q, t1); - findJacobian(multibodyLinkCol, jacobianData_t2, c.m_node->m_q, t2); + findJacobian(multibodyLinkCol, jacobianData_normal, c.m_node->m_x, normal); + findJacobian(multibodyLinkCol, jacobianData_t1, c.m_node->m_x, t1); + findJacobian(multibodyLinkCol, jacobianData_t2, c.m_node->m_x, t2); btScalar* J_n = &jacobianData_normal.m_jacobians[0]; btScalar* J_t1 = &jacobianData_t1.m_jacobians[0]; From c722630fc7a2dc5031fd033cb7ee0afcd29717cb Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 27 Aug 2019 10:17:00 -0700 Subject: [PATCH 118/389] bug fix in neohookean force --- examples/DeformableDemo/GraspDeformable.cpp | 2 +- src/BulletSoftBody/btDeformableNeoHookeanForce.h | 10 ++++++---- 2 files changed, 7 insertions(+), 5 deletions(-) diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index b5cc66626..c97aa0d3c 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -357,7 +357,7 @@ void GraspDeformable::initPhysics() // getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); // getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(0,6)); - btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(.5,0.04, true); + btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(.0,0.04, true); getDeformableDynamicsWorld()->addForce(psb, mass_spring); m_forces.push_back(mass_spring); diff --git a/src/BulletSoftBody/btDeformableNeoHookeanForce.h b/src/BulletSoftBody/btDeformableNeoHookeanForce.h index 9bc232e24..2431cd750 100644 --- a/src/BulletSoftBody/btDeformableNeoHookeanForce.h +++ b/src/BulletSoftBody/btDeformableNeoHookeanForce.h @@ -87,18 +87,20 @@ public: btMatrix3x3 C = F.transpose()*F; btScalar J = F.determinant(); btScalar trace = C[0].getX() + C[1].getY() + C[2].getZ(); - P = F * m_mu * ( 1. - 1. / (trace + 1.)) + F.adjoint() * (m_lambda * (J - 1) - 0.75 * m_mu); + P = F * m_mu * ( 1. - 1. / (trace + 1.)) + F.adjoint().transpose() * (m_lambda * (J - 1) - 0.75 * m_mu); } virtual void addScaledForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) { } - void firstPiolaDifferential(const btMatrix3x3& F, const btMatrix3x3& G, btMatrix3x3& P) + void firstPiolaDifferential(const btMatrix3x3& F, const btMatrix3x3& dF, btMatrix3x3& dP) { btScalar J = F.determinant(); - addScaledCofactorMatrixDifferential(F, G, m_lambda*(J-1), P); - P += F.adjoint() * m_lambda * DotProduct(F.adjoint(), G); + addScaledCofactorMatrixDifferential(F, dF, m_lambda*(J-1) - 0.75*m_mu, dP); + dP += F.adjoint().transpose() * m_lambda * DotProduct(F.adjoint().transpose(), dF); + + //todo @xuchenhan: add the dP of the m_mu term. } btScalar DotProduct(const btMatrix3x3& A, const btMatrix3x3& B) From d4a15e016e3c9a7dc80d1758fe1a7067251b78cd Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 27 Aug 2019 20:54:40 -0700 Subject: [PATCH 119/389] add newton solver --- .../btDeformableBackwardEulerObjective.cpp | 21 +- .../btDeformableBackwardEulerObjective.h | 9 +- src/BulletSoftBody/btDeformableBodySolver.cpp | 95 +++++- src/BulletSoftBody/btDeformableBodySolver.h | 14 +- .../btDeformableCorotatedForce.h | 9 +- src/BulletSoftBody/btDeformableGravityForce.h | 14 +- .../btDeformableLagrangianForce.h | 270 +++++++++++++++++- .../btDeformableMassSpringForce.h | 43 ++- .../btDeformableMultiBodyDynamicsWorld.cpp | 23 +- .../btDeformableMultiBodyDynamicsWorld.h | 9 +- .../btDeformableNeoHookeanForce.h | 113 ++++++-- src/BulletSoftBody/btSoftBody.cpp | 8 +- 12 files changed, 566 insertions(+), 62 deletions(-) diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index 41b1f74c7..2a2ff5c63 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -20,6 +20,7 @@ btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAligned : m_softBodies(softBodies) , projection(m_softBodies, m_dt) , m_backupVelocity(backup_v) +, m_implicit(false) { m_preconditioner = new DefaultPreconditioner(); } @@ -72,7 +73,11 @@ void btDeformableBackwardEulerObjective::multiply(const TVStack& x, TVStack& b) for (int i = 0; i < m_lf.size(); ++i) { // add damping matrix - m_lf[i]->addScaledForceDifferential(-m_dt, x, b); + m_lf[i]->addScaledDampingForceDifferential(-m_dt, x, b); + if (m_implicit) + { + m_lf[i]->addScaledElasticForceDifferential(-m_dt*m_dt, x, b); + } } } @@ -105,14 +110,22 @@ void btDeformableBackwardEulerObjective::applyForce(TVStack& force, bool setZero } } -void btDeformableBackwardEulerObjective::computeResidual(btScalar dt, TVStack &residual) const +void btDeformableBackwardEulerObjective::computeResidual(btScalar dt, TVStack &residual) { BT_PROFILE("computeResidual"); // add implicit force for (int i = 0; i < m_lf.size(); ++i) { - m_lf[i]->addScaledImplicitForce(dt, residual); + if (m_implicit) + { + m_lf[i]->addScaledForces(dt, residual); + } + else + { + m_lf[i]->addScaledDampingForce(dt, residual); + } } + projection.project(residual); } btScalar btDeformableBackwardEulerObjective::computeNorm(const TVStack& residual) const @@ -122,7 +135,7 @@ btScalar btDeformableBackwardEulerObjective::computeNorm(const TVStack& residual { norm_squared += residual[i].length2(); } - return std::sqrt(norm_squared+SIMD_EPSILON); + return std::sqrt(norm_squared); } void btDeformableBackwardEulerObjective::applyExplicitForce(TVStack& force) diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index e028564c5..e96738557 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -37,6 +37,8 @@ public: btDeformableContactProjection projection; const TVStack& m_backupVelocity; btAlignedObjectArray m_nodes; + bool m_implicit; + btDeformableBackwardEulerObjective(btAlignedObjectArray& softBodies, const TVStack& backup_v); virtual ~btDeformableBackwardEulerObjective(); @@ -44,7 +46,7 @@ public: void initialize(){} // compute the rhs for CG solve, i.e, add the dt scaled implicit force to residual - void computeResidual(btScalar dt, TVStack& residual) const; + void computeResidual(btScalar dt, TVStack& residual); // add explicit force to the velocity void applyExplicitForce(TVStack& force); @@ -117,6 +119,11 @@ public: { return &m_nodes; } + + void setImplicit(bool implicit) + { + m_implicit = implicit; + } }; #endif /* btBackwardEulerObjective_h */ diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 431a07d28..30424e7c3 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -21,6 +21,8 @@ btDeformableBodySolver::btDeformableBodySolver() : m_numNodes(0) , m_cg(50) +, m_maxNewtonIterations(5) +, m_newtonTolerance(1e-10) { m_objective = new btDeformableBackwardEulerObjective(m_softBodySet, m_backupVelocity); } @@ -33,17 +35,70 @@ btDeformableBodySolver::~btDeformableBodySolver() void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt) { BT_PROFILE("solveConstraints"); - m_objective->computeResidual(solverdt, m_residual); - m_objective->applyDynamicFriction(m_residual); - computeStep(m_dv, m_residual); - - updateVelocity(); + if (!m_implicit) + { + m_objective->computeResidual(solverdt, m_residual); + m_objective->applyDynamicFriction(m_residual); + computeStep(m_dv, m_residual); + updateVelocity(); + } + else + { + for (int i = 0; i < m_maxNewtonIterations; ++i) + { + updateState(); + // add the inertia term in the residual + int counter = 0; + for (int k = 0; k < m_softBodySet.size(); ++k) + { + btSoftBody* psb = m_softBodySet[k]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + if (psb->m_nodes[j].m_im > 0) + { + m_residual[counter] = (-1./psb->m_nodes[j].m_im) * m_dv[counter]; + } + ++counter; + } + } + + m_objective->computeResidual(solverdt, m_residual); + if (m_objective->computeNorm(m_residual) < m_newtonTolerance) + { + break; + } +// m_objective->applyDynamicFriction(m_residual); + computeStep(m_ddv, m_residual); + updateDv(); + for (int j = 0; j < m_numNodes; ++j) + { + m_ddv[j].setZero(); + m_residual[j].setZero(); + } + } + } } -void btDeformableBodySolver::computeStep(TVStack& dv, const TVStack& residual) +void btDeformableBodySolver::updateState() { - btScalar tolerance = std::numeric_limits::epsilon() * 16 * m_objective->computeNorm(residual); - m_cg.solve(*m_objective, dv, residual, tolerance); + updateVelocity(); + updateTempPosition(); + +} + +void btDeformableBodySolver::updateDv() +{ + for (int i = 0; i < m_numNodes; ++i) + { + m_dv[i] += m_ddv[i]; + } +} + +void btDeformableBodySolver::computeStep(TVStack& ddv, const TVStack& residual) +{ +// btScalar tolerance = std::numeric_limits::epsilon() * m_objective->computeNorm(residual); + btScalar tolerance = std::numeric_limits::epsilon(); + m_cg.solve(*m_objective, ddv, residual, tolerance); } void btDeformableBodySolver::reinitialize(const btAlignedObjectArray& softBodies, btScalar dt) @@ -54,6 +109,7 @@ void btDeformableBodySolver::reinitialize(const btAlignedObjectArrayreinitialize(nodeUpdated, dt); } @@ -103,6 +161,21 @@ void btDeformableBodySolver::updateVelocity() } } +void btDeformableBodySolver::updateTempPosition() +{ + int counter = 0; + for (int i = 0; i < m_softBodySet.size(); ++i) + { + btSoftBody* psb = m_softBodySet[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = psb->m_nodes[j].m_x + m_dt * psb->m_nodes[j].m_v; + ++counter; + } + psb->updateDeformation(); + } +} + void btDeformableBodySolver::backupVelocity() { int counter = 0; @@ -209,3 +282,9 @@ void btDeformableBodySolver::updateSoftBodies() } } } + +void btDeformableBodySolver::setImplicit(bool implicit) +{ + m_implicit = implicit; + m_objective->setImplicit(implicit); +} diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index a40d1fb99..a1107de03 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -34,6 +34,7 @@ class btDeformableBodySolver : public btSoftBodySolver protected: int m_numNodes; TVStack m_dv; + TVStack m_ddv; TVStack m_residual; btAlignedObjectArray m_softBodySet; @@ -41,7 +42,9 @@ protected: btScalar m_dt; btScalar m_contact_iterations; btConjugateGradient m_cg; - + bool m_implicit; + int m_maxNewtonIterations; + btScalar m_newtonTolerance; public: btDeformableBackwardEulerObjective* m_objective; @@ -94,7 +97,14 @@ public: virtual void optimize(btAlignedObjectArray &softBodies, bool forceUpdate = false){} virtual bool checkInitialized(){return true;} - + + void setImplicit(bool implicit); + + void updateState(); + + void updateDv(); + + void updateTempPosition(); }; #endif /* btDeformableBodySolver_h */ diff --git a/src/BulletSoftBody/btDeformableCorotatedForce.h b/src/BulletSoftBody/btDeformableCorotatedForce.h index 240dbb5d4..d7f18a1dc 100644 --- a/src/BulletSoftBody/btDeformableCorotatedForce.h +++ b/src/BulletSoftBody/btDeformableCorotatedForce.h @@ -39,8 +39,9 @@ public: { } - virtual void addScaledImplicitForce(btScalar scale, TVStack& force) + virtual void addScaledForces(btScalar scale, TVStack& force) { + addScaledElasticForce(scale, force); } virtual void addScaledExplicitForce(btScalar scale, TVStack& force) @@ -105,7 +106,11 @@ public: } } - virtual void addScaledForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) + virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) + { + } + + virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) { } diff --git a/src/BulletSoftBody/btDeformableGravityForce.h b/src/BulletSoftBody/btDeformableGravityForce.h index e238557b5..14d49ec1e 100644 --- a/src/BulletSoftBody/btDeformableGravityForce.h +++ b/src/BulletSoftBody/btDeformableGravityForce.h @@ -28,8 +28,9 @@ public: { } - virtual void addScaledImplicitForce(btScalar scale, TVStack& force) + virtual void addScaledForces(btScalar scale, TVStack& force) { + addScaledGravityForce(scale, force); } virtual void addScaledExplicitForce(btScalar scale, TVStack& force) @@ -37,9 +38,16 @@ public: addScaledGravityForce(scale, force); } - virtual void addScaledForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) + virtual void addScaledDampingForce(btScalar scale, TVStack& force) + { + } + + virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) + { + } + + virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) { - } virtual void addScaledGravityForce(btScalar scale, TVStack& force) diff --git a/src/BulletSoftBody/btDeformableLagrangianForce.h b/src/BulletSoftBody/btDeformableLagrangianForce.h index daea0e86a..3a5f5a5b1 100644 --- a/src/BulletSoftBody/btDeformableLagrangianForce.h +++ b/src/BulletSoftBody/btDeformableLagrangianForce.h @@ -18,6 +18,7 @@ #include "btSoftBody.h" #include +#include enum btDeformableLagrangianForceType { @@ -40,12 +41,21 @@ public: virtual ~btDeformableLagrangianForce(){} - virtual void addScaledImplicitForce(btScalar scale, TVStack& force) = 0; + // add all forces + virtual void addScaledForces(btScalar scale, TVStack& force) = 0; - virtual void addScaledForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) = 0; + // add damping df + virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) = 0; + // add elastic df + virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) = 0; + + // add all forces that are explicit in explicit solve virtual void addScaledExplicitForce(btScalar scale, TVStack& force) = 0; + // add all damping forces + virtual void addScaledDampingForce(btScalar scale, TVStack& force) = 0; + virtual btDeformableLagrangianForceType getForceType() = 0; virtual void reinitialize(bool nodeUpdated) @@ -71,5 +81,261 @@ public: { m_nodes = nodes; } + + virtual btMatrix3x3 Ds(int id0, int id1, int id2, int id3, const TVStack& dx) + { + btVector3 c1 = dx[id1] - dx[id0]; + btVector3 c2 = dx[id2] - dx[id0]; + btVector3 c3 = dx[id3] - dx[id0]; + btMatrix3x3 dF(c1.getX(), c2.getX(), c3.getX(), + c1.getY(), c2.getY(), c3.getY(), + c1.getZ(), c2.getZ(), c3.getZ()); + return dF; + } + + virtual void testDerivative() + { + for (int i = 0; im_nodes.size(); ++j) + { + psb->m_nodes[j].m_q += btVector3(randomDouble(-.1, .1), randomDouble(-.1, .1), randomDouble(-.1, .1)); + } + psb->updateDeformation(); + } + + + TVStack dx; + dx.resize(getNumNodes()); + TVStack dphi_dx; + dphi_dx.resize(dx.size()); + for (int i =0; i < dphi_dx.size();++i) + { + dphi_dx[i].setZero(); + } + addScaledForces(-1, dphi_dx); + + // write down the current position + TVStack x; + x.resize(dx.size()); + int counter = 0; + for (int i = 0; im_nodes.size(); ++j) + { + x[counter] = psb->m_nodes[j].m_q; + counter++; + } + } + counter = 0; + + // populate dx with random vectors + for (int i = 0; i < dx.size(); ++i) + { + dx[i].setX(randomDouble(-1, 1)); + dx[i].setY(randomDouble(-1, 1)); + dx[i].setZ(randomDouble(-1, 1)); + } + + btAlignedObjectArray errors; + double h = 1; + for (int it = 0; it < 10; ++it) + { + for (int i = 0; i < dx.size(); ++i) + { + dx[i] *= 0.5; + } + + // get dphi/dx * dx + double dphi = 0; + for (int i = 0; i < dx.size(); ++i) + { + dphi += dphi_dx[i].dot(dx[i]); + } + + + for (int i = 0; im_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = x[counter] + dx[counter]; + counter++; + } + psb->updateDeformation(); + } + counter = 0; + double f1 = totalElasticEnergy(); + + for (int i = 0; im_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = x[counter] - dx[counter]; + counter++; + } + psb->updateDeformation(); + } + counter = 0; + + double f2 = totalElasticEnergy(); + + //restore m_q + for (int i = 0; im_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = x[counter]; + counter++; + } + psb->updateDeformation(); + } + counter = 0; + double error = f1-f2-2*dphi; + errors.push_back(error); + std::cout << "Iteration = " << it <<", f1 = " << f1 << ", f2 = " << f2 << ", error = " << error << std::endl; + } + for (int i = 1; i < errors.size(); ++i) + { + std::cout << "Iteration = " << i << ", ratio = " << errors[i-1]/errors[i] << std::endl; + } + } + + virtual void testHessian() + { + for (int i = 0; im_nodes.size(); ++j) + { + psb->m_nodes[j].m_q += btVector3(randomDouble(-.1, .1), randomDouble(-.1, .1), randomDouble(-.1, .1)); + } + psb->updateDeformation(); + } + + + TVStack dx; + dx.resize(getNumNodes()); + TVStack df; + df.resize(dx.size()); + TVStack f1; + f1.resize(dx.size()); + TVStack f2; + f2.resize(dx.size()); + + + // write down the current position + TVStack x; + x.resize(dx.size()); + int counter = 0; + for (int i = 0; im_nodes.size(); ++j) + { + x[counter] = psb->m_nodes[j].m_q; + counter++; + } + } + counter = 0; + + // populate dx with random vectors + for (int i = 0; i < dx.size(); ++i) + { + dx[i].setX(randomDouble(-1, 1)); + dx[i].setY(randomDouble(-1, 1)); + dx[i].setZ(randomDouble(-1, 1)); + } + + btAlignedObjectArray errors; + for (int it = 0; it < 10; ++it) + { + for (int i = 0; i < dx.size(); ++i) + { + dx[i] *= 0.5; + } + + // get df + for (int i =0; i < df.size();++i) + { + df[i].setZero(); + f1[i].setZero(); + f2[i].setZero(); + } + + //set df + addScaledElasticForceDifferential(-1, dx, df); + + for (int i = 0; im_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = x[counter] + dx[counter]; + counter++; + } + psb->updateDeformation(); + } + counter = 0; + + //set f1 + addScaledForces(-1, f1); + + for (int i = 0; im_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = x[counter] - dx[counter]; + counter++; + } + psb->updateDeformation(); + } + counter = 0; + + //set f2 + addScaledForces(-1, f2); + + //restore m_q + for (int i = 0; im_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = x[counter]; + counter++; + } + psb->updateDeformation(); + } + counter = 0; + double error = 0; + for (int i = 0; i < df.size();++i) + { + btVector3 error_vector = f1[i]-f2[i]-2*df[i]; + error += error_vector.length2(); + } + error = btSqrt(error); + errors.push_back(error); + std::cout << "Iteration = " << it << ", error = " << error << std::endl; + } + for (int i = 1; i < errors.size(); ++i) + { + std::cout << "Iteration = " << i << ", ratio = " << errors[i-1]/errors[i] << std::endl; + } + } + + virtual double totalElasticEnergy() + { + return 0; + } + + double randomDouble(double low, double high) + { + return low + static_cast(rand()) / RAND_MAX * (high - low); + } }; #endif /* BT_DEFORMABLE_LAGRANGIAN_FORCE */ diff --git a/src/BulletSoftBody/btDeformableMassSpringForce.h b/src/BulletSoftBody/btDeformableMassSpringForce.h index f36e54e41..824f8a485 100644 --- a/src/BulletSoftBody/btDeformableMassSpringForce.h +++ b/src/BulletSoftBody/btDeformableMassSpringForce.h @@ -31,9 +31,10 @@ public: { } - virtual void addScaledImplicitForce(btScalar scale, TVStack& force) + virtual void addScaledForces(btScalar scale, TVStack& force) { addScaledDampingForce(scale, force); + addScaledElasticForce(scale, force); } virtual void addScaledExplicitForce(btScalar scale, TVStack& force) @@ -61,9 +62,9 @@ public: btVector3 scaled_force = scale * m_dampingStiffness * v_diff; if (m_momentum_conserving) { - if ((node2->m_x - node1->m_x).norm() > SIMD_EPSILON) + if ((node2->m_q - node1->m_q).norm() > SIMD_EPSILON) { - btVector3 dir = (node2->m_x - node1->m_x).normalized(); + btVector3 dir = (node2->m_q - node1->m_q).normalized(); scaled_force = scale * m_dampingStiffness * v_diff.dot(dir) * dir; } } @@ -91,7 +92,7 @@ public: // elastic force // explicit elastic force - btVector3 dir = (node2->m_x - node1->m_x); + btVector3 dir = (node2->m_q - node1->m_q); btVector3 dir_normalized = (dir.norm() > SIMD_EPSILON) ? dir.normalized() : btVector3(0,0,0); btVector3 scaled_force = scale * m_elasticStiffness * (dir - dir_normalized * r); force[id1] += scaled_force; @@ -100,7 +101,7 @@ public: } } - virtual void addScaledForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) + virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) { // implicit damping force differential for (int i = 0; i < m_softBodies.size(); ++i) @@ -118,9 +119,9 @@ public: btVector3 local_scaled_df = scaled_k_damp * (dv[id2] - dv[id1]); if (m_momentum_conserving) { - if ((node2->m_x - node1->m_x).norm() > SIMD_EPSILON) + if ((node2->m_q - node1->m_q).norm() > SIMD_EPSILON) { - btVector3 dir = (node2->m_x - node1->m_x).normalized(); + btVector3 dir = (node2->m_q - node1->m_q).normalized(); local_scaled_df= scaled_k_damp * (dv[id2] - dv[id1]).dot(dir) * dir; } } @@ -130,6 +131,34 @@ public: } } + virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) + { + // implicit damping force differential + for (int i = 0; i < m_softBodies.size(); ++i) + { + const btSoftBody* psb = m_softBodies[i]; + btScalar scaled_k_damp = m_dampingStiffness * scale; + for (int j = 0; j < psb->m_links.size(); ++j) + { + const btSoftBody::Link& link = psb->m_links[j]; + btSoftBody::Node* node1 = link.m_n[0]; + btSoftBody::Node* node2 = link.m_n[1]; + size_t id1 = node1->index; + size_t id2 = node2->index; + btScalar r = link.m_rl; + + // todo @xuchenhan: find df + btVector3 dir = (node2->m_q - node1->m_q); + btVector3 dir_normalized = (dir.norm() > SIMD_EPSILON) ? dir.normalized() : btVector3(0,0,0); + btVector3 scaled_force = scale * m_elasticStiffness * (dir - dir_normalized * r); + btVector3 local_scaled_df = btVector3(0,0,0); + + df[id1] += local_scaled_df; + df[id2] -= local_scaled_df; + } + } + } + virtual btDeformableLagrangianForceType getForceType() { return BT_MASSSPRING_FORCE; diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index c6a0417bc..7ddecdcd5 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -167,6 +167,7 @@ void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) } } node.m_x = node.m_x + timeStep * node.m_v; + node.m_q = node.m_x; } } m_deformableBodySolver->revertVelocity(); @@ -174,12 +175,23 @@ void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep) { - // save v_{n+1}^* velocity after explicit forces - m_deformableBodySolver->backupVelocity(); + if (!m_implicit) + { + // save v_{n+1}^* velocity after explicit forces + m_deformableBodySolver->backupVelocity(); + } // set up constraints among multibodies and between multibodies and deformable bodies setupConstraints(); solveMultiBodyRelatedConstraints(); + + if (m_implicit) + { + // revert to v_n after collisions are registered + m_deformableBodySolver->revertVelocity(); + // todo @xuchenhan : think about whether contact solve should be done with v_n velocity or v_{n+1}^* velocity. It's using v_n for implicit and v_{n+1}^* for non-implicit now. + } + // At this point, dv is golden for nodes in contact m_deformableBodySolver->solveDeformableConstraints(timeStep); } @@ -273,7 +285,6 @@ void btDeformableMultiBodyDynamicsWorld::solveMultiBodyRelatedConstraints() } } - // todo : may not be necessary for (int i = 0; i < this->m_multiBodies.size(); i++) { btMultiBody* bod = m_multiBodies[i]; @@ -304,7 +315,13 @@ void btDeformableMultiBodyDynamicsWorld::predictUnconstraintMotion(btScalar time void btDeformableMultiBodyDynamicsWorld::reinitialize(btScalar timeStep) { m_internalTime += timeStep; + m_deformableBodySolver->setImplicit(m_implicit); m_deformableBodySolver->reinitialize(m_softBodies, timeStep); + if (m_implicit) + { + // backup v_n velocity + m_deformableBodySolver->backupVelocity(); + } btDispatcherInfo& dispatchInfo = btMultiBodyDynamicsWorld::getDispatchInfo(); dispatchInfo.m_timeStep = timeStep; dispatchInfo.m_stepCount = 0; diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h index a91944c55..219cbfb27 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h @@ -47,6 +47,7 @@ class btDeformableMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld btSoftBodyWorldInfo m_sbi; btScalar m_internalTime; int m_contact_iterations; + bool m_implicit; typedef void (*btSolverCallback)(btScalar time, btDeformableMultiBodyDynamicsWorld* world); btSolverCallback m_solverCallback; @@ -72,7 +73,7 @@ public: m_sbi.m_broadphase = pairCache; m_sbi.m_dispatcher = dispatcher; m_sbi.m_sparsesdf.Initialize(); - m_sbi.m_sparsesdf.setDefaultVoxelsz(0.025); + m_sbi.m_sparsesdf.setDefaultVoxelsz(0.0025); m_sbi.m_sparsesdf.Reset(); m_sbi.air_density = (btScalar)1.2; @@ -81,6 +82,7 @@ public: m_sbi.water_normal = btVector3(0, 0, 0); m_sbi.m_gravity.setValue(0, -10, 0); m_internalTime = 0.0; + m_implicit = false; } void setSolverCallback(btSolverCallback cb) @@ -153,6 +155,11 @@ public: void solveMultiBodyRelatedConstraints(); void sortConstraints(); + + void setImplicit(bool implicit) + { + m_implicit = implicit; + } }; #endif //BT_DEFORMABLE_RIGID_DYNAMICS_WORLD_H diff --git a/src/BulletSoftBody/btDeformableNeoHookeanForce.h b/src/BulletSoftBody/btDeformableNeoHookeanForce.h index 2431cd750..c8787c251 100644 --- a/src/BulletSoftBody/btDeformableNeoHookeanForce.h +++ b/src/BulletSoftBody/btDeformableNeoHookeanForce.h @@ -25,16 +25,16 @@ public: btScalar m_mu, m_lambda; btDeformableNeoHookeanForce(): m_mu(1), m_lambda(1) { - } btDeformableNeoHookeanForce(btScalar mu, btScalar lambda): m_mu(mu), m_lambda(lambda) { } - virtual void addScaledImplicitForce(btScalar scale, TVStack& force) + virtual void addScaledForces(btScalar scale, TVStack& force) { addScaledDampingForce(scale, force); + addScaledElasticForce(scale, force); } virtual void addScaledExplicitForce(btScalar scale, TVStack& force) @@ -46,6 +46,34 @@ public: { } + virtual double totalElasticEnergy() + { + double energy = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + energy += tetra.m_element_measure * elasticEnergyDensity(tetra); + } + } + return energy; + } + + double elasticEnergyDensity(const btSoftBody::Tetra& t) + { + double density = 0; + btMatrix3x3 F = t.m_F; + btMatrix3x3 C = F.transpose()*F; + double J = F.determinant(); + double trace = C[0].getX() + C[1].getY() + C[2].getZ(); + density += m_mu * 0.5 * (trace - 3.); + density += m_lambda * 0.5 * (J - 1. - 0.75 * m_mu / m_lambda)* (J - 1. - 0.75 * m_mu / m_lambda); + density -= m_mu * 0.5 * log(trace+1); + return density; + } + virtual void addScaledElasticForce(btScalar scale, TVStack& force) { int numNodes = getNumNodes(); @@ -72,7 +100,6 @@ public: size_t id3 = node3->index; // elastic force - // explicit elastic force btScalar scale1 = scale * tetra.m_element_measure; force[id0] -= scale1 * force_on_node0; force[id1] -= scale1 * force_on_node123.getColumn(0); @@ -82,25 +109,62 @@ public: } } + virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) + { + } + + virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= df.size()) + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + btMatrix3x3 dF = Ds(id0, id1, id2, id3, dx) * tetra.m_Dm_inverse; + btMatrix3x3 dP; + firstPiolaDifferential(tetra.m_F, dF, dP); + btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); + + // elastic force differential + btScalar scale1 = scale * tetra.m_element_measure; + df[id0] -= scale1 * df_on_node0; + df[id1] -= scale1 * df_on_node123.getColumn(0); + df[id2] -= scale1 * df_on_node123.getColumn(1); + df[id3] -= scale1 * df_on_node123.getColumn(2); + } + } + } + void firstPiola(const btMatrix3x3& F, btMatrix3x3& P) { btMatrix3x3 C = F.transpose()*F; btScalar J = F.determinant(); btScalar trace = C[0].getX() + C[1].getY() + C[2].getZ(); - P = F * m_mu * ( 1. - 1. / (trace + 1.)) + F.adjoint().transpose() * (m_lambda * (J - 1) - 0.75 * m_mu); - } - - virtual void addScaledForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) - { + P = F * m_mu * ( 1. - 1. / (trace + 1.)) + F.adjoint().transpose() * (m_lambda * (J - 1.) - 0.75 * m_mu); } void firstPiolaDifferential(const btMatrix3x3& F, const btMatrix3x3& dF, btMatrix3x3& dP) { btScalar J = F.determinant(); - addScaledCofactorMatrixDifferential(F, dF, m_lambda*(J-1) - 0.75*m_mu, dP); - dP += F.adjoint().transpose() * m_lambda * DotProduct(F.adjoint().transpose(), dF); + btMatrix3x3 C = F.transpose()*F; + btScalar trace = C[0].getX() + C[1].getY() + C[2].getZ(); + dP = dF * m_mu * ( 1. - 1. / (trace + 1.)) + F * (2*m_mu) * DotProduct(F, dF) * (1./((1.+trace)*(1.+trace))); - //todo @xuchenhan: add the dP of the m_mu term. + addScaledCofactorMatrixDifferential(F, dF, m_lambda*(J-1.) - 0.75*m_mu, dP); + dP += F.adjoint().transpose() * m_lambda * DotProduct(F.adjoint().transpose(), dF); } btScalar DotProduct(const btMatrix3x3& A, const btMatrix3x3& B) @@ -108,25 +172,26 @@ public: btScalar ans = 0; for (int i = 0; i < 3; ++i) { - for (int j = 0; j < 3; ++j) - { - ans += A[i][j] * B[i][j]; - } + ans += A[i].dot(B[i]); +// for (int j = 0; j < 3; ++j) +// { +// ans += A[i][j] * B[i][j]; +// } } return ans; } void addScaledCofactorMatrixDifferential(const btMatrix3x3& F, const btMatrix3x3& dF, btScalar scale, btMatrix3x3& M) { - M[0][0] = scale * (dF[1][1] * F[2][2] + F[1][1] * dF[2][2] - dF[2][1] * F[1][2] - F[2][1] * dF[1][2]); - M[1][0] = scale * (dF[2][1] * F[0][2] + F[2][1] * dF[0][2] - dF[0][1] * F[2][2] - F[0][1] * dF[2][2]); - M[2][0] = scale * (dF[0][1] * F[1][2] + F[0][1] * dF[1][2] - dF[1][1] * F[0][2] - F[1][1] * dF[0][2]); - M[0][1] = scale * (dF[2][0] * F[1][2] + F[2][0] * dF[1][2] - dF[1][0] * F[2][2] - F[1][0] * dF[2][2]); - M[1][1] = scale * (dF[0][0] * F[2][2] + F[0][0] * dF[2][2] - dF[2][0] * F[0][2] - F[2][0] * dF[0][2]); - M[2][1] = scale * (dF[1][0] * F[0][2] + F[1][0] * dF[0][2] - dF[0][0] * F[1][2] - F[0][0] * dF[1][2]); - M[0][2] = scale * (dF[1][0] * F[2][1] + F[1][0] * dF[2][1] - dF[2][0] * F[1][1] - F[2][0] * dF[1][1]); - M[1][2] = scale * (dF[2][0] * F[0][1] + F[2][0] * dF[0][1] - dF[0][0] * F[2][1] - F[0][0] * dF[2][1]); - M[2][2] = scale * (dF[0][0] * F[1][1] + F[0][0] * dF[1][1] - dF[1][0] * F[0][1] - F[1][0] * dF[0][1]); + M[0][0] += scale * (dF[1][1] * F[2][2] + F[1][1] * dF[2][2] - dF[2][1] * F[1][2] - F[2][1] * dF[1][2]); + M[1][0] += scale * (dF[2][1] * F[0][2] + F[2][1] * dF[0][2] - dF[0][1] * F[2][2] - F[0][1] * dF[2][2]); + M[2][0] += scale * (dF[0][1] * F[1][2] + F[0][1] * dF[1][2] - dF[1][1] * F[0][2] - F[1][1] * dF[0][2]); + M[0][1] += scale * (dF[2][0] * F[1][2] + F[2][0] * dF[1][2] - dF[1][0] * F[2][2] - F[1][0] * dF[2][2]); + M[1][1] += scale * (dF[0][0] * F[2][2] + F[0][0] * dF[2][2] - dF[2][0] * F[0][2] - F[2][0] * dF[0][2]); + M[2][1] += scale * (dF[1][0] * F[0][2] + F[1][0] * dF[0][2] - dF[0][0] * F[1][2] - F[0][0] * dF[1][2]); + M[0][2] += scale * (dF[1][0] * F[2][1] + F[1][0] * dF[2][1] - dF[2][0] * F[1][1] - F[2][0] * dF[1][1]); + M[1][2] += scale * (dF[2][0] * F[0][1] + F[2][0] * dF[0][1] - dF[0][0] * F[2][1] - F[0][0] * dF[2][1]); + M[2][2] += scale * (dF[0][0] * F[1][1] + F[0][0] * dF[1][1] - dF[1][0] * F[0][1] - F[1][0] * dF[0][1]); } virtual btDeformableLagrangianForceType getForceType() diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index c4de6a823..eb630cbfc 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -2834,12 +2834,10 @@ void btSoftBody::updateDeformation() { for (int i = 0; i < m_tetras.size(); ++i) { - // updateDeformation is called before predictMotion where m_q is sync'd. - // So m_x is the current position of the node. btSoftBody::Tetra& t = m_tetras[i]; - btVector3 c1 = t.m_n[1]->m_x - t.m_n[0]->m_x; - btVector3 c2 = t.m_n[2]->m_x - t.m_n[0]->m_x; - btVector3 c3 = t.m_n[3]->m_x - t.m_n[0]->m_x; + btVector3 c1 = t.m_n[1]->m_q - t.m_n[0]->m_q; + btVector3 c2 = t.m_n[2]->m_q - t.m_n[0]->m_q; + btVector3 c3 = t.m_n[3]->m_q - t.m_n[0]->m_q; btMatrix3x3 Ds(c1.getX(), c2.getX(), c3.getX(), c1.getY(), c2.getY(), c3.getY(), c1.getZ(), c2.getZ(), c3.getZ()); From 5826492020885fd1d87887e260d42376be7e74b8 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 27 Aug 2019 21:43:33 -0700 Subject: [PATCH 120/389] add elastic force differential for mass spring --- .../btDeformableLagrangianForce.h | 2 - .../btDeformableMassSpringForce.h | 45 ++++++++++++++----- 2 files changed, 35 insertions(+), 12 deletions(-) diff --git a/src/BulletSoftBody/btDeformableLagrangianForce.h b/src/BulletSoftBody/btDeformableLagrangianForce.h index 3a5f5a5b1..0e349e5be 100644 --- a/src/BulletSoftBody/btDeformableLagrangianForce.h +++ b/src/BulletSoftBody/btDeformableLagrangianForce.h @@ -105,7 +105,6 @@ public: psb->updateDeformation(); } - TVStack dx; dx.resize(getNumNodes()); TVStack dphi_dx; @@ -140,7 +139,6 @@ public: } btAlignedObjectArray errors; - double h = 1; for (int it = 0; it < 10; ++it) { for (int i = 0; i < dx.size(); ++i) diff --git a/src/BulletSoftBody/btDeformableMassSpringForce.h b/src/BulletSoftBody/btDeformableMassSpringForce.h index 824f8a485..a85dd547a 100644 --- a/src/BulletSoftBody/btDeformableMassSpringForce.h +++ b/src/BulletSoftBody/btDeformableMassSpringForce.h @@ -91,7 +91,6 @@ public: size_t id2 = node2->index; // elastic force - // explicit elastic force btVector3 dir = (node2->m_q - node1->m_q); btVector3 dir_normalized = (dir.norm() > SIMD_EPSILON) ? dir.normalized() : btVector3(0,0,0); btVector3 scaled_force = scale * m_elasticStiffness * (dir - dir_normalized * r); @@ -106,7 +105,7 @@ public: // implicit damping force differential for (int i = 0; i < m_softBodies.size(); ++i) { - const btSoftBody* psb = m_softBodies[i]; + btSoftBody* psb = m_softBodies[i]; btScalar scaled_k_damp = m_dampingStiffness * scale; for (int j = 0; j < psb->m_links.size(); ++j) { @@ -130,6 +129,26 @@ public: } } } + virtual double totalElasticEnergy() + { + double energy = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + const btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_links.size(); ++j) + { + const btSoftBody::Link& link = psb->m_links[j]; + btSoftBody::Node* node1 = link.m_n[0]; + btSoftBody::Node* node2 = link.m_n[1]; + btScalar r = link.m_rl; + + // elastic force + btVector3 dir = (node2->m_q - node1->m_q); + energy += 0.5 * m_elasticStiffness * (dir.norm() - r) * (dir.norm() -r ); + } + } + return energy; + } virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) { @@ -137,7 +156,7 @@ public: for (int i = 0; i < m_softBodies.size(); ++i) { const btSoftBody* psb = m_softBodies[i]; - btScalar scaled_k_damp = m_dampingStiffness * scale; + btScalar scaled_k = m_elasticStiffness * scale; for (int j = 0; j < psb->m_links.size(); ++j) { const btSoftBody::Link& link = psb->m_links[j]; @@ -147,14 +166,20 @@ public: size_t id2 = node2->index; btScalar r = link.m_rl; - // todo @xuchenhan: find df - btVector3 dir = (node2->m_q - node1->m_q); - btVector3 dir_normalized = (dir.norm() > SIMD_EPSILON) ? dir.normalized() : btVector3(0,0,0); - btVector3 scaled_force = scale * m_elasticStiffness * (dir - dir_normalized * r); - btVector3 local_scaled_df = btVector3(0,0,0); + btVector3 dir = (node1->m_q - node2->m_q); + btScalar dir_norm = dir.norm(); + btVector3 dir_normalized = (dir_norm > SIMD_EPSILON) ? dir.normalized() : btVector3(0,0,0); + btVector3 dx_diff = dx[id1] - dx[id2]; + btVector3 scaled_df = btVector3(0,0,0); + if (dir_norm > SIMD_EPSILON) + { + scaled_df -= scaled_k * dir_normalized.dot(dx_diff) * dir_normalized; + scaled_df += scaled_k * dir_normalized.dot(dx_diff) * ((dir_norm-r)/dir_norm) * dir_normalized; + scaled_df -= scaled_k * ((dir_norm-r)/dir_norm) * dx_diff; + } - df[id1] += local_scaled_df; - df[id2] -= local_scaled_df; + df[id1] += scaled_df; + df[id2] -= scaled_df; } } } From 7d1b93cc1766c64cc4a510a3ce29598f6614676a Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 28 Aug 2019 10:01:14 -0700 Subject: [PATCH 121/389] contact solve for newton --- data/single_tet.vtk | 15 ++++++++++ examples/DeformableDemo/DeformableRigid.cpp | 4 +-- examples/DeformableDemo/GraspDeformable.cpp | 24 +++++++-------- .../btDeformableBackwardEulerObjective.cpp | 2 +- src/BulletSoftBody/btDeformableBodySolver.cpp | 19 ++++++++++-- src/BulletSoftBody/btDeformableBodySolver.h | 1 + .../btDeformableMultiBodyDynamicsWorld.cpp | 29 +++++++++---------- .../btDeformableMultiBodyDynamicsWorld.h | 4 +-- src/BulletSoftBody/btSoftBody.h | 3 +- 9 files changed, 63 insertions(+), 38 deletions(-) create mode 100644 data/single_tet.vtk diff --git a/data/single_tet.vtk b/data/single_tet.vtk new file mode 100644 index 000000000..94cf9fe64 --- /dev/null +++ b/data/single_tet.vtk @@ -0,0 +1,15 @@ +# vtk DataFile Version 2.0 +ball_, Created by Gmsh +ASCII +DATASET UNSTRUCTURED_GRID +POINTS 4 double +0 0 0 +1 0 0 +0 1 0 +0 0 1 + +CELLS 1 1 +4 0 1 2 3 + +CELL_TYPES 1 +10 diff --git a/examples/DeformableDemo/DeformableRigid.cpp b/examples/DeformableDemo/DeformableRigid.cpp index 3cbfba451..850f72600 100644 --- a/examples/DeformableDemo/DeformableRigid.cpp +++ b/examples/DeformableDemo/DeformableRigid.cpp @@ -234,11 +234,11 @@ void DeformableRigid::initPhysics() psb->setTotalMass(1); 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; + psb->m_cfg.kDF = 2; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addSoftBody(psb); - btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2,0.01, false); + btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2,0.1, true); getDeformableDynamicsWorld()->addForce(psb, mass_spring); m_forces.push_back(mass_spring); diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index c97aa0d3c..34127774d 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -325,7 +325,8 @@ void GraspDeformable::initPhysics() { char relative_path[1024]; // b3FileUtils::findFile("banana.vtk", relative_path, 1024); - b3FileUtils::findFile("ball.vtk", relative_path, 1024); + b3FileUtils::findFile("ball.vtk", relative_path, 1024); +// b3FileUtils::findFile("single_tet.vtk", relative_path, 1024); // b3FileUtils::findFile("tube.vtk", relative_path, 1024); // b3FileUtils::findFile("torus.vtk", relative_path, 1024); // b3FileUtils::findFile("paper_roll.vtk", relative_path, 1024); @@ -343,21 +344,16 @@ void GraspDeformable::initPhysics() psb->scale(btVector3(.25, .25, .25)); // psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot // psb->scale(btVector3(1, 1, 1)); // for ditto -// psb->translate(btVector3(0, 0, 2)); for boot - psb->getCollisionShape()->setMargin(0.01); + psb->translate(btVector3(.25, 0, 0.4)); + psb->getCollisionShape()->setMargin(0.02); psb->setTotalMass(.1); psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb->m_cfg.kCHR = 1; // collision hardness with rigid body psb->m_cfg.kDF = 2; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addSoftBody(psb); - psb->getWorldInfo()->m_maxDisplacement = .1f; - // nonlinear damping -// getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(1,0.04, true)); -// getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); -// getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(0,6)); - btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(.0,0.04, true); + btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(.0,.04, true); getDeformableDynamicsWorld()->addForce(psb, mass_spring); m_forces.push_back(mass_spring); @@ -365,7 +361,7 @@ void GraspDeformable::initPhysics() getDeformableDynamicsWorld()->addForce(psb, gravity_force); m_forces.push_back(gravity_force); - btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(2,10); + btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(5,10); getDeformableDynamicsWorld()->addForce(psb, neohookean); m_forces.push_back(neohookean); } @@ -415,8 +411,8 @@ void GraspDeformable::initPhysics() { SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity); - slider.m_minVal = -.1; - slider.m_maxVal = .1; + slider.m_minVal = -.3; + slider.m_maxVal = .3; m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); } @@ -470,8 +466,8 @@ btMultiBody* GraspDeformable::createFeatherstoneMultiBody(btMultiBodyDynamicsWor { //init the base btVector3 baseInertiaDiag(0.f, 0.f, 0.f); - float baseMass = 1.f; - float linkMass = 1.f; + float baseMass = 100.f; + float linkMass = 100.f; int numLinks = 2; if (baseMass) diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index 2a2ff5c63..b66a02aff 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -83,7 +83,7 @@ void btDeformableBackwardEulerObjective::multiply(const TVStack& x, TVStack& b) void btDeformableBackwardEulerObjective::updateVelocity(const TVStack& dv) { - // only the velocity of the constrained nodes needs to be updated during CG solve + // only the velocity of the constrained nodes needs to be updated during contact solve for (int i = 0; i < projection.m_constraints.size(); ++i) { int index = projection.m_constraints.getKeyAtIndex(i).getUid1(); diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 30424e7c3..600dbafa4 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -67,7 +67,7 @@ void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt) { break; } -// m_objective->applyDynamicFriction(m_residual); + m_objective->applyDynamicFriction(m_residual); computeStep(m_ddv, m_residual); updateDv(); for (int j = 0; j < m_numNodes; ++j) @@ -189,6 +189,20 @@ void btDeformableBodySolver::backupVelocity() } } +void btDeformableBodySolver::backupVn() +{ + int counter = 0; + for (int i = 0; i < m_softBodySet.size(); ++i) + { + btSoftBody* psb = m_softBodySet[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + m_dv[counter] += m_backupVelocity[counter] - psb->m_nodes[j].m_vn; + m_backupVelocity[counter++] = psb->m_nodes[j].m_vn; + } + } +} + void btDeformableBodySolver::revertVelocity() { int counter = 0; @@ -246,8 +260,7 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d for (i = 0, ni = psb->m_nodes.size(); i < ni; ++i) { btSoftBody::Node& n = psb->m_nodes[i]; - n.m_q = n.m_x; - n.m_q += n.m_v * dt; + n.m_q = n.m_x + n.m_v * dt; } /* Bounds */ psb->updateBounds(); diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index a1107de03..fed15b2b2 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -75,6 +75,7 @@ public: void predictDeformableMotion(btSoftBody* psb, btScalar dt); void backupVelocity(); + void backupVn(); void revertVelocity(); void updateVelocity(); diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 7ddecdcd5..3fff883c9 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -168,6 +168,7 @@ void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) } node.m_x = node.m_x + timeStep * node.m_v; node.m_q = node.m_x; + node.m_vn = node.m_v; } } m_deformableBodySolver->revertVelocity(); @@ -175,11 +176,8 @@ void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep) { - if (!m_implicit) - { - // save v_{n+1}^* velocity after explicit forces - m_deformableBodySolver->backupVelocity(); - } + // save v_{n+1}^* velocity after explicit forces + m_deformableBodySolver->backupVelocity(); // set up constraints among multibodies and between multibodies and deformable bodies setupConstraints(); @@ -187,11 +185,13 @@ void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep) if (m_implicit) { - // revert to v_n after collisions are registered - m_deformableBodySolver->revertVelocity(); - // todo @xuchenhan : think about whether contact solve should be done with v_n velocity or v_{n+1}^* velocity. It's using v_n for implicit and v_{n+1}^* for non-implicit now. + // at this point dv = v_{n+1} - v_{n+1}^* + // modify dv such that dv = v_{n+1} - v_n + // modify m_backupVelocity so that it stores v_n instead of v_{n+1}^* as needed by Newton + m_deformableBodySolver->backupVn(); } - // At this point, dv is golden for nodes in contact + + // At this point, dv should be golden for nodes in contact m_deformableBodySolver->solveDeformableConstraints(timeStep); } @@ -211,7 +211,6 @@ void btDeformableMultiBodyDynamicsWorld::setupConstraints() // build islands m_islandManager->buildIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld()); - // write the constraint information of each island to the callback, and also setup the constraints in solver } } @@ -317,11 +316,11 @@ void btDeformableMultiBodyDynamicsWorld::reinitialize(btScalar timeStep) m_internalTime += timeStep; m_deformableBodySolver->setImplicit(m_implicit); m_deformableBodySolver->reinitialize(m_softBodies, timeStep); - if (m_implicit) - { - // backup v_n velocity - m_deformableBodySolver->backupVelocity(); - } +// if (m_implicit) +// { +// // todo: backup v_n velocity somewhere else +// m_deformableBodySolver->backupVelocity(); +// } btDispatcherInfo& dispatchInfo = btMultiBodyDynamicsWorld::getDispatchInfo(); dispatchInfo.m_timeStep = timeStep; dispatchInfo.m_stepCount = 0; diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h index 219cbfb27..972f05664 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h @@ -73,7 +73,7 @@ public: m_sbi.m_broadphase = pairCache; m_sbi.m_dispatcher = dispatcher; m_sbi.m_sparsesdf.Initialize(); - m_sbi.m_sparsesdf.setDefaultVoxelsz(0.0025); + m_sbi.m_sparsesdf.setDefaultVoxelsz(0.025); m_sbi.m_sparsesdf.Reset(); m_sbi.air_density = (btScalar)1.2; @@ -82,7 +82,7 @@ public: m_sbi.water_normal = btVector3(0, 0, 0); m_sbi.m_gravity.setValue(0, -10, 0); m_internalTime = 0.0; - m_implicit = false; + m_implicit = true; } void setSolverCallback(btSolverCallback cb) diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index cd235c29d..5371e172d 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -251,8 +251,9 @@ public: struct Node : Feature { btVector3 m_x; // Position - btVector3 m_q; // Previous step position + btVector3 m_q; // Previous step position/Test position btVector3 m_v; // Velocity + btVector3 m_vn; // Previous step velocity btVector3 m_f; // Force accumulator btVector3 m_n; // Normal btScalar m_im; // 1/mass From 482458c9df8f107242c518b6437764026a3246aa Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 28 Aug 2019 10:37:27 -0700 Subject: [PATCH 122/389] improve deformable objects loading --- .../PhysicsServerCommandProcessor.cpp | 36 +++++++++---------- 1 file changed, 17 insertions(+), 19 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 47a4de27a..e3d1d57c5 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -105,7 +105,6 @@ #include "BulletSoftBody/btDeformableBodySolver.h" #include "BulletSoftBody/btDeformableMultiBodyConstraintSolver.h" #include "../SoftDemo/BunnyMesh.h" -#define SKIP_DEFORMABLE_BODY #else #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h" #endif @@ -8040,6 +8039,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type); btSoftBody* psb = NULL; + btScalar spring_elastic_stiffness, spring_damping_stiffness; if (out_type == UrdfGeometry::FILE_OBJ) { std::vector shapes; @@ -8064,14 +8064,20 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar psb = btSoftBodyHelpers::CreateFromTriMesh(m_data->m_dynamicsWorld->getWorldInfo(), &vertices[0], &indices[0], numTris); } } +#ifndef SKIP_DEFORMABLE_BODY + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE) + { + spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; + spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; + m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false)); + } +#endif } - else if (out_type = UrdfGeometry::FILE_VTK) + else if (out_type == UrdfGeometry::FILE_VTK) { #ifndef SKIP_DEFORMABLE_BODY psb = btSoftBodyHelpers::CreateFromVtkFile(m_data->m_dynamicsWorld->getWorldInfo(), out_found_filename.c_str()); btScalar corotated_mu, corotated_lambda; - btScalar spring_elastic_stiffness, spring_damping_stiffness; - btScalar gravity_constant; if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE) { corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu; @@ -8085,26 +8091,18 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda; m_data->m_dynamicsWorld->addForce(psb, new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda)); } + btScalar spring_elastic_stiffness, spring_damping_stiffness; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE) + { + spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; + spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; + m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true)); + } #endif } if (psb != NULL) { #ifndef SKIP_DEFORMABLE_BODY - btScalar corotated_mu, corotated_lambda; - btScalar spring_elastic_stiffness, spring_damping_stiffness; - btScalar gravity_constant; - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE) - { - corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu; - corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda; - m_data->m_dynamicsWorld->addForce(psb, new btDeformableCorotatedForce(corotated_mu, corotated_lambda)); - } - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE) - { - spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; - spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; - m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false)); - } btVector3 gravity(0,0,0); if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_GRAVITY_FORCE) { From e124c62a705a8e9e8137daeb9e59fb0f54f234ad Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 29 Aug 2019 10:08:34 -0700 Subject: [PATCH 123/389] each node only allows a single contact; initial guess for newton set to x = x_n + dt*v_n --- src/BulletSoftBody/btCGProjection.h | 10 ++++++++++ src/BulletSoftBody/btDeformableBodySolver.cpp | 13 +++++++++++-- .../btDeformableContactProjection.cpp | 13 ++++++++++++- src/BulletSoftBody/btSoftBodyInternals.h | 2 +- 4 files changed, 34 insertions(+), 4 deletions(-) diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index d074ca6ed..9055ad5ce 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -49,6 +49,16 @@ struct DeformableContactConstraint m_static.push_back(false); m_can_be_dynamic.push_back(true); } + + void replace(const btSoftBody::RContact& rcontact) + { + m_contact.clear(); + m_total_normal_dv.clear(); + m_total_tangent_dv.clear(); + m_static.clear(); + m_can_be_dynamic.clear(); + append(rcontact); + } ~DeformableContactConstraint() { diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 600dbafa4..7fc8aa99e 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -96,7 +96,7 @@ void btDeformableBodySolver::updateDv() void btDeformableBodySolver::computeStep(TVStack& ddv, const TVStack& residual) { -// btScalar tolerance = std::numeric_limits::epsilon() * m_objective->computeNorm(residual); + //btScalar tolerance = std::numeric_limits::epsilon() * m_objective->computeNorm(residual); btScalar tolerance = std::numeric_limits::epsilon(); m_cg.solve(*m_objective, ddv, residual, tolerance); } @@ -197,7 +197,16 @@ void btDeformableBodySolver::backupVn() btSoftBody* psb = m_softBodySet[i]; for (int j = 0; j < psb->m_nodes.size(); ++j) { - m_dv[counter] += m_backupVelocity[counter] - psb->m_nodes[j].m_vn; + // Here: + // dv = 0 for nodes not in constraints + // dv = v_{n+1} - v_{n+1}^* for nodes in constraints + if (m_objective->projection.m_constraints.find(psb->m_nodes[j].index)!=NULL) + { + m_dv[counter] += m_backupVelocity[counter] - psb->m_nodes[j].m_vn; + } + // Now: + // dv = 0 for nodes not in constraints + // dv = v_{n+1} - v_n for nodes in constraints m_backupVelocity[counter++] = psb->m_nodes[j].m_vn; } } diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index 33feb4bc6..ffd91d5df 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -20,6 +20,7 @@ btScalar btDeformableContactProjection::update() { btScalar residualSquare = 0; + btScalar max_impulse = 0; // loop through constraints to set constrained values for (int index = 0; index < m_constraints.size(); ++index) { @@ -128,6 +129,7 @@ btScalar btDeformableContactProjection::update() } } impulse = impulse_normal + impulse_tangent; + max_impulse = btMax(impulse.length2(), max_impulse); // dn is the normal component of velocity diffrerence. Approximates the residual. residualSquare = btMax(residualSquare, dn*dn); @@ -231,7 +233,16 @@ void btDeformableContactProjection::setConstraints() else { DeformableContactConstraint& constraints = *m_constraints[c.m_node->index]; - constraints.append(c); + bool single_contact = true; + if (single_contact) + { + constraints.m_contact[0]->m_cti.m_offset > cti.m_offset; + constraints.replace(c); + } + else + { + constraints.append(c); + } } } } diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index fc4c6b556..8ce114fa8 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -998,7 +998,7 @@ struct btSoftColliders if (!n.m_battach) { // check for collision at x_{n+1}^* - if (psb->checkDeformableContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predict = */ true)) + if (psb->checkDeformableContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predict = */ true) || psb->checkDeformableContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predict = */ true)) { const btScalar ima = n.m_im; const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; From ca3e25d4e2aea554b7926ce885ebb3e1cc52479a Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 29 Aug 2019 10:29:56 -0700 Subject: [PATCH 124/389] add Rayleigh damping for NeoHookean --- .../btDeformableLagrangianForce.h | 11 +++ .../btDeformableNeoHookeanForce.h | 85 +++++++++++++++++-- 2 files changed, 91 insertions(+), 5 deletions(-) diff --git a/src/BulletSoftBody/btDeformableLagrangianForce.h b/src/BulletSoftBody/btDeformableLagrangianForce.h index 0e349e5be..7ce72a7fd 100644 --- a/src/BulletSoftBody/btDeformableLagrangianForce.h +++ b/src/BulletSoftBody/btDeformableLagrangianForce.h @@ -93,6 +93,17 @@ public: return dF; } + virtual btMatrix3x3 DsFromVelocity(const btSoftBody::Node* n0, const btSoftBody::Node* n1, const btSoftBody::Node* n2, const btSoftBody::Node* n3) + { + btVector3 c1 = n1->m_v - n0->m_v; + btVector3 c2 = n2->m_v - n0->m_v; + btVector3 c3 = n3->m_v - n0->m_v; + btMatrix3x3 dF(c1.getX(), c2.getX(), c3.getX(), + c1.getY(), c2.getY(), c3.getY(), + c1.getZ(), c2.getZ(), c3.getZ()); + return dF; + } + virtual void testDerivative() { for (int i = 0; i TVStack; btScalar m_mu, m_lambda; + btScalar m_mu_damp, m_lambda_damp; btDeformableNeoHookeanForce(): m_mu(1), m_lambda(1) { + btScalar damping = 0.005; + m_mu_damp = damping * m_mu; + m_lambda_damp = damping * m_lambda; } - btDeformableNeoHookeanForce(btScalar mu, btScalar lambda): m_mu(mu), m_lambda(lambda) + btDeformableNeoHookeanForce(btScalar mu, btScalar lambda, btScalar damping = 0.005): m_mu(mu), m_lambda(lambda) { + m_mu_damp = damping * m_mu; + m_lambda_damp = damping * m_lambda; } virtual void addScaledForces(btScalar scale, TVStack& force) @@ -44,6 +50,37 @@ public: virtual void addScaledDampingForce(btScalar scale, TVStack& force) { + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()) + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + btMatrix3x3 dF = DsFromVelocity(node0, node1, node2, node3) * tetra.m_Dm_inverse; + btMatrix3x3 dP; + firstPiolaDampingDifferential(tetra.m_F, dF, dP); + btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); + + // damping force differential + btScalar scale1 = scale * tetra.m_element_measure; + force[id0] -= scale1 * df_on_node0; + force[id1] -= scale1 * df_on_node123.getColumn(0); + force[id2] -= scale1 * df_on_node123.getColumn(1); + force[id3] -= scale1 * df_on_node123.getColumn(2); + } + } } virtual double totalElasticEnergy() @@ -111,6 +148,37 @@ public: virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) { + int numNodes = getNumNodes(); + btAssert(numNodes <= df.size()) + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + btMatrix3x3 dF = Ds(id0, id1, id2, id3, dv) * tetra.m_Dm_inverse; + btMatrix3x3 dP; + firstPiolaDampingDifferential(tetra.m_F, dF, dP); + btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); + + // damping force differential + btScalar scale1 = scale * tetra.m_element_measure; + df[id0] -= scale1 * df_on_node0; + df[id1] -= scale1 * df_on_node123.getColumn(0); + df[id2] -= scale1 * df_on_node123.getColumn(1); + df[id3] -= scale1 * df_on_node123.getColumn(2); + } + } } virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) @@ -167,16 +235,23 @@ public: dP += F.adjoint().transpose() * m_lambda * DotProduct(F.adjoint().transpose(), dF); } + void firstPiolaDampingDifferential(const btMatrix3x3& F, const btMatrix3x3& dF, btMatrix3x3& dP) + { + btScalar J = F.determinant(); + btMatrix3x3 C = F.transpose()*F; + btScalar trace = C[0].getX() + C[1].getY() + C[2].getZ(); + dP = dF * m_mu_damp * ( 1. - 1. / (trace + 1.)) + F * (2*m_mu_damp) * DotProduct(F, dF) * (1./((1.+trace)*(1.+trace))); + + addScaledCofactorMatrixDifferential(F, dF, m_lambda_damp*(J-1.) - 0.75*m_mu_damp, dP); + dP += F.adjoint().transpose() * m_lambda_damp * DotProduct(F.adjoint().transpose(), dF); + } + btScalar DotProduct(const btMatrix3x3& A, const btMatrix3x3& B) { btScalar ans = 0; for (int i = 0; i < 3; ++i) { ans += A[i].dot(B[i]); -// for (int j = 0; j < 3; ++j) -// { -// ans += A[i][j] * B[i][j]; -// } } return ans; } From f392d8ceb1056bf91c07a8c2a077216bee9678b7 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 29 Aug 2019 10:32:55 -0700 Subject: [PATCH 125/389] clean up memory when exiting --- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index e3d1d57c5..ccfd4eab9 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -2870,6 +2870,11 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld() delete m_data->m_remoteDebugDrawer; m_data->m_remoteDebugDrawer = 0; +#ifndef SKIP_DEFORMABLE_BODY + delete m_data->m_deformablebodySolver; + m_data->m_deformablebodySolver = 0; +#endif + delete m_data->m_solver; m_data->m_solver = 0; @@ -10392,14 +10397,10 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared btSoftBody* psb = bodyHandle->m_softBody; if (m_data->m_pluginManager.getRenderInterface()) { -#ifdef SKIP_DEFORMABLE_BODY m_data->m_pluginManager.getRenderInterface()->removeVisualShape(psb->getBroadphaseHandle()->getUid()); -#endif } serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId; -#ifdef SKIP_DEFORMABLE_BODY m_data->m_dynamicsWorld->removeSoftBody(psb); -#endif int graphicsInstance = psb->getUserIndex2(); m_data->m_guiHelper->removeGraphicsInstance(graphicsInstance); delete psb; From 5330396c70fe671c01162c3e1a1dc2420ba60705 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 29 Aug 2019 11:12:35 -0700 Subject: [PATCH 126/389] enabled mass preconditioner --- src/BulletSoftBody/btConjugateGradient.h | 2 ++ src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp | 3 ++- src/BulletSoftBody/btDeformableBodySolver.cpp | 4 ++-- src/BulletSoftBody/btDeformableContactProjection.cpp | 8 +++++--- src/BulletSoftBody/btPreconditioner.h | 2 ++ 5 files changed, 13 insertions(+), 6 deletions(-) diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h index 6fad0e60a..c20a8ae5d 100644 --- a/src/BulletSoftBody/btConjugateGradient.h +++ b/src/BulletSoftBody/btConjugateGradient.h @@ -104,7 +104,9 @@ public: TVStack c; c.resize(a.size()); for (int i = 0; i < a.size(); ++i) + { c[i] = a[i] - b[i]; + } return c; } diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index b66a02aff..4ca5187c4 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -14,6 +14,7 @@ */ #include "btDeformableBackwardEulerObjective.h" +#include "btPreconditioner.h" #include "LinearMath/btQuickprof.h" btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAlignedObjectArray& softBodies, const TVStack& backup_v) @@ -22,7 +23,7 @@ btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAligned , m_backupVelocity(backup_v) , m_implicit(false) { - m_preconditioner = new DefaultPreconditioner(); + m_preconditioner = new MassPreconditioner(m_softBodies); } btDeformableBackwardEulerObjective::~btDeformableBackwardEulerObjective() diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 7fc8aa99e..a902322ce 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -20,9 +20,9 @@ btDeformableBodySolver::btDeformableBodySolver() : m_numNodes(0) -, m_cg(50) +, m_cg(20) , m_maxNewtonIterations(5) -, m_newtonTolerance(1e-10) +, m_newtonTolerance(1e-4) { m_objective = new btDeformableBackwardEulerObjective(m_softBodySet, m_backupVelocity); } diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index ffd91d5df..404eda494 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -236,12 +236,14 @@ void btDeformableContactProjection::setConstraints() bool single_contact = true; if (single_contact) { - constraints.m_contact[0]->m_cti.m_offset > cti.m_offset; - constraints.replace(c); + if (constraints.m_contact[0]->m_cti.m_offset > cti.m_offset) + { + constraints.replace(c); + } } else { - constraints.append(c); + constraints.append(c); } } } diff --git a/src/BulletSoftBody/btPreconditioner.h b/src/BulletSoftBody/btPreconditioner.h index 32d697a63..d71242038 100644 --- a/src/BulletSoftBody/btPreconditioner.h +++ b/src/BulletSoftBody/btPreconditioner.h @@ -70,7 +70,9 @@ public: btAssert(b.size() == x.size()); btAssert(m_inv_mass.size() == x.size()); for (int i = 0; i < b.size(); ++i) + { b[i] = x[i] * m_inv_mass[i]; + } } }; From 8a08e32f51e108bd2e5bb424216b06efdc763465 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 29 Aug 2019 11:26:57 -0700 Subject: [PATCH 127/389] update CMakeLists --- src/BulletSoftBody/CMakeLists.txt | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/BulletSoftBody/CMakeLists.txt b/src/BulletSoftBody/CMakeLists.txt index 1e9edbd91..b3c32a6c5 100644 --- a/src/BulletSoftBody/CMakeLists.txt +++ b/src/BulletSoftBody/CMakeLists.txt @@ -20,6 +20,7 @@ SET(BulletSoftBody_SRCS btDeformableBackwardEulerObjective.cpp btDeformableBodySolver.cpp + btDeformableMultiBodyConstraintSolver.cpp btDeformableContactProjection.cpp btDeformableMultiBodyDynamicsWorld.cpp @@ -52,6 +53,7 @@ SET(BulletSoftBody_HDRS btDeformableBackwardEulerObjective.h btDeformableBodySolver.h btDeformableMultiBodyConstraintSolver.h + btDeformableMultiBodyConstraintSolver.h btDeformableContactProjection.h btDeformableMultiBodyDynamicsWorld.h From 3d2f945f9c640cbbfd5b14ac33470119365ca855 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 3 Sep 2019 15:04:12 -0700 Subject: [PATCH 128/389] address PR comments --- .../SharedMemory/PhysicsServerCommandProcessor.cpp | 12 ++++-------- examples/SharedMemory/SharedMemoryCommands.h | 1 - 2 files changed, 4 insertions(+), 9 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index ccfd4eab9..bed051fb1 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -109,6 +109,7 @@ #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h" #endif +#define SKIP_DEFORMABE_BODY 1 int gInternalSimFlags = 0; bool gResetSimulation = 0; @@ -1622,7 +1623,7 @@ struct PhysicsServerCommandProcessorInternalData btHashedOverlappingPairCache* m_pairCache; btBroadphaseInterface* m_broadphase; btCollisionDispatcher* m_dispatcher; -#ifdef SKIP_DEFORMABLE_BODY +#if defined (SKIP_DEFORMABLE_BODY) || defined(SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD) btMultiBodyConstraintSolver* m_solver; #else btDeformableMultiBodyConstraintSolver* m_solver; @@ -2797,9 +2798,7 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld() for (i = m_data->m_dynamicsWorld->getSoftBodyArray().size() - 1; i >= 0; i--) { btSoftBody* sb = m_data->m_dynamicsWorld->getSoftBodyArray()[i]; -#ifdef SKIP_DEFORMABLE_BODY m_data->m_dynamicsWorld->removeSoftBody(sb); -#endif delete sb; } #endif @@ -2870,7 +2869,7 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld() delete m_data->m_remoteDebugDrawer; m_data->m_remoteDebugDrawer = 0; -#ifndef SKIP_DEFORMABLE_BODY +#if !defined (SKIP_DEFORMABLE_BODY) && !defined(SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD) delete m_data->m_deformablebodySolver; m_data->m_deformablebodySolver = 0; #endif @@ -8108,12 +8107,9 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar if (psb != NULL) { #ifndef SKIP_DEFORMABLE_BODY - btVector3 gravity(0,0,0); + btVector3 gravity = m_data->m_dynamicsWorld->getGravity(); if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_GRAVITY_FORCE) { - gravity[0] = loadSoftBodyArgs.m_gravity[0]; - gravity[1] = loadSoftBodyArgs.m_gravity[1]; - gravity[2] = loadSoftBodyArgs.m_gravity[2]; m_data->m_dynamicsWorld->addForce(psb, new btDeformableGravityForce(gravity)); } btScalar collision_hardness = 1; diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 58d72ce8d..74e79537a 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -523,7 +523,6 @@ struct LoadSoftBodyArgs double m_springDampingStiffness; double m_corotatedMu; double m_corotatedLambda; - double m_gravity[3]; bool m_useBendingSprings; double m_collisionHardness; double m_frictionCoeff; From 1ded85e62e3a7890760b4a021f299ad49f4594b5 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 3 Sep 2019 15:42:34 -0700 Subject: [PATCH 129/389] remove extra gravity field --- examples/SharedMemory/PhysicsClientC_API.cpp | 3 --- 1 file changed, 3 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 87276b264..2db272fa8 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -372,9 +372,6 @@ B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle comm { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command->m_type == CMD_LOAD_SOFT_BODY); - command->m_loadSoftBodyArguments.m_gravity[0] = gravityX; - command->m_loadSoftBodyArguments.m_gravity[1] = gravityY; - command->m_loadSoftBodyArguments.m_gravity[2] = gravityZ; command->m_updateFlags |= LOAD_SOFT_BODY_ADD_GRAVITY_FORCE; return 0; } From 1965f4695944f6e22c5eea747b8d4d5c420e35ca Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 3 Sep 2019 15:54:32 -0700 Subject: [PATCH 130/389] update CMakeLists --- src/BulletSoftBody/CMakeLists.txt | 1 - 1 file changed, 1 deletion(-) diff --git a/src/BulletSoftBody/CMakeLists.txt b/src/BulletSoftBody/CMakeLists.txt index b3c32a6c5..06059c77b 100644 --- a/src/BulletSoftBody/CMakeLists.txt +++ b/src/BulletSoftBody/CMakeLists.txt @@ -53,7 +53,6 @@ SET(BulletSoftBody_HDRS btDeformableBackwardEulerObjective.h btDeformableBodySolver.h btDeformableMultiBodyConstraintSolver.h - btDeformableMultiBodyConstraintSolver.h btDeformableContactProjection.h btDeformableMultiBodyDynamicsWorld.h From d5afccf3f10655beb96c776a33ea6282521d0548 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 3 Sep 2019 16:25:16 -0700 Subject: [PATCH 131/389] update CMakeLists --- src/BulletSoftBody/CMakeLists.txt | 1 - 1 file changed, 1 deletion(-) diff --git a/src/BulletSoftBody/CMakeLists.txt b/src/BulletSoftBody/CMakeLists.txt index 06059c77b..8c1e9c022 100644 --- a/src/BulletSoftBody/CMakeLists.txt +++ b/src/BulletSoftBody/CMakeLists.txt @@ -16,7 +16,6 @@ SET(BulletSoftBody_SRCS btSoftMultiBodyDynamicsWorld.cpp btSoftSoftCollisionAlgorithm.cpp btDefaultSoftBodySolver.cpp - btDeformableMultiBodyConstraintSolver.cpp btDeformableBackwardEulerObjective.cpp btDeformableBodySolver.cpp From 899bf9afd124a3520e98436635bde0c867333e03 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 4 Sep 2019 18:55:16 -0700 Subject: [PATCH 132/389] update setup.py --- setup.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/setup.py b/setup.py index b2e46b109..88d3e47c1 100644 --- a/setup.py +++ b/setup.py @@ -247,6 +247,11 @@ sources = ["examples/pybullet/pybullet.c"]\ +["src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp"]\ +["src/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp"]\ +["src/BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp"]\ ++["src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp"]\ ++["src/BulletSoftBody/btDeformableBodySolver.cpp"]\ ++["src/BulletSoftBody/btDeformableContactProjection.cpp"]\ ++["src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp"]\ ++["src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp"]\ +["src/BulletInverseDynamics/IDMath.cpp"]\ +["src/BulletInverseDynamics/MultiBodyTree.cpp"]\ +["src/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp"]\ From 74abd99192e849d01ef4e4cf08d28bc8efe13fb4 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 5 Sep 2019 17:42:18 -0700 Subject: [PATCH 133/389] fix asan int overflow in hash --- .../plugins/collisionFilterPlugin/collisionFilterPlugin.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp b/examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp index 40ec2341d..981b91caa 100644 --- a/examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp +++ b/examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp @@ -25,7 +25,7 @@ struct b3CustomCollisionFilter int obB = ((m_objectUniqueIdB & 0xf) << 8); int linkA = ((m_linkIndexA & 0xff) << 16); int linkB = ((m_linkIndexB & 0xff) << 24); - int key = obA + obB + linkA + linkB; + long long int key = obA + obB + linkA + linkB; // Thomas Wang's hash key += ~(key << 15); key ^= (key >> 10); @@ -33,7 +33,7 @@ struct b3CustomCollisionFilter key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16); - return key; + return (int) key; } bool equals(const b3CustomCollisionFilter& other) const { From 4515fcbfaf79a10d4d77d8e4037c7fb38c90aa49 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Fri, 6 Sep 2019 21:22:14 -0700 Subject: [PATCH 134/389] disable warmstarting for friction (btRigidBody) since friction directions are changing it can cause artifacts. --- .../btSequentialImpulseConstraintSolver.cpp | 34 ++----------------- 1 file changed, 3 insertions(+), 31 deletions(-) diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp index d3b71e458..9d5ffbfe8 100644 --- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp +++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp @@ -1290,43 +1290,15 @@ void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulseInternal(b int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal) { - btSolverBody* bodyA = &tmpSolverBodyPool[solverBodyIdA]; - btSolverBody* bodyB = &tmpSolverBodyPool[solverBodyIdB]; - - btRigidBody* rb0 = bodyA->m_originalBody; - btRigidBody* rb1 = bodyB->m_originalBody; - { btSolverConstraint& frictionConstraint1 = tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex]; - if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) - { - frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor; - if (rb0) - bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal1 * rb0->getInvMass(), frictionConstraint1.m_angularComponentA, frictionConstraint1.m_appliedImpulse); - if (rb1) - bodyB->internalApplyImpulse(-frictionConstraint1.m_contactNormal2 * rb1->getInvMass(), -frictionConstraint1.m_angularComponentB, -(btScalar)frictionConstraint1.m_appliedImpulse); - } - else - { - frictionConstraint1.m_appliedImpulse = 0.f; - } + frictionConstraint1.m_appliedImpulse = 0.f; } if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { btSolverConstraint& frictionConstraint2 = tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex + 1]; - if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) - { - frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor; - if (rb0) - bodyA->internalApplyImpulse(frictionConstraint2.m_contactNormal1 * rb0->getInvMass(), frictionConstraint2.m_angularComponentA, frictionConstraint2.m_appliedImpulse); - if (rb1) - bodyB->internalApplyImpulse(-frictionConstraint2.m_contactNormal2 * rb1->getInvMass(), -frictionConstraint2.m_angularComponentB, -(btScalar)frictionConstraint2.m_appliedImpulse); - } - else - { - frictionConstraint2.m_appliedImpulse = 0.f; - } + frictionConstraint2.m_appliedImpulse = 0.f; } } @@ -2401,4 +2373,4 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod void btSequentialImpulseConstraintSolver::reset() { m_btSeed2 = 0; -} \ No newline at end of file +} From 5a3c60c7094395b64a2d82e6aa4161b766c997b2 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 9 Sep 2019 14:56:26 -0700 Subject: [PATCH 135/389] PyBullet: Fix syncBodyInfo for over 512 bodies. PyBullet: Fix issue related to recent change in drawDebugDrawerLines (soft body) --- .../PhysicsClientSharedMemory.cpp | 40 ++++++++++--- examples/SharedMemory/PhysicsDirect.cpp | 56 +++++++++++++++++-- .../PhysicsServerCommandProcessor.cpp | 41 ++++++++------ .../SharedMemory/PhysicsServerExample.cpp | 13 +++-- 4 files changed, 117 insertions(+), 33 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp index 71e1a1985..479fae693 100644 --- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp +++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp @@ -1529,19 +1529,45 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { B3_PROFILE("CMD_LOADING_COMPLETED"); int numConstraints = serverCmd.m_sdfLoadedArgs.m_numUserConstraints; - for (int i = 0; i < numConstraints; i++) - { - int constraintUid = serverCmd.m_sdfLoadedArgs.m_userConstraintUniqueIds[i]; - m_data->m_constraintIdsRequestInfo.push_back(constraintUid); - } int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies; + if (serverCmd.m_type == CMD_SYNC_BODY_INFO_COMPLETED) + { + int* ids = (int*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor; + int* constraintUids = ids + numBodies; + for (int i = 0; i < numConstraints; i++) + { + int constraintUid = constraintUids[i]; + m_data->m_constraintIdsRequestInfo.push_back(constraintUid); + } + } + else + { + for (int i = 0; i < numConstraints; i++) + { + int constraintUid = serverCmd.m_sdfLoadedArgs.m_userConstraintUniqueIds[i]; + m_data->m_constraintIdsRequestInfo.push_back(constraintUid); + } + } + if (numBodies > 0) { m_data->m_tempBackupServerStatus = m_data->m_lastServerStatus; - for (int i = 0; i < numBodies; i++) + if (serverCmd.m_type == CMD_SYNC_BODY_INFO_COMPLETED) { - m_data->m_bodyIdsRequestInfo.push_back(serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i]); + int* bodyIds = (int*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor; + + for (int i = 0; i < numBodies; i++) + { + m_data->m_bodyIdsRequestInfo.push_back(bodyIds[i]); + } + } + else + { + for (int i = 0; i < numBodies; i++) + { + m_data->m_bodyIdsRequestInfo.push_back(serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i]); + } } int bodyId = m_data->m_bodyIdsRequestInfo[m_data->m_bodyIdsRequestInfo.size() - 1]; diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp index ba0aa9508..b8a4eb57c 100644 --- a/examples/SharedMemory/PhysicsDirect.cpp +++ b/examples/SharedMemory/PhysicsDirect.cpp @@ -688,7 +688,10 @@ void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemorySta { bf.setFileDNAisMemoryDNA(); } - bf.parse(false); + { + BT_PROFILE("bf.parse"); + bf.parse(false); + } BodyJointInfoCache2* bodyJoints = new BodyJointInfoCache2; m_data->m_bodyJointMap.insert(bodyUniqueId, bodyJoints); @@ -718,7 +721,8 @@ void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemorySta bodyJoints->m_baseName = mb->m_baseName; } addJointInfoFromMultiBodyData(mb, bodyJoints, m_data->m_verboseOutput); - } + + } } if (bf.ok()) { @@ -919,17 +923,57 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd break; } case CMD_SYNC_BODY_INFO_COMPLETED: - clearCachedBodies(); case CMD_MJCF_LOADING_COMPLETED: case CMD_SDF_LOADING_COMPLETED: { //we'll stream further info from the physics server //so serverCmd will be invalid, make a copy + btAlignedObjectArray bodyIdArray; + btAlignedObjectArray constraintIdArray; + int numConstraints = serverCmd.m_sdfLoadedArgs.m_numUserConstraints; + int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies; + + bodyIdArray.reserve(numBodies); + constraintIdArray.reserve(numConstraints); + + if (serverCmd.m_type == CMD_SYNC_BODY_INFO_COMPLETED) + { + clearCachedBodies(); + const int* bodyIds = (int*)m_data->m_bulletStreamDataServerToClient; + const int* constaintIds = bodyIds + numBodies; + + for (int i = 0; i < numConstraints; i++) + { + int constraintUid = constaintIds[i]; + constraintIdArray.push_back(constraintUid); + } + for (int i = 0; i < numBodies; i++) + { + int bodyUid = bodyIds[i]; + bodyIdArray.push_back(bodyUid); + } + } + else + { + for (int i = 0; i < numConstraints; i++) + { + int constraintUid = serverCmd.m_sdfLoadedArgs.m_userConstraintUniqueIds[i]; + constraintIdArray.push_back(constraintUid); + } + for (int i = 0; i < numBodies; i++) + { + int bodyUid = serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i]; + bodyIdArray.push_back(bodyUid); + } + + } + + for (int i = 0; i < numConstraints; i++) { - int constraintUid = serverCmd.m_sdfLoadedArgs.m_userConstraintUniqueIds[i]; + int constraintUid = constraintIdArray[i]; m_data->m_tmpInfoRequestCommand.m_type = CMD_USER_CONSTRAINT; m_data->m_tmpInfoRequestCommand.m_updateFlags = USER_CONSTRAINT_REQUEST_INFO; @@ -953,10 +997,10 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd } } - int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies; + for (int i = 0; i < numBodies; i++) { - int bodyUniqueId = serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i]; + int bodyUniqueId = bodyIdArray[i]; m_data->m_tmpInfoRequestCommand.m_type = CMD_REQUEST_BODY_INFO; m_data->m_tmpInfoRequestCommand.m_sdfRequestInfoArgs.m_bodyUniqueId = bodyUniqueId; diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index bed051fb1..7ae098042 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -5996,6 +5996,8 @@ bool PhysicsServerCommandProcessor::processSyncBodyInfoCommand(const struct Shar b3AlignedObjectArray usedHandles; m_data->m_bodyHandles.getUsedHandles(usedHandles); int actualNumBodies = 0; + int* bodyIds = (int*) bufferServerToClient; + for (int i = 0; i < usedHandles.size(); i++) { int usedHandle = usedHandles[i]; @@ -6006,18 +6008,19 @@ bool PhysicsServerCommandProcessor::processSyncBodyInfoCommand(const struct Shar if (body && (body->m_multiBody || body->m_rigidBody)) #endif { - serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[actualNumBodies++] = usedHandle; + bodyIds[actualNumBodies++] = usedHandle; } } serverStatusOut.m_sdfLoadedArgs.m_numBodies = actualNumBodies; int usz = m_data->m_userConstraints.size(); serverStatusOut.m_sdfLoadedArgs.m_numUserConstraints = usz; + int* constraintIds = bodyIds + actualNumBodies; for (int i = 0; i < usz; i++) { int key = m_data->m_userConstraints.getKeyAtIndex(i).getUid1(); - // int uid = m_data->m_userConstraints.getAtIndex(i)->m_userConstraintData.m_userConstraintUniqueId; - serverStatusOut.m_sdfLoadedArgs.m_userConstraintUniqueIds[i] = key; + //int uid = m_data->m_userConstraints.getAtIndex(i)->m_userConstraintData.m_userConstraintUniqueId; + constraintIds[i] = key; } serverStatusOut.m_type = CMD_SYNC_BODY_INFO_COMPLETED; @@ -7755,8 +7758,11 @@ bool PhysicsServerCommandProcessor::processRequestBodyInfoCommand(const struct S const SdfRequestInfoArgs& sdfInfoArgs = clientCmd.m_sdfRequestInfoArgs; //stream info into memory - int streamSizeInBytes = createBodyInfoStream(sdfInfoArgs.m_bodyUniqueId, bufferServerToClient, bufferSizeInBytes); - + { + BT_PROFILE("createBodyInfoStream"); + int streamSizeInBytes = createBodyInfoStream(sdfInfoArgs.m_bodyUniqueId, bufferServerToClient, bufferSizeInBytes); + serverStatusOut.m_numDataStreamBytes = streamSizeInBytes; + } serverStatusOut.m_type = CMD_BODY_INFO_COMPLETED; serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = sdfInfoArgs.m_bodyUniqueId; serverStatusOut.m_dataStreamArguments.m_bodyName[0] = 0; @@ -7767,7 +7773,7 @@ bool PhysicsServerCommandProcessor::processRequestBodyInfoCommand(const struct S strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, bodyHandle->m_bodyName.c_str()); } - serverStatusOut.m_numDataStreamBytes = streamSizeInBytes; + return hasStatus; } @@ -12830,16 +12836,19 @@ 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 - for (int i = 0; i < m_data->m_dynamicsWorld->getSoftBodyArray().size(); i++) - { - btSoftBody* psb = (btSoftBody*)m_data->m_dynamicsWorld->getSoftBodyArray()[i]; - { - btSoftBodyHelpers::DrawFrame(psb, m_data->m_dynamicsWorld->getDebugDrawer()); - btSoftBodyHelpers::Draw(psb, m_data->m_dynamicsWorld->getDebugDrawer(), m_data->m_dynamicsWorld->getDrawFlags()); - } - } - m_data->m_guiHelper->drawDebugDrawerLines(); - m_data->m_guiHelper->clearLines(); + if (m_data->m_dynamicsWorld->getSoftBodyArray().size()) + { + for (int i = 0; i < m_data->m_dynamicsWorld->getSoftBodyArray().size(); i++) + { + btSoftBody* psb = (btSoftBody*)m_data->m_dynamicsWorld->getSoftBodyArray()[i]; + { + btSoftBodyHelpers::DrawFrame(psb, m_data->m_dynamicsWorld->getDebugDrawer()); + btSoftBodyHelpers::Draw(psb, m_data->m_dynamicsWorld->getDebugDrawer(), m_data->m_dynamicsWorld->getDrawFlags()); + } + } + m_data->m_guiHelper->drawDebugDrawerLines(); + m_data->m_guiHelper->clearLines(); + } #endif #endif } diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp index 0c0640884..c98500a10 100644 --- a/examples/SharedMemory/PhysicsServerExample.cpp +++ b/examples/SharedMemory/PhysicsServerExample.cpp @@ -654,16 +654,21 @@ public: { if (m_debugDraw) { + m_csGUI->lock(); + //draw stuff and flush? m_debugDraw->drawDebugDrawerLines(); + m_csGUI->unlock(); } } virtual void clearLines() { - if (m_debugDraw) - { - m_debugDraw->clearLines(); + m_csGUI->lock(); + if (m_debugDraw) + { + m_debugDraw->clearLines(); + } + m_csGUI->unlock(); } - } GUIHelperInterface* m_childGuiHelper; From 64ea8e9f27722d76e1eb70fa6b254421665a2a05 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 9 Sep 2019 16:41:25 -0700 Subject: [PATCH 136/389] PyBullet createMultiBody(Batch), return all body unique ids PyBullet: fix crash: always check for existance m_multibodyWorld in ::render method --- .../PhysicsServerCommandProcessor.cpp | 1366 ++++++++--------- examples/pybullet/pybullet.c | 17 +- 2 files changed, 664 insertions(+), 719 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 7ae098042..05f02189e 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -58,7 +58,6 @@ #include "plugins/collisionFilterPlugin/collisionFilterPlugin.h" #endif - #ifdef ENABLE_STATIC_GRPC_PLUGIN #include "plugins/grpcPlugin/grpcPlugin.h" #endif //ENABLE_STATIC_GRPC_PLUGIN @@ -67,8 +66,6 @@ #include "plugins/pdControlPlugin/pdControlPlugin.h" #endif //SKIP_STATIC_PD_CONTROL_PLUGIN - - #ifdef STATIC_LINK_SPD_PLUGIN #include "plugins/stablePDPlugin/BulletConversion.h" #include "plugins/stablePDPlugin/RBDModel.h" @@ -87,10 +84,9 @@ #include "plugins/tinyRendererPlugin/tinyRendererPlugin.h" #endif - #ifdef B3_ENABLE_FILEIO_PLUGIN #include "plugins/fileIOPlugin/fileIOPlugin.h" -#endif//B3_DISABLE_FILEIO_PLUGIN +#endif //B3_DISABLE_FILEIO_PLUGIN #ifdef B3_ENABLE_TINY_AUDIO #include "../TinyAudio/b3SoundEngine.h" @@ -1623,7 +1619,7 @@ struct PhysicsServerCommandProcessorInternalData btHashedOverlappingPairCache* m_pairCache; btBroadphaseInterface* m_broadphase; btCollisionDispatcher* m_dispatcher; -#if defined (SKIP_DEFORMABLE_BODY) || defined(SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD) +#if defined(SKIP_DEFORMABLE_BODY) || defined(SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD) btMultiBodyConstraintSolver* m_solver; #else btDeformableMultiBodyConstraintSolver* m_solver; @@ -1633,8 +1629,8 @@ struct PhysicsServerCommandProcessorInternalData #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD #ifndef SKIP_DEFORMABLE_BODY - btDeformableMultiBodyDynamicsWorld* m_dynamicsWorld; - btDeformableBodySolver* m_deformablebodySolver; + btDeformableMultiBodyDynamicsWorld* m_dynamicsWorld; + btDeformableBodySolver* m_deformablebodySolver; #else btSoftMultiBodyDynamicsWorld* m_dynamicsWorld; btSoftBodySolver* m_softbodySolver; @@ -1725,7 +1721,7 @@ struct PhysicsServerCommandProcessorInternalData m_threadPool(0), m_defaultCollisionMargin(0.001), m_remoteSyncTransformTime(1. / 30.), - m_remoteSyncTransformInterval(1. / 30.) + m_remoteSyncTransformInterval(1. / 30.) { { //register static plugins: @@ -1803,11 +1799,11 @@ struct PhysicsServerCommandProcessorInternalData #ifdef STATIC_LINK_SPD_PLUGIN b3HashMap m_rbdModels; - static void convertPose(const btMultiBody* multiBody, const double* jointPositionsQ, const double* jointVelocitiesQdot, Eigen::VectorXd& pose, Eigen::VectorXd&vel) + static void convertPose(const btMultiBody* multiBody, const double* jointPositionsQ, const double* jointVelocitiesQdot, Eigen::VectorXd& pose, Eigen::VectorXd& vel) { int baseDofQ = multiBody->hasFixedBase() ? 0 : 7; int baseDofQdot = multiBody->hasFixedBase() ? 0 : 6; - + pose.resize(7 + multiBody->getNumPosVars()); vel.resize(7 + multiBody->getNumPosVars()); //?? @@ -1869,39 +1865,39 @@ struct PhysicsServerCommandProcessorInternalData { switch (multiBody->getLink(l).m_jointType) { - case btMultibodyLink::eRevolute: - case btMultibodyLink::ePrismatic: - { - pose[dof++] = jointPositionsQ[dofsrc++]; - vel[veldof++] = jointVelocitiesQdot[velsrcdof++]; - break; - } - case btMultibodyLink::eSpherical: - { - double quatXYZW[4]; - quatXYZW[0] = jointPositionsQ[dofsrc++]; - quatXYZW[1] = jointPositionsQ[dofsrc++]; - quatXYZW[2] = jointPositionsQ[dofsrc++]; - quatXYZW[3] = jointPositionsQ[dofsrc++]; + case btMultibodyLink::eRevolute: + case btMultibodyLink::ePrismatic: + { + pose[dof++] = jointPositionsQ[dofsrc++]; + vel[veldof++] = jointVelocitiesQdot[velsrcdof++]; + break; + } + case btMultibodyLink::eSpherical: + { + double quatXYZW[4]; + quatXYZW[0] = jointPositionsQ[dofsrc++]; + quatXYZW[1] = jointPositionsQ[dofsrc++]; + quatXYZW[2] = jointPositionsQ[dofsrc++]; + quatXYZW[3] = jointPositionsQ[dofsrc++]; - pose[dof++] = quatXYZW[3]; - pose[dof++] = quatXYZW[0]; - pose[dof++] = quatXYZW[1]; - pose[dof++] = quatXYZW[2]; - vel[veldof++] = jointVelocitiesQdot[velsrcdof++]; - vel[veldof++] = jointVelocitiesQdot[velsrcdof++]; - vel[veldof++] = jointVelocitiesQdot[velsrcdof++]; - vel[veldof++] = jointVelocitiesQdot[velsrcdof++]; - break; - } - case btMultibodyLink::eFixed: - { - break; - } - default: - { - assert(0); - } + pose[dof++] = quatXYZW[3]; + pose[dof++] = quatXYZW[0]; + pose[dof++] = quatXYZW[1]; + pose[dof++] = quatXYZW[2]; + vel[veldof++] = jointVelocitiesQdot[velsrcdof++]; + vel[veldof++] = jointVelocitiesQdot[velsrcdof++]; + vel[veldof++] = jointVelocitiesQdot[velsrcdof++]; + vel[veldof++] = jointVelocitiesQdot[velsrcdof++]; + break; + } + case btMultibodyLink::eFixed: + { + break; + } + default: + { + assert(0); + } } } } @@ -2228,21 +2224,21 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface virtual bool getLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const { - if (m_flags & URDF_USE_MATERIAL_COLORS_FROM_MTL) { const UrdfMaterialColor* matColPtr = m_linkColors[linkIndex]; if (matColPtr) { matCol = *matColPtr; - if ((m_flags&CUF_USE_MATERIAL_TRANSPARANCY_FROM_MTL)==0) + if ((m_flags & CUF_USE_MATERIAL_TRANSPARANCY_FROM_MTL) == 0) { matCol.m_rgbaColor[3] = 1; } return true; } - } else + } + else { if (m_createBodyArgs.m_linkVisualShapeUniqueIds[linkIndex] >= 0) { @@ -2426,7 +2422,7 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface int flags = 0; CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface(); - BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(),fileIO, globalScaling, flags); + BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), fileIO, globalScaling, flags); u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer); btAlignedObjectArray vertices; @@ -2452,16 +2448,16 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface b3ImportMeshData meshData; u2b.convertURDFToVisualShapeInternal(&visHandle->m_visualShapes[v], pathPrefix, localInertiaFrame.inverse() * visHandle->m_visualShapes[v].m_linkLocalFrame, vertices, indices, textures, meshData); if ((meshData.m_flags & B3_IMPORT_MESH_HAS_RGBA_COLOR) && - (meshData.m_flags & B3_IMPORT_MESH_HAS_SPECULAR_COLOR)) + (meshData.m_flags & B3_IMPORT_MESH_HAS_SPECULAR_COLOR)) { UrdfMaterialColor matCol; matCol.m_rgbaColor.setValue(meshData.m_rgbaColor[0], - meshData.m_rgbaColor[1], - meshData.m_rgbaColor[2], - meshData.m_rgbaColor[3]); + meshData.m_rgbaColor[1], + meshData.m_rgbaColor[2], + meshData.m_rgbaColor[3]); matCol.m_specularColor.setValue(meshData.m_specularColor[0], - meshData.m_specularColor[1], - meshData.m_specularColor[2]); + meshData.m_specularColor[1], + meshData.m_specularColor[2]); m_linkColors.insert(linkIndex, matCol); } } @@ -2627,10 +2623,10 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld() #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD #ifndef SKIP_DEFORMABLE_BODY - m_data->m_deformablebodySolver = new btDeformableBodySolver(); - m_data->m_solver = new btDeformableMultiBodyConstraintSolver; - m_data->m_solver->setDeformableSolver(m_data->m_deformablebodySolver); - m_data->m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration, m_data->m_deformablebodySolver); + m_data->m_deformablebodySolver = new btDeformableBodySolver(); + m_data->m_solver = new btDeformableMultiBodyConstraintSolver; + m_data->m_solver->setDeformableSolver(m_data->m_deformablebodySolver); + m_data->m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration, m_data->m_deformablebodySolver); #else m_data->m_dynamicsWorld = new btSoftMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration); #endif @@ -2869,7 +2865,7 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld() delete m_data->m_remoteDebugDrawer; m_data->m_remoteDebugDrawer = 0; -#if !defined (SKIP_DEFORMABLE_BODY) && !defined(SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD) +#if !defined(SKIP_DEFORMABLE_BODY) && !defined(SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD) delete m_data->m_deformablebodySolver; m_data->m_deformablebodySolver = 0; #endif @@ -2898,13 +2894,12 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld() delete *(m_data->m_rbdModels.getAtIndex(i)); } m_data->m_rbdModels.clear(); -#endif//STATIC_LINK_SPD_PLUGIN +#endif //STATIC_LINK_SPD_PLUGIN } bool PhysicsServerCommandProcessor::supportsJointMotor(btMultiBody* mb, int mbLinkIndex) { - bool canHaveMotor = (mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::eRevolute - || mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::ePrismatic); + bool canHaveMotor = (mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::eRevolute || mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::ePrismatic); return canHaveMotor; } @@ -2932,7 +2927,7 @@ void PhysicsServerCommandProcessor::createJointMotors(btMultiBody* mb) } if (mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::eSpherical) { - btMultiBodySphericalJointMotor* motor = new btMultiBodySphericalJointMotor(mb, mbLinkIndex, 1000*maxMotorImpulse); + btMultiBodySphericalJointMotor* motor = new btMultiBodySphericalJointMotor(mb, mbLinkIndex, 1000 * maxMotorImpulse); mb->getLink(mbLinkIndex).m_userPtr = motor; m_data->m_dynamicsWorld->addMultiBodyConstraint(motor); motor->finalizeMultiDof(); @@ -2953,8 +2948,6 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName, SaveWorldObjectData sd; sd.m_fileName = fileName; - - for (int m = 0; m < u2b.getNumModels(); m++) { u2b.activateModel(m); @@ -3127,7 +3120,6 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName, fclose(f); } #endif - } else { @@ -3181,14 +3173,12 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName, } { - - if (m_data->m_pluginManager.getRenderInterface()) { - int currentOpenGLTextureIndex=0; + int currentOpenGLTextureIndex = 0; int totalNumVisualShapes = m_data->m_pluginManager.getRenderInterface()->getNumVisualShapes(bodyUniqueId); - for (int shapeIndex=0;shapeIndexm_pluginManager.getRenderInterface()->getVisualShapesData(bodyUniqueId, shapeIndex, &tmpShape); @@ -3199,7 +3189,7 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName, int openglTextureUniqueId = -1; //find companion opengl texture unique id and create a 'textureUid' - if (currentOpenGLTextureIndexm_bodyHandles.getHandle(bodyUniqueId); - if(!bodyHandle) return 0; + if (!bodyHandle) return 0; if (bodyHandle->m_multiBody) { - btMultiBody* mb = bodyHandle->m_multiBody; + btMultiBody* mb = bodyHandle->m_multiBody; btDefaultSerializer ser(bufferSizeInBytes, (unsigned char*)bufferServerToClient); ser.startSerialization(); @@ -3432,33 +3422,35 @@ int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char* ser.finalizeChunk(chunk, structType, BT_MULTIBODY_CODE, mb); streamSizeInBytes = ser.getCurrentBufferSize(); } - else if(bodyHandle->m_rigidBody){ - btRigidBody* rb = bodyHandle->m_rigidBody; - btDefaultSerializer ser(bufferSizeInBytes, (unsigned char*)bufferServerToClient); + else if (bodyHandle->m_rigidBody) + { + btRigidBody* rb = bodyHandle->m_rigidBody; + btDefaultSerializer ser(bufferSizeInBytes, (unsigned char*)bufferServerToClient); - ser.startSerialization(); - ser.registerNameForPointer(bodyHandle->m_rigidBody, bodyHandle->m_bodyName.c_str()); - //disable serialization of the collision objects (they are too big, and the client likely doesn't need them); - for (int i = 0; i < bodyHandle->m_rigidBodyJoints.size(); i++) - { - const btGeneric6DofSpring2Constraint* con = bodyHandle->m_rigidBodyJoints.at(i); + ser.startSerialization(); + ser.registerNameForPointer(bodyHandle->m_rigidBody, bodyHandle->m_bodyName.c_str()); + //disable serialization of the collision objects (they are too big, and the client likely doesn't need them); + for (int i = 0; i < bodyHandle->m_rigidBodyJoints.size(); i++) + { + const btGeneric6DofSpring2Constraint* con = bodyHandle->m_rigidBodyJoints.at(i); - ser.registerNameForPointer(con, bodyHandle->m_rigidBodyJointNames[i].c_str()); - ser.registerNameForPointer(&con->getRigidBodyB(), bodyHandle->m_rigidBodyLinkNames[i].c_str()); + ser.registerNameForPointer(con, bodyHandle->m_rigidBodyJointNames[i].c_str()); + ser.registerNameForPointer(&con->getRigidBodyB(), bodyHandle->m_rigidBodyLinkNames[i].c_str()); - const btRigidBody& bodyA = con->getRigidBodyA(); + const btRigidBody& bodyA = con->getRigidBodyA(); - int len = con->calculateSerializeBufferSize(); - btChunk* chunk = ser.allocate(len, 1); - const char* structType = con->serialize(chunk->m_oldPtr, &ser); - ser.finalizeChunk(chunk, structType, BT_CONSTRAINT_CODE, (void*)con); - } - streamSizeInBytes = ser.getCurrentBufferSize(); + int len = con->calculateSerializeBufferSize(); + btChunk* chunk = ser.allocate(len, 1); + const char* structType = con->serialize(chunk->m_oldPtr, &ser); + ser.finalizeChunk(chunk, structType, BT_CONSTRAINT_CODE, (void*)con); } + streamSizeInBytes = ser.getCurrentBufferSize(); + } #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD - else if(bodyHandle->m_softBody){ - //minimum serialization, registerNameForPointer - btSoftBody* sb = bodyHandle->m_softBody; + else if (bodyHandle->m_softBody) + { + //minimum serialization, registerNameForPointer + btSoftBody* sb = bodyHandle->m_softBody; btDefaultSerializer ser(bufferSizeInBytes, (unsigned char*)bufferServerToClient); ser.startSerialization(); @@ -4255,17 +4247,12 @@ bool PhysicsServerCommandProcessor::processSaveWorldCommand(const struct SharedM return hasStatus; } - - - - -#define MYLINELENGTH 16*32768 +#define MYLINELENGTH 16 * 32768 static unsigned char* MyGetRawHeightfieldData(CommonFileIOInterface& fileIO, PHY_ScalarType type, const char* fileName, int& width, int& height, - btScalar& minHeight, - btScalar& maxHeight) + btScalar& minHeight, + btScalar& maxHeight) { - std::string ext; std::string fn(fileName); std::string ext_ = fn.substr(fn.size() - 4); @@ -4274,20 +4261,18 @@ static unsigned char* MyGetRawHeightfieldData(CommonFileIOInterface& fileIO, PHY ext += char(tolower(*i)); } - if (ext != ".txt") { - char relativeFileName[1024]; int found = fileIO.findResourcePath(fileName, relativeFileName, 1024); - + b3AlignedObjectArray buffer; buffer.reserve(1024); int fileId = fileIO.fileOpen(relativeFileName, "rb"); if (fileId >= 0) { int size = fileIO.getFileSize(fileId); - if (size>0) + if (size > 0) { buffer.resize(size); int actual = fileIO.fileRead(fileId, &buffer[0], size); @@ -4309,45 +4294,43 @@ static unsigned char* MyGetRawHeightfieldData(CommonFileIOInterface& fileIO, PHY { fileIO.fileClose(fileId); int nElements = width * height; - int bytesPerElement = sizeof(btScalar); + int bytesPerElement = sizeof(btScalar); btAssert(bytesPerElement > 0 && "bad bytes per element"); int nBytes = nElements * bytesPerElement; - unsigned char * raw = new unsigned char[nBytes]; + unsigned char* raw = new unsigned char[nBytes]; btAssert(raw && "out of memory"); - unsigned char * p = raw; + unsigned char* p = raw; for (int j = 0; j < height; ++j) - + { - for (int i = 0; i < width; ++i) { - - float z = double(image[(width-1-i) * 3+ width*j * 3])*(1. / 255.); - btScalar * pf = (btScalar *)p; + float z = double(image[(width - 1 - i) * 3 + width * j * 3]) * (1. / 255.); + btScalar* pf = (btScalar*)p; *pf = z; p += bytesPerElement; // update min/max - if (!i && !j) + if (!i && !j) { minHeight = z; maxHeight = z; } - else + else { - if (z < minHeight) + if (z < minHeight) { minHeight = z; } - if (z > maxHeight) + if (z > maxHeight) { maxHeight = z; } } } } - free (image); + free(image); return raw; } @@ -4374,19 +4357,19 @@ static unsigned char* MyGetRawHeightfieldData(CommonFileIOInterface& fileIO, PHY { rows = 0; std::string line(lineChar); - int pos=0; + int pos = 0; while (pos < line.length()) { - int nextPos = pos+1; + int nextPos = pos + 1; while (nextPos < line.length()) { - if (line[nextPos-1] == ',') + if (line[nextPos - 1] == ',') { break; } nextPos++; } - std::string substr = line.substr(pos, nextPos-pos-1); + std::string substr = line.substr(pos, nextPos - pos - 1); double v; if (sscanf(substr.c_str(), "%lf", &v) == 1) @@ -4397,11 +4380,10 @@ static unsigned char* MyGetRawHeightfieldData(CommonFileIOInterface& fileIO, PHY pos = nextPos; } cols++; - } width = rows; height = cols; - + fileIO.fileClose(slot); int nElements = width * height; // std::cerr << " nElements = " << nElements << "\n"; @@ -4412,19 +4394,17 @@ static unsigned char* MyGetRawHeightfieldData(CommonFileIOInterface& fileIO, PHY long nBytes = nElements * bytesPerElement; // std::cerr << " nBytes = " << nBytes << "\n"; - unsigned char * raw = new unsigned char[nBytes]; + unsigned char* raw = new unsigned char[nBytes]; btAssert(raw && "out of memory"); unsigned char* p = raw; for (int i = 0; i < width; ++i) { - for (int j = 0; j < height; ++j) { - - double z = allValues[i + width*j]; + double z = allValues[i + width * j]; //convertFromFloat(p, z, type); - btScalar * pf = (btScalar *)p; + btScalar* pf = (btScalar*)p; *pf = z; p += bytesPerElement; // update min/max @@ -4444,7 +4424,6 @@ static unsigned char* MyGetRawHeightfieldData(CommonFileIOInterface& fileIO, PHY maxHeight = z; } } - } } return raw; @@ -4452,7 +4431,6 @@ static unsigned char* MyGetRawHeightfieldData(CommonFileIOInterface& fileIO, PHY } } - return 0; } @@ -4608,15 +4586,14 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_numHeightfieldColumns > 0 && clientCmd.m_createUserShapeArgs.m_shapes[i].m_numHeightfieldRows > 0) { - width = clientCmd.m_createUserShapeArgs.m_shapes[i].m_numHeightfieldRows; height = clientCmd.m_createUserShapeArgs.m_shapes[i].m_numHeightfieldColumns; float* heightfieldDataSrc = (float*)bufferServerToClient; - heightfieldData = new unsigned char[width*height * sizeof(btScalar)]; + heightfieldData = new unsigned char[width * height * sizeof(btScalar)]; btScalar* datafl = (btScalar*)heightfieldData; minHeight = heightfieldDataSrc[0]; maxHeight = heightfieldDataSrc[0]; - for (int i = 0; i < width*height; i++) + for (int i = 0; i < width * height; i++) { datafl[i] = heightfieldDataSrc[i]; minHeight = btMin(minHeight, (btScalar)datafl[i]); @@ -4629,9 +4606,8 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str } if (heightfieldData) { - //replace heightfield data or create new heightfield - if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_replaceHeightfieldIndex >=0) + if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_replaceHeightfieldIndex >= 0) { int collisionShapeUid = clientCmd.m_createUserShapeArgs.m_shapes[i].m_replaceHeightfieldIndex; @@ -4644,7 +4620,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str btScalar* datafl = (btScalar*)heightfieldData; - for (int i = 0; i < width*height; i++) + for (int i = 0; i < width * height; i++) { heightfieldDest[i] = datafl[i]; } @@ -4654,8 +4630,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str btAlignedObjectArray indices; int strideInBytes = 9 * sizeof(float); - - MyTriangleCollector4 col; + MyTriangleCollector4 col; col.m_pVerticesOut = &gfxVertices; col.m_pIndicesOut = &indices; btVector3 aabbMin, aabbMax; @@ -4673,7 +4648,6 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str terrainShape->clearAccelerator(); terrainShape->buildAccelerator(); - btTriangleInfoMap* oldTriangleInfoMap = terrainShape->getTriangleInfoMap(); delete (oldTriangleInfoMap); terrainShape->setTriangleInfoMap(0); @@ -4687,13 +4661,12 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str delete worldImporter; serverStatusOut.m_type = CMD_CREATE_COLLISION_SHAPE_COMPLETED; } - + delete heightfieldData; return hasStatus; } else { - btScalar gridSpacing = 0.5; btScalar gridHeightScale = 1. / 256.; @@ -4706,21 +4679,21 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str upAxis, int(scalarType), flipQuadEdges); */ btHeightfieldTerrainShape* heightfieldShape = new btHeightfieldTerrainShape(width, height, - heightfieldData, - gridHeightScale, - minHeight, maxHeight, - upAxis, scalarType, flipQuadEdges); + heightfieldData, + gridHeightScale, + minHeight, maxHeight, + upAxis, scalarType, flipQuadEdges); m_data->m_collisionShapes.push_back(heightfieldShape); heightfieldShape->setUserValue3(clientCmd.m_createUserShapeArgs.m_shapes[i].m_heightfieldTextureScaling); shape = heightfieldShape; if (upAxis == 2) heightfieldShape->setFlipTriangleWinding(true); - + // scale the shape btVector3 localScaling(clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[0], - clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[1], - clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[2]); + clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[1], + clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[2]); heightfieldShape->setLocalScaling(localScaling); //buildAccelerator is optional, it may not support all features. @@ -4756,7 +4729,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str break; } - case GEOM_MESH: + case GEOM_MESH: { btVector3 meshScale(clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[0], clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[1], @@ -4782,7 +4755,6 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_numVertices) { - int numVertices = clientCmd.m_createUserShapeArgs.m_shapes[i].m_numVertices; int numIndices = clientCmd.m_createUserShapeArgs.m_shapes[i].m_numIndices; @@ -4790,8 +4762,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str char* data = bufferServerToClient; double* vertexUpload = (double*)data; - int* indexUpload = (int*)(data + numVertices * sizeof(double)*3); - + int* indexUpload = (int*)(data + numVertices * sizeof(double) * 3); if (compound == 0) { @@ -4809,20 +4780,20 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str for (int j = 0; j < clientCmd.m_createUserShapeArgs.m_shapes[i].m_numIndices / 3; j++) { - int i0 = indexUpload[j*3+0]; - int i1 = indexUpload[j*3+1]; - int i2 = indexUpload[j*3+2]; + int i0 = indexUpload[j * 3 + 0]; + int i1 = indexUpload[j * 3 + 1]; + int i2 = indexUpload[j * 3 + 2]; - btVector3 v0(vertexUpload[i0*3+0], - vertexUpload[i0*3+1], - vertexUpload[i0*3+2]); - btVector3 v1(vertexUpload[i1*3+0], - vertexUpload[i1*3+1], - vertexUpload[i1*3+2]); - btVector3 v2(vertexUpload[i2*3+0], - vertexUpload[i2*3+1], - vertexUpload[i2*3+2]); - meshInterface->addTriangle(v0*meshScale, v1*meshScale, v2*meshScale); + btVector3 v0(vertexUpload[i0 * 3 + 0], + vertexUpload[i0 * 3 + 1], + vertexUpload[i0 * 3 + 2]); + btVector3 v1(vertexUpload[i1 * 3 + 0], + vertexUpload[i1 * 3 + 1], + vertexUpload[i1 * 3 + 2]); + btVector3 v2(vertexUpload[i2 * 3 + 0], + vertexUpload[i2 * 3 + 1], + vertexUpload[i2 * 3 + 2]); + meshInterface->addTriangle(v0 * meshScale, v1 * meshScale, v2 * meshScale); } } @@ -4851,11 +4822,10 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str for (int v = 0; v < clientCmd.m_createUserShapeArgs.m_shapes[i].m_numVertices; v++) { - - btVector3 pt(vertexUpload[v*3+0], - vertexUpload[v*3+1], - vertexUpload[v*3+2]); - convexHull->addPoint(pt*meshScale, false); + btVector3 pt(vertexUpload[v * 3 + 0], + vertexUpload[v * 3 + 1], + vertexUpload[v * 3 + 2]); + convexHull->addPoint(pt * meshScale, false); } convexHull->recalcLocalAabb(); @@ -4874,7 +4844,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str if (out_type == UrdfGeometry::FILE_STL) { CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface()); - glmesh = LoadMeshFromSTL(relativeFileName,fileIO); + glmesh = LoadMeshFromSTL(relativeFileName, fileIO); } if (out_type == UrdfGeometry::FILE_OBJ) { @@ -4883,7 +4853,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_collisionFlags & GEOM_FORCE_CONCAVE_TRIMESH) { CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface(); - glmesh = LoadMeshFromObj(relativeFileName, pathPrefix,fileIO); + glmesh = LoadMeshFromObj(relativeFileName, pathPrefix, fileIO); } else { @@ -4936,7 +4906,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str } break; } - + default: { } @@ -5092,7 +5062,7 @@ bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct S btVector3* verticesOut = (btVector3*)bufferServerToClient; for (int i = 0; i < verticesCopied; ++i) { - const btSoftBody::Node& n = psb->m_nodes[i+ clientCmd.m_requestMeshDataArgs.m_startingVertex]; + const btSoftBody::Node& n = psb->m_nodes[i + clientCmd.m_requestMeshDataArgs.m_startingVertex]; verticesOut[i] = n.m_x; } @@ -5100,9 +5070,8 @@ bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct S serverStatusOut.m_sendMeshDataArgs.m_numVerticesCopied = verticesCopied; serverStatusOut.m_sendMeshDataArgs.m_startingVertex = clientCmd.m_requestMeshDataArgs.m_startingVertex; serverStatusOut.m_sendMeshDataArgs.m_numVerticesRemaining = numVerticesRemaining - verticesCopied; - } -#endif //SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD - + } +#endif //SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD } serverStatusOut.m_numDataStreamBytes = 0; @@ -5197,7 +5166,6 @@ bool PhysicsServerCommandProcessor::processCreateVisualShapeCommand(const struct } else { - } } else @@ -5208,13 +5176,13 @@ bool PhysicsServerCommandProcessor::processCreateVisualShapeCommand(const struct int numUVs = clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_numUVs; int numNormals = clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_numNormals; - if (numVertices > 0 && numIndices >0) + if (numVertices > 0 && numIndices > 0) { char* data = bufferServerToClient; double* vertexUpload = (double*)data; int* indexUpload = (int*)(data + numVertices * sizeof(double) * 3); double* normalUpload = (double*)(data + numVertices * sizeof(double) * 3 + numIndices * sizeof(int)); - double* uvUpload = (double*)(data + numVertices * sizeof(double) * 3 + numIndices * sizeof(int)+numNormals*sizeof(double)*3); + double* uvUpload = (double*)(data + numVertices * sizeof(double) * 3 + numIndices * sizeof(int) + numNormals * sizeof(double) * 3); for (int i = 0; i < numIndices; i++) { @@ -5223,20 +5191,20 @@ bool PhysicsServerCommandProcessor::processCreateVisualShapeCommand(const struct for (int i = 0; i < numVertices; i++) { btVector3 v0(vertexUpload[i * 3 + 0], - vertexUpload[i * 3 + 1], - vertexUpload[i * 3 + 2]); + vertexUpload[i * 3 + 1], + vertexUpload[i * 3 + 2]); visualShape.m_geometry.m_vertices.push_back(v0); } for (int i = 0; i < numNormals; i++) { btVector3 normal(normalUpload[i * 3 + 0], - normalUpload[i * 3 + 1], - normalUpload[i * 3 + 2]); + normalUpload[i * 3 + 1], + normalUpload[i * 3 + 2]); visualShape.m_geometry.m_normals.push_back(normal); } for (int i = 0; i < numUVs; i++) { - btVector3 uv(uvUpload[i * 2 + 0], uvUpload[i * 2 + 1],0); + btVector3 uv(uvUpload[i * 2 + 0], uvUpload[i * 2 + 1], 0); visualShape.m_geometry.m_uvs.push_back(uv); } } @@ -5274,7 +5242,7 @@ bool PhysicsServerCommandProcessor::processCreateVisualShapeCommand(const struct } else { - visualShape.m_geometry.m_localMaterial.m_matColor.m_rgbaColor.setValue(1,1,1,1); + visualShape.m_geometry.m_localMaterial.m_matColor.m_rgbaColor.setValue(1, 1, 1, 1); } if (hasSpecular) { @@ -5864,7 +5832,7 @@ bool PhysicsServerCommandProcessor::processRequestRaycastIntersectionsCommand(co memcpy(&rays[numCommandRays], bufferServerToClient, numStreamingRays * sizeof(b3RayData)); } - if (clientCmd.m_requestRaycastIntersections.m_parentObjectUniqueId>=0) + if (clientCmd.m_requestRaycastIntersections.m_parentObjectUniqueId >= 0) { btTransform tr; tr.setIdentity(); @@ -5893,13 +5861,13 @@ bool PhysicsServerCommandProcessor::processRequestRaycastIntersectionsCommand(co tr = bodyHandle->m_rigidBody->getWorldTransform(); } //convert all rays into world space - for (int i=0;im_threadPool, m_data->m_dynamicsWorld, &rays[0], (b3RayHitInfo*)bufferServerToClient, totalRays); batchRayCaster.castRays(numThreads); @@ -5996,8 +5963,6 @@ bool PhysicsServerCommandProcessor::processSyncBodyInfoCommand(const struct Shar b3AlignedObjectArray usedHandles; m_data->m_bodyHandles.getUsedHandles(usedHandles); int actualNumBodies = 0; - int* bodyIds = (int*) bufferServerToClient; - for (int i = 0; i < usedHandles.size(); i++) { int usedHandle = usedHandles[i]; @@ -6008,19 +5973,18 @@ bool PhysicsServerCommandProcessor::processSyncBodyInfoCommand(const struct Shar if (body && (body->m_multiBody || body->m_rigidBody)) #endif { - bodyIds[actualNumBodies++] = usedHandle; + serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[actualNumBodies++] = usedHandle; } } serverStatusOut.m_sdfLoadedArgs.m_numBodies = actualNumBodies; int usz = m_data->m_userConstraints.size(); serverStatusOut.m_sdfLoadedArgs.m_numUserConstraints = usz; - int* constraintIds = bodyIds + actualNumBodies; for (int i = 0; i < usz; i++) { int key = m_data->m_userConstraints.getKeyAtIndex(i).getUid1(); - //int uid = m_data->m_userConstraints.getAtIndex(i)->m_userConstraintData.m_userConstraintUniqueId; - constraintIds[i] = key; + // int uid = m_data->m_userConstraints.getAtIndex(i)->m_userConstraintData.m_userConstraintUniqueId; + serverStatusOut.m_sdfLoadedArgs.m_userConstraintUniqueIds[i] = key; } serverStatusOut.m_type = CMD_SYNC_BODY_INFO_COMPLETED; @@ -6078,7 +6042,7 @@ bool PhysicsServerCommandProcessor::processAddUserDataCommand(const struct Share BT_PROFILE("CMD_ADD_USER_DATA"); serverStatusOut.m_type = CMD_ADD_USER_DATA_FAILED; - const AddUserDataRequestArgs &addUserDataArgs = clientCmd.m_addUserDataRequestArgs; + const AddUserDataRequestArgs& addUserDataArgs = clientCmd.m_addUserDataRequestArgs; if (addUserDataArgs.m_bodyUniqueId < 0 || addUserDataArgs.m_bodyUniqueId >= m_data->m_bodyHandles.getNumHandles()) { return hasStatus; @@ -6117,7 +6081,7 @@ bool PhysicsServerCommandProcessor::processAddUserDataCommand(const struct Share userData->replaceValue(bufferServerToClient, addUserDataArgs.m_valueLength, addUserDataArgs.m_valueType); serverStatusOut.m_type = CMD_ADD_USER_DATA_COMPLETED; - UserDataResponseArgs &userDataResponseArgs = serverStatusOut.m_userDataResponseArgs; + UserDataResponseArgs& userDataResponseArgs = serverStatusOut.m_userDataResponseArgs; userDataResponseArgs.m_userDataId = userDataHandle; userDataResponseArgs.m_bodyUniqueId = addUserDataArgs.m_bodyUniqueId; userDataResponseArgs.m_linkIndex = addUserDataArgs.m_linkIndex; @@ -6128,11 +6092,11 @@ bool PhysicsServerCommandProcessor::processAddUserDataCommand(const struct Share b3Notification notification; notification.m_notificationType = USER_DATA_ADDED; - b3UserDataNotificationArgs &userDataArgs = notification.m_userDataArgs; + b3UserDataNotificationArgs& userDataArgs = notification.m_userDataArgs; userDataArgs.m_userDataId = userDataHandle; - userDataArgs.m_bodyUniqueId = addUserDataArgs.m_bodyUniqueId; - userDataArgs.m_linkIndex = addUserDataArgs.m_linkIndex; - userDataArgs.m_visualShapeIndex = addUserDataArgs.m_visualShapeIndex; + userDataArgs.m_bodyUniqueId = addUserDataArgs.m_bodyUniqueId; + userDataArgs.m_linkIndex = addUserDataArgs.m_linkIndex; + userDataArgs.m_visualShapeIndex = addUserDataArgs.m_visualShapeIndex; strcpy(userDataArgs.m_key, addUserDataArgs.m_key); m_data->m_pluginManager.addNotification(notification); @@ -6201,7 +6165,7 @@ bool PhysicsServerCommandProcessor::processCollisionFilterCommand(const struct S btCollisionObject* colObj = 0; if (body->m_multiBody) { - if (clientCmd.m_collisionFilterArgs.m_linkIndexA==-1) + if (clientCmd.m_collisionFilterArgs.m_linkIndexA == -1) { colObj = body->m_multiBody->getBaseCollider(); } @@ -6252,11 +6216,11 @@ bool PhysicsServerCommandProcessor::processRemoveUserDataCommand(const struct Sh b3Notification notification; notification.m_notificationType = USER_DATA_REMOVED; - b3UserDataNotificationArgs &userDataArgs = notification.m_userDataArgs; + b3UserDataNotificationArgs& userDataArgs = notification.m_userDataArgs; userDataArgs.m_userDataId = clientCmd.m_removeUserDataRequestArgs.m_userDataId; - userDataArgs.m_bodyUniqueId = userData->m_bodyUniqueId; - userDataArgs.m_linkIndex = userData->m_linkIndex; - userDataArgs.m_visualShapeIndex = userData->m_visualShapeIndex; + userDataArgs.m_bodyUniqueId = userData->m_bodyUniqueId; + userDataArgs.m_linkIndex = userData->m_linkIndex; + userDataArgs.m_visualShapeIndex = userData->m_visualShapeIndex; strcpy(userDataArgs.m_key, userData->m_key.c_str()); m_data->m_userDataHandleLookup.remove(SharedMemoryUserDataHashKey(userData)); @@ -6547,9 +6511,9 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct { hasDesiredPosOrVel = true; desiredVelocity.setValue( - clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[velIndex+0], - clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[velIndex+1], - clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[velIndex+2]); + clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[velIndex + 0], + clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[velIndex + 1], + clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[velIndex + 2]); kd = 0.1; } btQuaternion desiredPosition(0, 0, 0, 1); @@ -6643,52 +6607,50 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct { switch (body->m_multiBody->getLink(i).m_jointType) { - case btMultibodyLink::eSpherical: - { - btScalar* jointPos = body->m_multiBody->getJointPosMultiDof(i); - jointPositionsQ.push_back(jointPos[0]); - jointPositionsQ.push_back(jointPos[1]); - jointPositionsQ.push_back(jointPos[2]); - jointPositionsQ.push_back(jointPos[3]); - btScalar* jointVel = body->m_multiBody->getJointVelMultiDof(i); - jointVelocitiesQdot.push_back(jointVel[0]); - jointVelocitiesQdot.push_back(jointVel[1]); - jointVelocitiesQdot.push_back(jointVel[2]); - jointVelocitiesQdot.push_back(0); - break; - } - case btMultibodyLink::ePrismatic: - case btMultibodyLink::eRevolute: - { - btScalar* jointPos = body->m_multiBody->getJointPosMultiDof(i); - jointPositionsQ.push_back(jointPos[0]); - btScalar* jointVel = body->m_multiBody->getJointVelMultiDof(i); - jointVelocitiesQdot.push_back(jointVel[0]); - break; - } - case btMultibodyLink::eFixed: - { - //skip - break; - } - default: - { - b3Error("Unsupported joint type"); - btAssert(0); - } + case btMultibodyLink::eSpherical: + { + btScalar* jointPos = body->m_multiBody->getJointPosMultiDof(i); + jointPositionsQ.push_back(jointPos[0]); + jointPositionsQ.push_back(jointPos[1]); + jointPositionsQ.push_back(jointPos[2]); + jointPositionsQ.push_back(jointPos[3]); + btScalar* jointVel = body->m_multiBody->getJointVelMultiDof(i); + jointVelocitiesQdot.push_back(jointVel[0]); + jointVelocitiesQdot.push_back(jointVel[1]); + jointVelocitiesQdot.push_back(jointVel[2]); + jointVelocitiesQdot.push_back(0); + break; + } + case btMultibodyLink::ePrismatic: + case btMultibodyLink::eRevolute: + { + btScalar* jointPos = body->m_multiBody->getJointPosMultiDof(i); + jointPositionsQ.push_back(jointPos[0]); + btScalar* jointVel = body->m_multiBody->getJointVelMultiDof(i); + jointVelocitiesQdot.push_back(jointVel[0]); + break; + } + case btMultibodyLink::eFixed: + { + //skip + break; + } + default: + { + b3Error("Unsupported joint type"); + btAssert(0); + } } } - cRBDModel* rbdModel = 0; - + { BT_PROFILE("findOrCreateRBDModel"); rbdModel = m_data->findOrCreateRBDModel(body->m_multiBody, &jointPositionsQ[0], &jointVelocitiesQdot[0]); } if (rbdModel) { - int num_dof = jointPositionsQ.size(); const Eigen::VectorXd& pose = rbdModel->GetPose(); const Eigen::VectorXd& vel = rbdModel->GetVel(); @@ -6706,7 +6668,7 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct M.diagonal() += m_data->m_physicsDeltaTime * mKd; Eigen::VectorXd pose_inc; - + const Eigen::MatrixXd& joint_mat = rbdModel->GetJointMat(); { BT_PROFILE("cKinTree::VelToPoseDiff"); @@ -6718,14 +6680,14 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct { BT_PROFILE("convertPose"); - PhysicsServerCommandProcessorInternalData::convertPose(body->m_multiBody, - (double*)clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ, - (double*)clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot, - tar_pose, tar_vel); + PhysicsServerCommandProcessorInternalData::convertPose(body->m_multiBody, + (double*)clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ, + (double*)clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot, + tar_pose, tar_vel); } - pose_inc = pose+m_data->m_physicsDeltaTime * pose_inc; - + pose_inc = pose + m_data->m_physicsDeltaTime * pose_inc; + { BT_PROFILE("cKinTree::PostProcessPose"); cKinTree::PostProcessPose(joint_mat, pose_inc); @@ -6740,10 +6702,10 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct { pose_err[i] = 0; } - + Eigen::VectorXd vel_err = tar_vel - vel; Eigen::VectorXd acc; - + { BT_PROFILE("acc"); acc = Kp_mat * pose_err + Kd_mat * vel_err - C; @@ -6768,7 +6730,7 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct { for (int dof = 0; dof < 3; dof++) { - double torque = out_tau[torqueIndex+ dof]; + double torque = out_tau[torqueIndex + dof]; mb->addJointTorqueMultiDof(link, dof, torque); } torqueIndex += 4; @@ -6780,10 +6742,8 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct torqueIndex++; } } - - } - + break; } #endif @@ -6965,7 +6925,7 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct } } } //fi - //break; + //break; } } } //if (body && body->m_rigidBody) @@ -7269,61 +7229,61 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc hasStatus = true; } #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD - else if (body && body->m_softBody) - { - btSoftBody* sb = body->m_softBody; - SharedMemoryStatus& serverCmd = serverStatusOut; - serverCmd.m_type = CMD_ACTUAL_STATE_UPDATE_COMPLETED; - serverCmd.m_sendActualStateArgs.m_bodyUniqueId = bodyUniqueId; - serverCmd.m_sendActualStateArgs.m_numLinks = 0; - serverCmd.m_numDataStreamBytes = sizeof(SendActualStateSharedMemoryStorage); - serverCmd.m_sendActualStateArgs.m_stateDetails = 0; + else if (body && body->m_softBody) + { + btSoftBody* sb = body->m_softBody; + SharedMemoryStatus& serverCmd = serverStatusOut; + serverCmd.m_type = CMD_ACTUAL_STATE_UPDATE_COMPLETED; + serverCmd.m_sendActualStateArgs.m_bodyUniqueId = bodyUniqueId; + serverCmd.m_sendActualStateArgs.m_numLinks = 0; + serverCmd.m_numDataStreamBytes = sizeof(SendActualStateSharedMemoryStorage); + serverCmd.m_sendActualStateArgs.m_stateDetails = 0; - serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[0] = - body->m_rootLocalInertialFrame.getOrigin()[0]; - serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[1] = - body->m_rootLocalInertialFrame.getOrigin()[1]; - serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[2] = - body->m_rootLocalInertialFrame.getOrigin()[2]; + serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[0] = + body->m_rootLocalInertialFrame.getOrigin()[0]; + serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[1] = + body->m_rootLocalInertialFrame.getOrigin()[1]; + serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[2] = + body->m_rootLocalInertialFrame.getOrigin()[2]; - serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[3] = - body->m_rootLocalInertialFrame.getRotation()[0]; - serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[4] = - body->m_rootLocalInertialFrame.getRotation()[1]; - serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[5] = - body->m_rootLocalInertialFrame.getRotation()[2]; - serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[6] = - body->m_rootLocalInertialFrame.getRotation()[3]; + serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[3] = + body->m_rootLocalInertialFrame.getRotation()[0]; + serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[4] = + body->m_rootLocalInertialFrame.getRotation()[1]; + serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[5] = + body->m_rootLocalInertialFrame.getRotation()[2]; + serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[6] = + body->m_rootLocalInertialFrame.getRotation()[3]; - btTransform tr = sb->getWorldTransform(); - //base position in world space, cartesian - stateDetails->m_actualStateQ[0] = tr.getOrigin()[0]; - stateDetails->m_actualStateQ[1] = tr.getOrigin()[1]; - stateDetails->m_actualStateQ[2] = tr.getOrigin()[2]; + btTransform tr = sb->getWorldTransform(); + //base position in world space, cartesian + stateDetails->m_actualStateQ[0] = tr.getOrigin()[0]; + stateDetails->m_actualStateQ[1] = tr.getOrigin()[1]; + stateDetails->m_actualStateQ[2] = tr.getOrigin()[2]; - //base orientation, quaternion x,y,z,w, in world space, cartesian - stateDetails->m_actualStateQ[3] = tr.getRotation()[0]; - stateDetails->m_actualStateQ[4] = tr.getRotation()[1]; - stateDetails->m_actualStateQ[5] = tr.getRotation()[2]; - stateDetails->m_actualStateQ[6] = tr.getRotation()[3]; + //base orientation, quaternion x,y,z,w, in world space, cartesian + stateDetails->m_actualStateQ[3] = tr.getRotation()[0]; + stateDetails->m_actualStateQ[4] = tr.getRotation()[1]; + stateDetails->m_actualStateQ[5] = tr.getRotation()[2]; + stateDetails->m_actualStateQ[6] = tr.getRotation()[3]; - int totalDegreeOfFreedomQ = 7; //pos + quaternion - int totalDegreeOfFreedomU = 6; //3 linear and 3 angular DOF + int totalDegreeOfFreedomQ = 7; //pos + quaternion + int totalDegreeOfFreedomU = 6; //3 linear and 3 angular DOF - serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomQ = totalDegreeOfFreedomQ; - serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomU = totalDegreeOfFreedomU; + serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomQ = totalDegreeOfFreedomQ; + serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomU = totalDegreeOfFreedomU; - hasStatus = true; - } + hasStatus = true; + } #endif - else - { - //b3Warning("Request state but no multibody or rigid body available"); - SharedMemoryStatus& serverCmd = serverStatusOut; - serverCmd.m_type = CMD_ACTUAL_STATE_UPDATE_FAILED; - hasStatus = true; - } - return hasStatus; + else + { + //b3Warning("Request state but no multibody or rigid body available"); + SharedMemoryStatus& serverCmd = serverStatusOut; + serverCmd.m_type = CMD_ACTUAL_STATE_UPDATE_FAILED; + hasStatus = true; + } + return hasStatus; } bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) @@ -7758,11 +7718,8 @@ bool PhysicsServerCommandProcessor::processRequestBodyInfoCommand(const struct S const SdfRequestInfoArgs& sdfInfoArgs = clientCmd.m_sdfRequestInfoArgs; //stream info into memory - { - BT_PROFILE("createBodyInfoStream"); - int streamSizeInBytes = createBodyInfoStream(sdfInfoArgs.m_bodyUniqueId, bufferServerToClient, bufferSizeInBytes); - serverStatusOut.m_numDataStreamBytes = streamSizeInBytes; - } + int streamSizeInBytes = createBodyInfoStream(sdfInfoArgs.m_bodyUniqueId, bufferServerToClient, bufferSizeInBytes); + serverStatusOut.m_type = CMD_BODY_INFO_COMPLETED; serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = sdfInfoArgs.m_bodyUniqueId; serverStatusOut.m_dataStreamArguments.m_bodyName[0] = 0; @@ -7773,7 +7730,7 @@ bool PhysicsServerCommandProcessor::processRequestBodyInfoCommand(const struct S strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, bodyHandle->m_bodyName.c_str()); } - + serverStatusOut.m_numDataStreamBytes = streamSizeInBytes; return hasStatus; } @@ -7873,9 +7830,6 @@ bool PhysicsServerCommandProcessor::processCreateMultiBodyCommandSingle(const st useMultiBody = false; } - - - bool ok = 0; { BT_PROFILE("processImportedObjects"); @@ -7894,9 +7848,8 @@ bool PhysicsServerCommandProcessor::processCreateMultiBodyCommandSingle(const st m_data->m_sdfRecentLoadedBodies.clear(); if (bodyUniqueId >= 0) { - serverStatusOut.m_type = CMD_CREATE_MULTI_BODY_COMPLETED; - if (bufferSizeInBytes>0 && serverStatusOut.m_numDataStreamBytes==0) + if (bufferSizeInBytes > 0 && serverStatusOut.m_numDataStreamBytes == 0) { { BT_PROFILE("autogenerateGraphicsObjects"); @@ -8004,34 +7957,33 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar btAssert((clientCmd.m_updateFlags & LOAD_SOFT_BODY_FILE_NAME) != 0); btAssert(loadSoftBodyArgs.m_fileName); - - btVector3 initialPos(0, 0, 0); - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_INITIAL_POSITION) + btVector3 initialPos(0, 0, 0); + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_INITIAL_POSITION) { - initialPos[0] = loadSoftBodyArgs.m_initialPosition[0]; - initialPos[1] = loadSoftBodyArgs.m_initialPosition[1]; - initialPos[2] = loadSoftBodyArgs.m_initialPosition[2]; + initialPos[0] = loadSoftBodyArgs.m_initialPosition[0]; + initialPos[1] = loadSoftBodyArgs.m_initialPosition[1]; + initialPos[2] = loadSoftBodyArgs.m_initialPosition[2]; } btQuaternion initialOrn(0, 0, 0, 1); - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_INITIAL_ORIENTATION) + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_INITIAL_ORIENTATION) { - initialOrn[0] = loadSoftBodyArgs.m_initialOrientation[0]; - initialOrn[1] = loadSoftBodyArgs.m_initialOrientation[1]; - initialOrn[2] = loadSoftBodyArgs.m_initialOrientation[2]; - initialOrn[3] = loadSoftBodyArgs.m_initialOrientation[3]; + initialOrn[0] = loadSoftBodyArgs.m_initialOrientation[0]; + initialOrn[1] = loadSoftBodyArgs.m_initialOrientation[1]; + initialOrn[2] = loadSoftBodyArgs.m_initialOrientation[2]; + initialOrn[3] = loadSoftBodyArgs.m_initialOrientation[3]; } if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_UPDATE_SCALE) { - scale = clientCmd.m_loadSoftBodyArguments.m_scale; + scale = clientCmd.m_loadSoftBodyArguments.m_scale; } if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_UPDATE_MASS) { - mass = clientCmd.m_loadSoftBodyArguments.m_mass; + mass = clientCmd.m_loadSoftBodyArguments.m_mass; } - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_UPDATE_COLLISION_MARGIN) + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_UPDATE_COLLISION_MARGIN) { - collisionMargin = clientCmd.m_loadSoftBodyArguments.m_collisionMargin; + collisionMargin = clientCmd.m_loadSoftBodyArguments.m_collisionMargin; } { @@ -8048,184 +8000,184 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar int out_type; bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type); - btSoftBody* psb = NULL; - btScalar spring_elastic_stiffness, spring_damping_stiffness; - if (out_type == UrdfGeometry::FILE_OBJ) - { - std::vector shapes; - tinyobj::attrib_t attribute; - std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), "", fileIO); - if (!shapes.empty()) - { - const tinyobj::shape_t& shape = shapes[0]; - btAlignedObjectArray vertices; - btAlignedObjectArray indices; - for (int i = 0; i < attribute.vertices.size(); i++) - { - vertices.push_back(attribute.vertices[i]); - } - for (int i = 0; i < shape.mesh.indices.size(); i++) - { - indices.push_back(shape.mesh.indices[i].vertex_index); - } - int numTris = shape.mesh.indices.size() / 3; - if (numTris > 0) - { - psb = btSoftBodyHelpers::CreateFromTriMesh(m_data->m_dynamicsWorld->getWorldInfo(), &vertices[0], &indices[0], numTris); - } - } + btSoftBody* psb = NULL; + btScalar spring_elastic_stiffness, spring_damping_stiffness; + if (out_type == UrdfGeometry::FILE_OBJ) + { + std::vector shapes; + tinyobj::attrib_t attribute; + std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), "", fileIO); + if (!shapes.empty()) + { + const tinyobj::shape_t& shape = shapes[0]; + btAlignedObjectArray vertices; + btAlignedObjectArray indices; + for (int i = 0; i < attribute.vertices.size(); i++) + { + vertices.push_back(attribute.vertices[i]); + } + for (int i = 0; i < shape.mesh.indices.size(); i++) + { + indices.push_back(shape.mesh.indices[i].vertex_index); + } + int numTris = shape.mesh.indices.size() / 3; + if (numTris > 0) + { + psb = btSoftBodyHelpers::CreateFromTriMesh(m_data->m_dynamicsWorld->getWorldInfo(), &vertices[0], &indices[0], numTris); + } + } #ifndef SKIP_DEFORMABLE_BODY - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE) - { - spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; - spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; - m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false)); - } + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE) + { + spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; + spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; + m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false)); + } #endif - } - else if (out_type == UrdfGeometry::FILE_VTK) - { + } + else if (out_type == UrdfGeometry::FILE_VTK) + { #ifndef SKIP_DEFORMABLE_BODY - psb = btSoftBodyHelpers::CreateFromVtkFile(m_data->m_dynamicsWorld->getWorldInfo(), out_found_filename.c_str()); - btScalar corotated_mu, corotated_lambda; - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE) - { - corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu; - corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda; - m_data->m_dynamicsWorld->addForce(psb, new btDeformableCorotatedForce(corotated_mu, corotated_lambda)); - } - btScalar neohookean_mu, neohookean_lambda; - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE) - { - neohookean_mu = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanMu; - neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda; - m_data->m_dynamicsWorld->addForce(psb, new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda)); - } - btScalar spring_elastic_stiffness, spring_damping_stiffness; - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE) - { - spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; - spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; - m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true)); - } + psb = btSoftBodyHelpers::CreateFromVtkFile(m_data->m_dynamicsWorld->getWorldInfo(), out_found_filename.c_str()); + btScalar corotated_mu, corotated_lambda; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE) + { + corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu; + corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda; + m_data->m_dynamicsWorld->addForce(psb, new btDeformableCorotatedForce(corotated_mu, corotated_lambda)); + } + btScalar neohookean_mu, neohookean_lambda; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE) + { + neohookean_mu = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanMu; + neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda; + m_data->m_dynamicsWorld->addForce(psb, new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda)); + } + btScalar spring_elastic_stiffness, spring_damping_stiffness; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE) + { + spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; + spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; + m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true)); + } #endif - } - if (psb != NULL) - { + } + if (psb != NULL) + { #ifndef SKIP_DEFORMABLE_BODY - btVector3 gravity = m_data->m_dynamicsWorld->getGravity(); - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_GRAVITY_FORCE) - { - m_data->m_dynamicsWorld->addForce(psb, new btDeformableGravityForce(gravity)); - } - btScalar collision_hardness = 1; - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_COLLISION_HARDNESS) - { - collision_hardness = loadSoftBodyArgs.m_collisionHardness; - } - psb->m_cfg.kKHR = collision_hardness; - psb->m_cfg.kCHR = collision_hardness; + btVector3 gravity = m_data->m_dynamicsWorld->getGravity(); + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_GRAVITY_FORCE) + { + m_data->m_dynamicsWorld->addForce(psb, new btDeformableGravityForce(gravity)); + } + btScalar collision_hardness = 1; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_COLLISION_HARDNESS) + { + collision_hardness = loadSoftBodyArgs.m_collisionHardness; + } + psb->m_cfg.kKHR = collision_hardness; + psb->m_cfg.kCHR = collision_hardness; - btScalar friction_coeff = 0; - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT) - { - friction_coeff = loadSoftBodyArgs.m_frictionCoeff; - } - psb->m_cfg.kDF = friction_coeff; - - bool use_bending_spring = true; - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS) - { - use_bending_spring = loadSoftBodyArgs.m_useBendingSprings; - } - btSoftBody::Material* pm = psb->appendMaterial(); - pm->m_flags -= btSoftBody::fMaterial::DebugDraw; - if (use_bending_spring) - { - psb->generateBendingConstraints(2,pm); - } + btScalar friction_coeff = 0; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT) + { + friction_coeff = loadSoftBodyArgs.m_frictionCoeff; + } + psb->m_cfg.kDF = friction_coeff; - // turn on the collision flag for deformable - // collision - psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; - psb->setCollisionFlags(0); - psb->setTotalMass(mass); -#else - btSoftBody::Material* pm = psb->appendMaterial(); - pm->m_kLST = 0.5; - pm->m_flags -= btSoftBody::fMaterial::DebugDraw; + bool use_bending_spring = true; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS) + { + use_bending_spring = loadSoftBodyArgs.m_useBendingSprings; + } + btSoftBody::Material* pm = psb->appendMaterial(); + pm->m_flags -= btSoftBody::fMaterial::DebugDraw; + if (use_bending_spring) + { psb->generateBendingConstraints(2, pm); - psb->m_cfg.piterations = 20; - psb->m_cfg.kDF = 0.5; - //turn on softbody vs softbody collision - psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS; - psb->randomizeConstraints(); - psb->setTotalMass(mass, true); + } + + // turn on the collision flag for deformable + // collision + psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; + psb->setCollisionFlags(0); + psb->setTotalMass(mass); +#else + 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; + //turn on softbody vs softbody collision + psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS; + psb->randomizeConstraints(); + psb->setTotalMass(mass, true); #endif - psb->scale(btVector3(scale, scale, scale)); - psb->rotate(initialOrn); - psb->translate(initialPos); + psb->scale(btVector3(scale, scale, scale)); + psb->rotate(initialOrn); + psb->translate(initialPos); - psb->getCollisionShape()->setMargin(collisionMargin); - psb->getCollisionShape()->setUserPointer(psb); - m_data->m_dynamicsWorld->addSoftBody(psb); - m_data->m_guiHelper->createCollisionShapeGraphicsObject(psb->getCollisionShape()); - m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld); - int bodyUniqueId = m_data->m_bodyHandles.allocHandle(); - InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId); - bodyHandle->m_softBody = psb; + psb->getCollisionShape()->setMargin(collisionMargin); + psb->getCollisionShape()->setUserPointer(psb); + m_data->m_dynamicsWorld->addSoftBody(psb); + m_data->m_guiHelper->createCollisionShapeGraphicsObject(psb->getCollisionShape()); + m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld); + int bodyUniqueId = m_data->m_bodyHandles.allocHandle(); + InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId); + bodyHandle->m_softBody = psb; - b3VisualShapeData visualShape; + b3VisualShapeData visualShape; - visualShape.m_objectUniqueId = bodyUniqueId; - visualShape.m_linkIndex = -1; - visualShape.m_visualGeometryType = URDF_GEOM_MESH; - //dimensions just contains the scale - visualShape.m_dimensions[0] = scale; - visualShape.m_dimensions[1] = scale; - visualShape.m_dimensions[2] = scale; - //filename - strncpy(visualShape.m_meshAssetFileName, relativeFileName, VISUAL_SHAPE_MAX_PATH_LEN); - visualShape.m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN - 1] = 0; - //position and orientation - visualShape.m_localVisualFrame[0] = initialPos[0]; - visualShape.m_localVisualFrame[1] = initialPos[1]; - visualShape.m_localVisualFrame[2] = initialPos[2]; - visualShape.m_localVisualFrame[3] = initialOrn[0]; - visualShape.m_localVisualFrame[4] = initialOrn[1]; - visualShape.m_localVisualFrame[5] = initialOrn[2]; - visualShape.m_localVisualFrame[6] = initialOrn[3]; - //color and ids to be set by the renderer - visualShape.m_rgbaColor[0] = 0; - visualShape.m_rgbaColor[1] = 0; - visualShape.m_rgbaColor[2] = 0; - visualShape.m_rgbaColor[3] = 1; - visualShape.m_tinyRendererTextureId = -1; - visualShape.m_textureUniqueId =-1; - visualShape.m_openglTextureId = -1; + visualShape.m_objectUniqueId = bodyUniqueId; + visualShape.m_linkIndex = -1; + visualShape.m_visualGeometryType = URDF_GEOM_MESH; + //dimensions just contains the scale + visualShape.m_dimensions[0] = scale; + visualShape.m_dimensions[1] = scale; + visualShape.m_dimensions[2] = scale; + //filename + strncpy(visualShape.m_meshAssetFileName, relativeFileName, VISUAL_SHAPE_MAX_PATH_LEN); + visualShape.m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN - 1] = 0; + //position and orientation + visualShape.m_localVisualFrame[0] = initialPos[0]; + visualShape.m_localVisualFrame[1] = initialPos[1]; + visualShape.m_localVisualFrame[2] = initialPos[2]; + visualShape.m_localVisualFrame[3] = initialOrn[0]; + visualShape.m_localVisualFrame[4] = initialOrn[1]; + visualShape.m_localVisualFrame[5] = initialOrn[2]; + visualShape.m_localVisualFrame[6] = initialOrn[3]; + //color and ids to be set by the renderer + visualShape.m_rgbaColor[0] = 0; + visualShape.m_rgbaColor[1] = 0; + visualShape.m_rgbaColor[2] = 0; + visualShape.m_rgbaColor[3] = 1; + visualShape.m_tinyRendererTextureId = -1; + visualShape.m_textureUniqueId = -1; + visualShape.m_openglTextureId = -1; - m_data->m_pluginManager.getRenderInterface()->addVisualShape(&visualShape, fileIO); + m_data->m_pluginManager.getRenderInterface()->addVisualShape(&visualShape, fileIO); - serverStatusOut.m_loadSoftBodyResultArguments.m_objectUniqueId = bodyUniqueId; - serverStatusOut.m_type = CMD_LOAD_SOFT_BODY_COMPLETED; + serverStatusOut.m_loadSoftBodyResultArguments.m_objectUniqueId = bodyUniqueId; + serverStatusOut.m_type = CMD_LOAD_SOFT_BODY_COMPLETED; - int streamSizeInBytes = createBodyInfoStream(bodyUniqueId, bufferServerToClient, bufferSizeInBytes); - serverStatusOut.m_numDataStreamBytes = streamSizeInBytes; + int streamSizeInBytes = createBodyInfoStream(bodyUniqueId, bufferServerToClient, bufferSizeInBytes); + serverStatusOut.m_numDataStreamBytes = streamSizeInBytes; #ifdef ENABLE_LINK_MAPPER - if (m_data->m_urdfLinkNameMapper.size()) - { - serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size() - 1)->m_memSerializer->getCurrentBufferSize(); - } + if (m_data->m_urdfLinkNameMapper.size()) + { + serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size() - 1)->m_memSerializer->getCurrentBufferSize(); + } #endif - serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId; - InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); - strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str()); + serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId; + InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); + strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str()); - b3Notification notification; - notification.m_notificationType = BODY_ADDED; - notification.m_bodyArgs.m_bodyUniqueId = bodyUniqueId; - m_data->m_pluginManager.addNotification(notification); + b3Notification notification; + notification.m_notificationType = BODY_ADDED; + notification.m_bodyArgs.m_bodyUniqueId = bodyUniqueId; + m_data->m_pluginManager.addNotification(notification); } } #endif @@ -8307,21 +8259,17 @@ bool PhysicsServerCommandProcessor::processProfileTimingCommand(const struct Sha { bool hasStatus = true; - { if (clientCmd.m_profile.m_type == 0) { - char** eventNamePtr = m_data->m_profileEvents[clientCmd.m_profile.m_name]; char* eventName = 0; if (eventNamePtr) { - eventName = *eventNamePtr; } else { - int len = strlen(clientCmd.m_profile.m_name); eventName = new char[len + 1]; strcpy(eventName, clientCmd.m_profile.m_name); @@ -8335,7 +8283,6 @@ bool PhysicsServerCommandProcessor::processProfileTimingCommand(const struct Sha { b3LeaveProfileZone(); } - } serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED; @@ -8345,13 +8292,13 @@ bool PhysicsServerCommandProcessor::processProfileTimingCommand(const struct Sha void setDefaultRootWorldAABB(SharedMemoryStatus& serverCmd) { - serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[0] = 0; - serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[1] = 0; - serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[2] = 0; + serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[0] = 0; + serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[1] = 0; + serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[2] = 0; - serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[0] = -1; - serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[1] = -1; - serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[2] = -1; + serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[0] = -1; + serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[1] = -1; + serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[2] = -1; } bool PhysicsServerCommandProcessor::processRequestCollisionInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) @@ -8368,7 +8315,7 @@ bool PhysicsServerCommandProcessor::processRequestCollisionInfoCommand(const str btMultiBody* mb = body->m_multiBody; serverStatusOut.m_type = CMD_REQUEST_COLLISION_INFO_COMPLETED; serverCmd.m_sendCollisionInfoArgs.m_numLinks = body->m_multiBody->getNumLinks(); - setDefaultRootWorldAABB(serverCmd); + setDefaultRootWorldAABB(serverCmd); if (body->m_multiBody->getBaseCollider()) { @@ -8412,34 +8359,35 @@ bool PhysicsServerCommandProcessor::processRequestCollisionInfoCommand(const str } else if (body && body->m_rigidBody) { - btRigidBody* rb = body->m_rigidBody; - SharedMemoryStatus& serverCmd = serverStatusOut; - serverStatusOut.m_type = CMD_REQUEST_COLLISION_INFO_COMPLETED; - serverCmd.m_sendCollisionInfoArgs.m_numLinks = 0; - setDefaultRootWorldAABB(serverCmd); + btRigidBody* rb = body->m_rigidBody; + SharedMemoryStatus& serverCmd = serverStatusOut; + serverStatusOut.m_type = CMD_REQUEST_COLLISION_INFO_COMPLETED; + serverCmd.m_sendCollisionInfoArgs.m_numLinks = 0; + setDefaultRootWorldAABB(serverCmd); - if (rb->getCollisionShape()) - { - btTransform tr = rb->getWorldTransform(); + if (rb->getCollisionShape()) + { + btTransform tr = rb->getWorldTransform(); - btVector3 aabbMin, aabbMax; - rb->getCollisionShape()->getAabb(tr, aabbMin, aabbMax); - serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[0] = aabbMin[0]; - serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[1] = aabbMin[1]; - serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[2] = aabbMin[2]; + btVector3 aabbMin, aabbMax; + rb->getCollisionShape()->getAabb(tr, aabbMin, aabbMax); + serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[0] = aabbMin[0]; + serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[1] = aabbMin[1]; + serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[2] = aabbMin[2]; - serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[0] = aabbMax[0]; - serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[1] = aabbMax[1]; - serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[2] = aabbMax[2]; - } + serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[0] = aabbMax[0]; + serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[1] = aabbMax[1]; + serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[2] = aabbMax[2]; + } } #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD - else if (body && body->m_softBody){ - SharedMemoryStatus& serverCmd = serverStatusOut; - serverStatusOut.m_type = CMD_REQUEST_COLLISION_INFO_COMPLETED; - serverCmd.m_sendCollisionInfoArgs.m_numLinks = 0; - setDefaultRootWorldAABB(serverCmd); - } + else if (body && body->m_softBody) + { + SharedMemoryStatus& serverCmd = serverStatusOut; + serverStatusOut.m_type = CMD_REQUEST_COLLISION_INFO_COMPLETED; + serverCmd.m_sendCollisionInfoArgs.m_numLinks = 0; + setDefaultRootWorldAABB(serverCmd); + } #endif return hasStatus; } @@ -8499,7 +8447,7 @@ bool PhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct S serverCmd.m_forwardDynamicsAnalyticsArgs.m_numIslands = islandAnalyticsData.size(); int numIslands = btMin(islandAnalyticsData.size(), MAX_ISLANDS_ANALYTICS); - for (int i=0;i= 0); @@ -8597,7 +8545,6 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc { mb->setCanWakeup(false); } - } if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING) @@ -8671,7 +8618,6 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc mb->getBaseCollider()->setCollisionFlags(oldFlags & ~btCollisionObject::CF_STATIC_OBJECT); mb->setFixedBase(false); m_data->m_dynamicsWorld->addCollisionObject(mb->getBaseCollider(), collisionFilterGroup, collisionFilterMask); - } } else @@ -8688,7 +8634,6 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc m_data->m_dynamicsWorld->addCollisionObject(mb->getBaseCollider(), collisionFilterGroup, collisionFilterMask); } } - } if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LOCAL_INERTIA_DIAGONAL) { @@ -8703,7 +8648,6 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc { mb->setMaxCoordinateVelocity(clientCmd.m_changeDynamicsInfoArgs.m_maxJointVelocity); } - } else { @@ -8747,7 +8691,7 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc } } - if (clientCmd.m_updateFlags &CHANGE_DYNAMICS_INFO_SET_JOINT_DAMPING) + if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_JOINT_DAMPING) { mb->getLink(linkIndex).m_jointDamping = clientCmd.m_changeDynamicsInfoArgs.m_jointDamping; } @@ -8775,7 +8719,6 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc } else { - btRigidBody* rb = 0; if (body && body->m_rigidBody) { @@ -8791,7 +8734,6 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc btRigidBody* childRb = &body->m_rigidBodyJoints[linkIndex]->getRigidBodyB(); rb = childRb; } - } } @@ -8888,8 +8830,6 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc rb->setContactProcessingThreshold(clientCmd.m_changeDynamicsInfoArgs.m_contactProcessingThreshold); } - - if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CCD_SWEPT_SPHERE_RADIUS) { rb->setCcdSweptSphereRadius(clientCmd.m_changeDynamicsInfoArgs.m_ccdSweptSphereRadius); @@ -8934,8 +8874,8 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S { SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_GET_DYNAMICS_INFO_COMPLETED; - serverCmd.m_dynamicsInfo.m_bodyType = BT_MULTI_BODY; - + serverCmd.m_dynamicsInfo.m_bodyType = BT_MULTI_BODY; + btMultiBody* mb = body->m_multiBody; if (linkIndex == -1) { @@ -9049,7 +8989,7 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S { SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_GET_DYNAMICS_INFO_COMPLETED; - serverCmd.m_dynamicsInfo.m_bodyType = BT_RIGID_BODY; + serverCmd.m_dynamicsInfo.m_bodyType = BT_RIGID_BODY; btRigidBody* rb = body->m_rigidBody; serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = rb->getFriction(); @@ -9060,7 +9000,8 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S serverCmd.m_dynamicsInfo.m_mass = rb->getMass(); } #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD - else if (body && body->m_softBody){ + else if (body && body->m_softBody) + { SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_GET_DYNAMICS_INFO_COMPLETED; serverCmd.m_dynamicsInfo.m_bodyType = BT_SOFT_BODY; @@ -9078,7 +9019,7 @@ bool PhysicsServerCommandProcessor::processRequestPhysicsSimulationParametersCom serverCmd.m_simulationParameterResultArgs.m_allowedCcdPenetration = m_data->m_dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration; serverCmd.m_simulationParameterResultArgs.m_collisionFilterMode = m_data->m_broadphaseCollisionFilterCallback->m_filterMode; serverCmd.m_simulationParameterResultArgs.m_deltaTime = m_data->m_physicsDeltaTime; - serverCmd.m_simulationParameterResultArgs.m_simulationTimestamp = m_data->m_simulationTimestamp; + serverCmd.m_simulationParameterResultArgs.m_simulationTimestamp = m_data->m_simulationTimestamp; serverCmd.m_simulationParameterResultArgs.m_contactBreakingThreshold = gContactBreakingThreshold; serverCmd.m_simulationParameterResultArgs.m_contactSlop = m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop; serverCmd.m_simulationParameterResultArgs.m_enableSAT = m_data->m_dynamicsWorld->getDispatchInfo().m_enableSatConvex; @@ -9125,7 +9066,6 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st BT_PROFILE("CMD_SEND_PHYSICS_SIMULATION_PARAMETERS"); - if (clientCmd.m_updateFlags & SIM_PARAM_ENABLE_CONE_FRICTION) { if (clientCmd.m_physSimParamArgs.m_enableConeFriction) @@ -9250,7 +9190,7 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st } }; -#ifdef SKIP_DEFORMABLE_BODY +#ifdef SKIP_DEFORMABLE_BODY if (newSolver) { delete oldSolver; @@ -9320,7 +9260,7 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st if (clientCmd.m_updateFlags & SIM_PARAM_ENABLE_FILE_CACHING) { b3EnableFileCaching(clientCmd.m_physSimParamArgs.m_enableFileCaching); - m_data->m_pluginManager.getFileIOInterface()->enableFileCaching(clientCmd.m_physSimParamArgs.m_enableFileCaching!=0); + m_data->m_pluginManager.getFileIOInterface()->enableFileCaching(clientCmd.m_physSimParamArgs.m_enableFileCaching != 0); } if (clientCmd.m_updateFlags & SIM_PARAM_REPORT_CONSTRAINT_SOLVER_ANALYTICS) @@ -9340,7 +9280,7 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st bool PhysicsServerCommandProcessor::processInitPoseCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) { bool hasStatus = true; - + BT_PROFILE("CMD_INIT_POSE"); if (m_data->m_verboseOutput) @@ -9428,7 +9368,7 @@ bool PhysicsServerCommandProcessor::processInitPoseCommand(const struct SharedMe for (int j = 0; j < posVarCount; j++) { - if (clientCmd.m_initPoseArgs.m_hasInitialStateQ[posVarCountIndex+j] == 0) + if (clientCmd.m_initPoseArgs.m_hasInitialStateQ[posVarCountIndex + j] == 0) { hasPosVar = false; break; @@ -9439,7 +9379,7 @@ bool PhysicsServerCommandProcessor::processInitPoseCommand(const struct SharedMe if (mb->getLink(i).m_dofCount == 1) { mb->setJointPos(i, clientCmd.m_initPoseArgs.m_initialStateQ[posVarCountIndex]); - mb->setJointVel(i, 0);//backwards compatibility + mb->setJointVel(i, 0); //backwards compatibility } if (mb->getLink(i).m_dofCount == 3) { @@ -9450,7 +9390,7 @@ bool PhysicsServerCommandProcessor::processInitPoseCommand(const struct SharedMe clientCmd.m_initPoseArgs.m_initialStateQ[posVarCountIndex + 3]); q.normalize(); mb->setJointPosMultiDof(i, &q[0]); - double vel[6] = { 0, 0, 0, 0, 0, 0 }; + double vel[6] = {0, 0, 0, 0, 0, 0}; mb->setJointVelMultiDof(i, vel); } } @@ -9855,11 +9795,9 @@ bool PhysicsServerCommandProcessor::processConfigureOpenGLVisualizerCommand(cons m_data->m_remoteSyncTransformInterval = clientCmd.m_configureOpenGLVisualizerArguments.m_remoteSyncTransformInterval; } - return hasStatus; } - bool PhysicsServerCommandProcessor::processInverseDynamicsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) { bool hasStatus = true; @@ -9875,8 +9813,8 @@ bool PhysicsServerCommandProcessor::processInverseDynamicsCommand(const struct S #ifdef STATIC_LINK_SPD_PLUGIN { cRBDModel* rbdModel = m_data->findOrCreateRBDModel(bodyHandle->m_multiBody, - clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ, - clientCmd.m_calculateInverseDynamicsArguments.m_jointVelocitiesQdot); + clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ, + clientCmd.m_calculateInverseDynamicsArguments.m_jointVelocitiesQdot); if (rbdModel) { int posVal = bodyHandle->m_multiBody->getNumPosVars(); @@ -9893,11 +9831,11 @@ bool PhysicsServerCommandProcessor::processInverseDynamicsCommand(const struct S serverCmd.m_inverseDynamicsResultArgs.m_dofCount = dof; serverCmd.m_type = CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED; - } } #endif - } else + } + else { btInverseDynamics::MultiBodyTree* tree = m_data->findOrCreateTree(bodyHandle->m_multiBody); @@ -9908,7 +9846,6 @@ bool PhysicsServerCommandProcessor::processInverseDynamicsCommand(const struct S if (tree && clientCmd.m_calculateInverseDynamicsArguments.m_dofCountQ == (baseDofQ + num_dofs) && clientCmd.m_calculateInverseDynamicsArguments.m_dofCountQdot == (baseDofQdot + num_dofs)) { - btInverseDynamics::vecx nu(num_dofs + baseDofQdot), qdot(num_dofs + baseDofQdot), q(num_dofs + baseDofQdot), joint_force(num_dofs + baseDofQdot); //for floating base, inverse dynamics expects euler angle x,y,z and position x,y,z in that order @@ -9916,13 +9853,13 @@ bool PhysicsServerCommandProcessor::processInverseDynamicsCommand(const struct S if (baseDofQ) { btVector3 pos(clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[0], - clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[1], - clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[2]); + clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[1], + clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[2]); btQuaternion orn(clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[0], - clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[1], - clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[2], - clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[3]); + clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[1], + clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[2], + clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[3]); btScalar yawZ, pitchY, rollX; orn.getEulerZYX(yawZ, pitchY, rollX); q[0] = rollX; @@ -10085,7 +10022,7 @@ bool PhysicsServerCommandProcessor::processCalculateMassMatrixCommand(const stru { bool hasStatus = true; BT_PROFILE("CMD_CALCULATE_MASS_MATRIX"); - + SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_CALCULATED_MASS_MATRIX_FAILED; InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_calculateMassMatrixArguments.m_bodyUniqueId); @@ -10100,15 +10037,15 @@ bool PhysicsServerCommandProcessor::processCalculateMassMatrixCommand(const stru int dof = 7 + posVal; zeroVel.resize(dof); cRBDModel* rbdModel = m_data->findOrCreateRBDModel(bodyHandle->m_multiBody, clientCmd.m_calculateMassMatrixArguments.m_jointPositionsQ, - &zeroVel[0]); + &zeroVel[0]); if (rbdModel) { //Eigen::MatrixXd out_mass; //cRBDUtil::BuildMassMat(*rbdModel, out_mass); const Eigen::MatrixXd& out_mass = rbdModel->GetMassMat(); - int skipDofs = 0;// 7 - baseDofQ; + int skipDofs = 0; // 7 - baseDofQ; int totDofs = dof; - serverCmd.m_massMatrixResultArgs.m_dofCount = totDofs-skipDofs; + serverCmd.m_massMatrixResultArgs.m_dofCount = totDofs - skipDofs; // Fill in the result into the shared memory. double* sharedBuf = (double*)bufferServerToClient; int sizeInBytes = totDofs * totDofs * sizeof(double); @@ -10118,7 +10055,7 @@ bool PhysicsServerCommandProcessor::processCalculateMassMatrixCommand(const stru { for (int j = skipDofs; j < (totDofs); ++j) { - int element = (totDofs- skipDofs)*(i- skipDofs) + (j- skipDofs); + int element = (totDofs - skipDofs) * (i - skipDofs) + (j - skipDofs); double v = out_mass(i, j); if (i == j && v == 0) { @@ -10135,7 +10072,6 @@ bool PhysicsServerCommandProcessor::processCalculateMassMatrixCommand(const stru } else { - btInverseDynamics::MultiBodyTree* tree = m_data->findOrCreateTree(bodyHandle->m_multiBody); if (tree) @@ -10940,7 +10876,6 @@ bool PhysicsServerCommandProcessor::processCreateUserConstraintCommand(const str return hasStatus; } - bool PhysicsServerCommandProcessor::processCalculateInverseKinematicsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) { bool hasStatus = true; @@ -10972,13 +10907,13 @@ bool PhysicsServerCommandProcessor::processCalculateInverseKinematicsCommand(con startingPositions.reserve(bodyHandle->m_multiBody->getNumLinks()); btVector3 targetPosWorld(clientCmd.m_calculateInverseKinematicsArguments.m_targetPositions[0], - clientCmd.m_calculateInverseKinematicsArguments.m_targetPositions[1], - clientCmd.m_calculateInverseKinematicsArguments.m_targetPositions[2]); + clientCmd.m_calculateInverseKinematicsArguments.m_targetPositions[1], + clientCmd.m_calculateInverseKinematicsArguments.m_targetPositions[2]); btQuaternion targetOrnWorld(clientCmd.m_calculateInverseKinematicsArguments.m_targetOrientation[0], - clientCmd.m_calculateInverseKinematicsArguments.m_targetOrientation[1], - clientCmd.m_calculateInverseKinematicsArguments.m_targetOrientation[2], - clientCmd.m_calculateInverseKinematicsArguments.m_targetOrientation[3]); + clientCmd.m_calculateInverseKinematicsArguments.m_targetOrientation[1], + clientCmd.m_calculateInverseKinematicsArguments.m_targetOrientation[2], + clientCmd.m_calculateInverseKinematicsArguments.m_targetOrientation[3]); btTransform targetBaseCoord; if (clientCmd.m_updateFlags & IK_HAS_CURRENT_JOINT_POSITIONS) @@ -11215,15 +11150,15 @@ bool PhysicsServerCommandProcessor::processCalculateInverseKinematicsCommand(con } ikHelperPtr->setDampingCoeff(numDofs, &joint_damping[0]); - double targetDampCoeff[6] = { 1.0, 1.0, 1.0, 1.0, 1.0, 1.0 }; + double targetDampCoeff[6] = {1.0, 1.0, 1.0, 1.0, 1.0, 1.0}; { BT_PROFILE("computeIK"); ikHelperPtr->computeIK(targetPosBaseCoord.m_floats, targetOrnBaseCoord.m_floats, - endEffectorWorldPosition.m_floats, endEffectorWorldOrientation.m_floats, - &q_current[0], - numDofs, clientCmd.m_calculateInverseKinematicsArguments.m_endEffectorLinkIndices[0], - &q_new[0], ikMethod, &jacobian_linear[0], &jacobian_angular[0], jacSize * 2, targetDampCoeff); + endEffectorWorldPosition.m_floats, endEffectorWorldOrientation.m_floats, + &q_current[0], + numDofs, clientCmd.m_calculateInverseKinematicsArguments.m_endEffectorLinkIndices[0], + &q_new[0], ikMethod, &jacobian_linear[0], &jacobian_angular[0], jacSize * 2, targetDampCoeff); } serverCmd.m_inverseKinematicsResultArgs.m_bodyUniqueId = clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId; for (int i = 0; i < numDofs; i++) @@ -11268,11 +11203,9 @@ bool PhysicsServerCommandProcessor::processCalculateInverseKinematicsCommand2(co ikHelperPtr = tmpHelper; } - btAlignedObjectArray startingPositions; startingPositions.reserve(bodyHandle->m_multiBody->getNumLinks()); - { int DofIndex = 0; for (int i = 0; i < bodyHandle->m_multiBody->getNumLinks(); ++i) @@ -11331,18 +11264,17 @@ bool PhysicsServerCommandProcessor::processCalculateInverseKinematicsCommand2(co for (int ne = 0; ne < clientCmd.m_calculateInverseKinematicsArguments.m_numEndEffectorLinkIndices; ne++) { - int endEffectorLinkIndex = clientCmd.m_calculateInverseKinematicsArguments.m_endEffectorLinkIndices[ne]; validEndEffectorLinkIndices = validEndEffectorLinkIndices && (endEffectorLinkIndex < bodyHandle->m_multiBody->getNumLinks()); - btVector3 targetPosWorld(clientCmd.m_calculateInverseKinematicsArguments.m_targetPositions[ne*3+0], - clientCmd.m_calculateInverseKinematicsArguments.m_targetPositions[ne * 3 + 1], - clientCmd.m_calculateInverseKinematicsArguments.m_targetPositions[ne * 3 + 2]); + btVector3 targetPosWorld(clientCmd.m_calculateInverseKinematicsArguments.m_targetPositions[ne * 3 + 0], + clientCmd.m_calculateInverseKinematicsArguments.m_targetPositions[ne * 3 + 1], + clientCmd.m_calculateInverseKinematicsArguments.m_targetPositions[ne * 3 + 2]); btQuaternion targetOrnWorld(clientCmd.m_calculateInverseKinematicsArguments.m_targetOrientation[ne * 4 + 0], - clientCmd.m_calculateInverseKinematicsArguments.m_targetOrientation[ne * 4 + 1], - clientCmd.m_calculateInverseKinematicsArguments.m_targetOrientation[ne * 4 + 2], - clientCmd.m_calculateInverseKinematicsArguments.m_targetOrientation[ne * 4 + 3]); + clientCmd.m_calculateInverseKinematicsArguments.m_targetOrientation[ne * 4 + 1], + clientCmd.m_calculateInverseKinematicsArguments.m_targetOrientation[ne * 4 + 2], + clientCmd.m_calculateInverseKinematicsArguments.m_targetOrientation[ne * 4 + 3]); btTransform targetBaseCoord; if (clientCmd.m_updateFlags & IK_HAS_CURRENT_JOINT_POSITIONS) @@ -11378,8 +11310,8 @@ bool PhysicsServerCommandProcessor::processCalculateInverseKinematicsCommand2(co BT_PROFILE("InverseKinematics1Step"); if (ikHelperPtr && validEndEffectorLinkIndices) { - jacobian_linear.resize(clientCmd.m_calculateInverseKinematicsArguments.m_numEndEffectorLinkIndices*3 * numDofs); - jacobian_angular.resize(clientCmd.m_calculateInverseKinematicsArguments.m_numEndEffectorLinkIndices*3 * numDofs); + jacobian_linear.resize(clientCmd.m_calculateInverseKinematicsArguments.m_numEndEffectorLinkIndices * 3 * numDofs); + jacobian_angular.resize(clientCmd.m_calculateInverseKinematicsArguments.m_numEndEffectorLinkIndices * 3 * numDofs); int jacSize = 0; btInverseDynamics::MultiBodyTree* tree = m_data->findOrCreateTree(bodyHandle->m_multiBody); @@ -11419,13 +11351,12 @@ bool PhysicsServerCommandProcessor::processCalculateInverseKinematicsCommand2(co btInverseDynamics::mat3x jac_t(3, numDofs + baseDofs); btInverseDynamics::mat3x jac_r(3, numDofs + baseDofs); currentDiff = 0; - + endEffectorCurrentWorldPositions.resize(0); endEffectorCurrentWorldPositions.reserve(clientCmd.m_calculateInverseKinematicsArguments.m_numEndEffectorLinkIndices * 3); - + for (int ne = 0; ne < clientCmd.m_calculateInverseKinematicsArguments.m_numEndEffectorLinkIndices; ne++) { - int endEffectorLinkIndex2 = clientCmd.m_calculateInverseKinematicsArguments.m_endEffectorLinkIndices[ne]; // Note that inverse dynamics uses zero-based indexing of bodies, not starting from -1 for the base link. @@ -11433,7 +11364,7 @@ bool PhysicsServerCommandProcessor::processCalculateInverseKinematicsCommand2(co tree->getBodyJacobianRot(endEffectorLinkIndex2 + 1, &jac_r); //calculatePositionKinematics is already done inside calculateInverseDynamics - + tree->getBodyOrigin(endEffectorLinkIndex2 + 1, &world_origin); tree->getBodyTransform(endEffectorLinkIndex2 + 1, &world_rot); @@ -11441,21 +11372,20 @@ bool PhysicsServerCommandProcessor::processCalculateInverseKinematicsCommand2(co { for (int j = 0; j < numDofs; ++j) { - jacobian_linear[(ne*3+i) * numDofs + j] = jac_t(i, (baseDofs + j)); + jacobian_linear[(ne * 3 + i) * numDofs + j] = jac_t(i, (baseDofs + j)); jacobian_angular[(ne * 3 + i) * numDofs + j] = jac_r(i, (baseDofs + j)); } } - + endEffectorCurrentWorldPositions.push_back(world_origin[0]); endEffectorCurrentWorldPositions.push_back(world_origin[1]); endEffectorCurrentWorldPositions.push_back(world_origin[2]); - - btInverseDynamics::vec3 targetPos(btVector3(endEffectorTargetWorldPositions[ne*3+0], - endEffectorTargetWorldPositions[ne * 3 + 1], - endEffectorTargetWorldPositions[ne * 3 + 2])); + + btInverseDynamics::vec3 targetPos(btVector3(endEffectorTargetWorldPositions[ne * 3 + 0], + endEffectorTargetWorldPositions[ne * 3 + 1], + endEffectorTargetWorldPositions[ne * 3 + 2])); //diff currentDiff = btMax(currentDiff, (world_origin - targetPos).length()); - } } } @@ -11544,9 +11474,6 @@ bool PhysicsServerCommandProcessor::processCalculateInverseKinematicsCommand2(co endEffectorBaseCoord.getOrigin().serializeDouble(endEffectorWorldPosition); endEffectorBaseCoord.getRotation().serializeDouble(endEffectorWorldOrientation); - - - // Set joint damping coefficents. A small default // damping constant is added to prevent singularity // with pseudo inverse. The user can set joint damping @@ -11567,12 +11494,11 @@ bool PhysicsServerCommandProcessor::processCalculateInverseKinematicsCommand2(co double targetDampCoeff[6] = {1.0, 1.0, 1.0, 1.0, 1.0, 1.0}; bool performedIK = false; - if (clientCmd.m_calculateInverseKinematicsArguments.m_numEndEffectorLinkIndices==1) + if (clientCmd.m_calculateInverseKinematicsArguments.m_numEndEffectorLinkIndices == 1) { - BT_PROFILE("computeIK"); ikHelperPtr->computeIK(&endEffectorTargetWorldPositions[0], - &endEffectorTargetWorldOrientations[0], + &endEffectorTargetWorldOrientations[0], endEffectorWorldPosition.m_floats, endEffectorWorldOrientation.m_floats, &q_current[0], numDofs, clientCmd.m_calculateInverseKinematicsArguments.m_endEffectorLinkIndices[0], @@ -11581,16 +11507,15 @@ bool PhysicsServerCommandProcessor::processCalculateInverseKinematicsCommand2(co } else { - - if (clientCmd.m_calculateInverseKinematicsArguments.m_numEndEffectorLinkIndices>1) + if (clientCmd.m_calculateInverseKinematicsArguments.m_numEndEffectorLinkIndices > 1) { ikHelperPtr->computeIK2(&endEffectorTargetWorldPositions[0], &endEffectorCurrentWorldPositions[0], - clientCmd.m_calculateInverseKinematicsArguments.m_numEndEffectorLinkIndices, - //endEffectorWorldOrientation.m_floats, - &q_current[0], - numDofs, - &q_new[0], ikMethod, &jacobian_linear[0], targetDampCoeff); + clientCmd.m_calculateInverseKinematicsArguments.m_numEndEffectorLinkIndices, + //endEffectorWorldOrientation.m_floats, + &q_current[0], + numDofs, + &q_new[0], ikMethod, &jacobian_linear[0], targetDampCoeff); performedIK = true; } } @@ -11645,13 +11570,13 @@ int PhysicsServerCommandProcessor::extractCollisionShapes(const btCollisionShape { case STATIC_PLANE_PROXYTYPE: { - btStaticPlaneShape* plane = (btStaticPlaneShape*) colShape; - collisionShapeBuffer[0].m_collisionGeometryType = GEOM_PLANE; - collisionShapeBuffer[0].m_dimensions[0] = plane->getPlaneNormal()[0]; - collisionShapeBuffer[0].m_dimensions[1] = plane->getPlaneNormal()[1]; - collisionShapeBuffer[0].m_dimensions[2] = plane->getPlaneNormal()[2]; - numConverted += 1; - break; + btStaticPlaneShape* plane = (btStaticPlaneShape*)colShape; + collisionShapeBuffer[0].m_collisionGeometryType = GEOM_PLANE; + collisionShapeBuffer[0].m_dimensions[0] = plane->getPlaneNormal()[0]; + collisionShapeBuffer[0].m_dimensions[1] = plane->getPlaneNormal()[1]; + collisionShapeBuffer[0].m_dimensions[2] = plane->getPlaneNormal()[2]; + numConverted += 1; + break; } case TRIANGLE_MESH_SHAPE_PROXYTYPE: case SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE: @@ -11817,56 +11742,59 @@ bool PhysicsServerCommandProcessor::processRequestVisualShapeInfoCommand(const s //int totalBytesPerVisualShape = sizeof (b3VisualShapeData); //int visualShapeStorage = bufferSizeInBytes / totalBytesPerVisualShape - 1; - //set serverCmd.m_sendVisualShapeArgs when totalNumVisualShapes is zero - if (totalNumVisualShapes==0) { - serverCmd.m_sendVisualShapeArgs.m_numRemainingVisualShapes = 0; - serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied = 0; - serverCmd.m_sendVisualShapeArgs.m_startingVisualShapeIndex = clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex; - serverCmd.m_sendVisualShapeArgs.m_bodyUniqueId = clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId; - serverCmd.m_numDataStreamBytes = sizeof(b3VisualShapeData) * serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied; - serverCmd.m_type = CMD_VISUAL_SHAPE_INFO_COMPLETED; - } - - else{ - b3VisualShapeData* visualShapeStoragePtr = (b3VisualShapeData*)bufferServerToClient; - - int remain = totalNumVisualShapes - clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex; - int shapeIndex = clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex; - - int success = m_data->m_pluginManager.getRenderInterface()->getVisualShapesData(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId, - shapeIndex, - visualShapeStoragePtr); - if (success) + //set serverCmd.m_sendVisualShapeArgs when totalNumVisualShapes is zero + if (totalNumVisualShapes == 0) { - //find the matching texture unique ids. - if (visualShapeStoragePtr->m_tinyRendererTextureId >= 0) - { - b3AlignedObjectArray usedHandles; - m_data->m_textureHandles.getUsedHandles(usedHandles); - - for (int i = 0; i < usedHandles.size(); i++) - { - int texHandle = usedHandles[i]; - InternalTextureHandle* texH = m_data->m_textureHandles.getHandle(texHandle); - if (texH && (texH->m_tinyRendererTextureId == visualShapeStoragePtr->m_tinyRendererTextureId)) - { - visualShapeStoragePtr->m_openglTextureId = texH->m_openglTextureId; - visualShapeStoragePtr->m_textureUniqueId = texHandle; - } - } - } - - serverCmd.m_sendVisualShapeArgs.m_numRemainingVisualShapes = remain - 1; - serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied = 1; + serverCmd.m_sendVisualShapeArgs.m_numRemainingVisualShapes = 0; + serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied = 0; serverCmd.m_sendVisualShapeArgs.m_startingVisualShapeIndex = clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex; serverCmd.m_sendVisualShapeArgs.m_bodyUniqueId = clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId; serverCmd.m_numDataStreamBytes = sizeof(b3VisualShapeData) * serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied; serverCmd.m_type = CMD_VISUAL_SHAPE_INFO_COMPLETED; } - else{ - b3Warning("failed to get shape info"); - } - } + + else + { + b3VisualShapeData* visualShapeStoragePtr = (b3VisualShapeData*)bufferServerToClient; + + int remain = totalNumVisualShapes - clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex; + int shapeIndex = clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex; + + int success = m_data->m_pluginManager.getRenderInterface()->getVisualShapesData(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId, + shapeIndex, + visualShapeStoragePtr); + if (success) + { + //find the matching texture unique ids. + if (visualShapeStoragePtr->m_tinyRendererTextureId >= 0) + { + b3AlignedObjectArray usedHandles; + m_data->m_textureHandles.getUsedHandles(usedHandles); + + for (int i = 0; i < usedHandles.size(); i++) + { + int texHandle = usedHandles[i]; + InternalTextureHandle* texH = m_data->m_textureHandles.getHandle(texHandle); + if (texH && (texH->m_tinyRendererTextureId == visualShapeStoragePtr->m_tinyRendererTextureId)) + { + visualShapeStoragePtr->m_openglTextureId = texH->m_openglTextureId; + visualShapeStoragePtr->m_textureUniqueId = texHandle; + } + } + } + + serverCmd.m_sendVisualShapeArgs.m_numRemainingVisualShapes = remain - 1; + serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied = 1; + serverCmd.m_sendVisualShapeArgs.m_startingVisualShapeIndex = clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex; + serverCmd.m_sendVisualShapeArgs.m_bodyUniqueId = clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId; + serverCmd.m_numDataStreamBytes = sizeof(b3VisualShapeData) * serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied; + serverCmd.m_type = CMD_VISUAL_SHAPE_INFO_COMPLETED; + } + else + { + b3Warning("failed to get shape info"); + } + } } return hasStatus; } @@ -11882,7 +11810,7 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_TEXTURE) { - if (clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId>=0) + if (clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId >= 0) { texHandle = m_data->m_textureHandles.getHandle(clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId); } @@ -11898,12 +11826,13 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, texHandle->m_tinyRendererTextureId); } - } else + } + else { m_data->m_pluginManager.getRenderInterface()->changeShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, - clientCmd.m_updateVisualShapeDataArguments.m_jointIndex, - clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, - -1); + clientCmd.m_updateVisualShapeDataArguments.m_jointIndex, + clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, + -1); } } } @@ -11928,7 +11857,8 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct if (texHandle) { m_data->m_guiHelper->replaceTexture(shapeIndex, texHandle->m_openglTextureId); - } else + } + else { m_data->m_guiHelper->replaceTexture(shapeIndex, -1); } @@ -12089,14 +12019,14 @@ bool PhysicsServerCommandProcessor::processLoadTextureCommand(const struct Share { b3AlignedObjectArray buffer; buffer.reserve(1024); - int fileId = fileIO->fileOpen(relativeFileName,"rb"); - if (fileId>=0) + int fileId = fileIO->fileOpen(relativeFileName, "rb"); + if (fileId >= 0) { int size = fileIO->getFileSize(fileId); - if (size>0) + if (size > 0) { buffer.resize(size); - int actual = fileIO->fileRead(fileId,&buffer[0],size); + int actual = fileIO->fileRead(fileId, &buffer[0], size); if (actual != size) { b3Warning("image filesize mismatch!\n"); @@ -12109,7 +12039,8 @@ bool PhysicsServerCommandProcessor::processLoadTextureCommand(const struct Share { imageData = stbi_load_from_memory((const unsigned char*)&buffer[0], buffer.size(), &width, &height, &n, 3); } - } else + } + else { imageData = stbi_load(relativeFileName, &width, &height, &n, 3); } @@ -12138,7 +12069,7 @@ bool PhysicsServerCommandProcessor::processLoadTextureCommand(const struct Share bool PhysicsServerCommandProcessor::processSaveStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) { BT_PROFILE("CMD_SAVE_STATE"); - bool hasStatus = true; + bool hasStatus = true; SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_SAVE_STATE_FAILED; @@ -12178,7 +12109,6 @@ bool PhysicsServerCommandProcessor::processSaveStateCommand(const struct SharedM return hasStatus; } - bool PhysicsServerCommandProcessor::processRemoveStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) { BT_PROFILE("CMD_REMOVE_STATE"); @@ -12201,7 +12131,6 @@ bool PhysicsServerCommandProcessor::processRemoveStateCommand(const struct Share return hasStatus; } - bool PhysicsServerCommandProcessor::processRestoreStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) { BT_PROFILE("CMD_RESTORE_STATE"); @@ -12236,27 +12165,27 @@ bool PhysicsServerCommandProcessor::processRestoreStateCommand(const struct Shar buffer.reserve(1024); if (fileIO) { - int fileId = -1; - found = fileIO->findResourcePath(clientCmd.m_fileArguments.m_fileName, fileName, 1024); + found = fileIO->findResourcePath(clientCmd.m_fileArguments.m_fileName, fileName, 1024); if (found) { - fileId = fileIO->fileOpen(fileName,"rb"); + fileId = fileIO->fileOpen(fileName, "rb"); } - if (fileId>=0) + if (fileId >= 0) { int size = fileIO->getFileSize(fileId); - if (size>0) + if (size > 0) { buffer.resize(size); - int actual = fileIO->fileRead(fileId,&buffer[0],size); + int actual = fileIO->fileRead(fileId, &buffer[0], size); if (actual != size) { b3Warning("image filesize mismatch!\n"); buffer.resize(0); - } else + } + else { - found=true; + found = true; } } fileIO->fileClose(fileId); @@ -12266,7 +12195,8 @@ bool PhysicsServerCommandProcessor::processRestoreStateCommand(const struct Shar if (found && buffer.size()) { ok = importer->loadFileFromMemory(&buffer[0], buffer.size()); - } else + } + else { b3Error("Error in restoreState: cannot load file %s\n", clientCmd.m_fileArguments.m_fileName); } @@ -12300,25 +12230,26 @@ bool PhysicsServerCommandProcessor::processLoadBulletCommand(const struct Shared { char fileName[1024]; int fileId = -1; - found = fileIO->findResourcePath(clientCmd.m_fileArguments.m_fileName, fileName, 1024); + found = fileIO->findResourcePath(clientCmd.m_fileArguments.m_fileName, fileName, 1024); if (found) { - fileId = fileIO->fileOpen(fileName,"rb"); + fileId = fileIO->fileOpen(fileName, "rb"); } - if (fileId>=0) + if (fileId >= 0) { int size = fileIO->getFileSize(fileId); - if (size>0) + if (size > 0) { buffer.resize(size); - int actual = fileIO->fileRead(fileId,&buffer[0],size); + int actual = fileIO->fileRead(fileId, &buffer[0], size); if (actual != size) { b3Warning("image filesize mismatch!\n"); buffer.resize(0); - } else + } + else { - found=true; + found = true; } } fileIO->fileClose(fileId); @@ -12548,7 +12479,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } case CMD_LOAD_SOFT_BODY: { - hasStatus = processLoadSoftBodyCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes); + hasStatus = processLoadSoftBodyCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes); break; } case CMD_CREATE_SENSOR: @@ -12698,10 +12629,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } case CMD_CALCULATE_INVERSE_KINEMATICS: { - if (clientCmd.m_calculateInverseKinematicsArguments.m_numEndEffectorLinkIndices==1) + if (clientCmd.m_calculateInverseKinematicsArguments.m_numEndEffectorLinkIndices == 1) { hasStatus = processCalculateInverseKinematicsCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes); - } else + } + else { hasStatus = processCalculateInverseKinematicsCommand2(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes); } @@ -12817,13 +12749,11 @@ void PhysicsServerCommandProcessor::syncPhysicsToGraphics() m_data->m_guiHelper->syncPhysicsToGraphics(m_data->m_dynamicsWorld); } - void PhysicsServerCommandProcessor::syncPhysicsToGraphics2() { - m_data->m_guiHelper->syncPhysicsToGraphics2(m_data->m_dynamicsWorld); + m_data->m_guiHelper->syncPhysicsToGraphics2(m_data->m_dynamicsWorld); } - void PhysicsServerCommandProcessor::renderScene(int renderFlags) { if (m_data->m_guiHelper) @@ -12836,18 +12766,21 @@ 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->getSoftBodyArray().size()) + if (m_data->m_dynamicsWorld) { - for (int i = 0; i < m_data->m_dynamicsWorld->getSoftBodyArray().size(); i++) + if (m_data->m_dynamicsWorld->getSoftBodyArray().size()) { - btSoftBody* psb = (btSoftBody*)m_data->m_dynamicsWorld->getSoftBodyArray()[i]; + for (int i = 0; i < m_data->m_dynamicsWorld->getSoftBodyArray().size(); i++) { - btSoftBodyHelpers::DrawFrame(psb, m_data->m_dynamicsWorld->getDebugDrawer()); - btSoftBodyHelpers::Draw(psb, m_data->m_dynamicsWorld->getDebugDrawer(), m_data->m_dynamicsWorld->getDrawFlags()); + btSoftBody* psb = (btSoftBody*)m_data->m_dynamicsWorld->getSoftBodyArray()[i]; + { + btSoftBodyHelpers::DrawFrame(psb, m_data->m_dynamicsWorld->getDebugDrawer()); + btSoftBodyHelpers::Draw(psb, m_data->m_dynamicsWorld->getDebugDrawer(), m_data->m_dynamicsWorld->getDrawFlags()); + } } + m_data->m_guiHelper->drawDebugDrawerLines(); + m_data->m_guiHelper->clearLines(); } - m_data->m_guiHelper->drawDebugDrawerLines(); - m_data->m_guiHelper->clearLines(); } #endif #endif @@ -13167,8 +13100,8 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec, const } btScalar deltaTimeScaled = dtInSec * simTimeScalingFactor; - int numSteps = m_data->m_dynamicsWorld->stepSimulation(deltaTimeScaled, maxSteps, gSubStep); - m_data->m_simulationTimestamp += deltaTimeScaled; + int numSteps = m_data->m_dynamicsWorld->stepSimulation(deltaTimeScaled, maxSteps, gSubStep); + m_data->m_simulationTimestamp += deltaTimeScaled; gDroppedSimulationSteps += numSteps > maxSteps ? numSteps - maxSteps : 0; if (numSteps) @@ -13267,7 +13200,7 @@ void PhysicsServerCommandProcessor::resetSimulation() m_data->m_remoteSyncTransformTime = m_data->m_remoteSyncTransformInterval; m_data->m_simulationTimestamp = 0; - m_data->m_cachedVUrdfisualShapes.clear(); + m_data->m_cachedVUrdfisualShapes.clear(); #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD if (m_data && m_data->m_dynamicsWorld) @@ -13320,7 +13253,6 @@ void PhysicsServerCommandProcessor::resetSimulation() m_data->m_pluginManager.addNotification(notification); syncPhysicsToGraphics2(); - } void PhysicsServerCommandProcessor::setTimeOut(double /*timeOutInSeconds*/) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 45bad547e..356ecfa5c 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -9024,8 +9024,21 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje if (statusType == CMD_CREATE_MULTI_BODY_COMPLETED) { int uid = b3GetStatusBodyIndex(statusHandle); - PyObject* ob = PyLong_FromLong(uid); - return ob; + if (numBatchPositions > 0) + { + PyObject* pyResultList = PyTuple_New(numBatchPositions ); + for (i = 0; i < numBatchPositions; i++) + { + PyTuple_SetItem(pyResultList, i, PyLong_FromLong(uid - numBatchPositions + i + 1)); + } + return pyResultList; + + } + else + { + PyObject* ob = PyLong_FromLong(uid); + return ob; + } } } else From db9bc4f835a10e7e159581ad584b9b802c9f05e1 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 9 Sep 2019 18:05:29 -0700 Subject: [PATCH 137/389] PyBullet: write body sync data to larger shared memory --- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 05f02189e..03fd8d09d 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -5963,6 +5963,8 @@ bool PhysicsServerCommandProcessor::processSyncBodyInfoCommand(const struct Shar b3AlignedObjectArray usedHandles; m_data->m_bodyHandles.getUsedHandles(usedHandles); int actualNumBodies = 0; + int* bodyUids = (int*)bufferServerToClient; + for (int i = 0; i < usedHandles.size(); i++) { int usedHandle = usedHandles[i]; @@ -5973,18 +5975,18 @@ bool PhysicsServerCommandProcessor::processSyncBodyInfoCommand(const struct Shar if (body && (body->m_multiBody || body->m_rigidBody)) #endif { - serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[actualNumBodies++] = usedHandle; + bodyUids[actualNumBodies++] = usedHandle; } } serverStatusOut.m_sdfLoadedArgs.m_numBodies = actualNumBodies; int usz = m_data->m_userConstraints.size(); + int* constraintUid = bodyUids + actualNumBodies; serverStatusOut.m_sdfLoadedArgs.m_numUserConstraints = usz; for (int i = 0; i < usz; i++) { int key = m_data->m_userConstraints.getKeyAtIndex(i).getUid1(); - // int uid = m_data->m_userConstraints.getAtIndex(i)->m_userConstraintData.m_userConstraintUniqueId; - serverStatusOut.m_sdfLoadedArgs.m_userConstraintUniqueIds[i] = key; + constraintUid[i] = key; } serverStatusOut.m_type = CMD_SYNC_BODY_INFO_COMPLETED; From 0722400f338e3a50c9a7015367ca1df7f6f58f33 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Mon, 9 Sep 2019 20:39:53 -0700 Subject: [PATCH 138/389] Update btConjugateGradient.h add ; to btAssert --- src/BulletSoftBody/btConjugateGradient.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h index c20a8ae5d..eee3ea52e 100644 --- a/src/BulletSoftBody/btConjugateGradient.h +++ b/src/BulletSoftBody/btConjugateGradient.h @@ -100,7 +100,7 @@ public: TVStack sub(const TVStack& a, const TVStack& b) { // c = a-b - btAssert(a.size() == b.size()) + btAssert(a.size() == b.size()); TVStack c; c.resize(a.size()); for (int i = 0; i < a.size(); ++i) @@ -126,7 +126,7 @@ public: void multAndAddTo(btScalar s, const TVStack& a, TVStack& result) { // result += s*a - btAssert(a.size() == result.size()) + btAssert(a.size() == result.size()); for (int i = 0; i < a.size(); ++i) result[i] += s * a[i]; } From 0d4db1a6f2203eb17ab31fa0e127c7b26bcdbbf1 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Mon, 9 Sep 2019 20:41:42 -0700 Subject: [PATCH 139/389] Update btDeformableMassSpringForce.h --- src/BulletSoftBody/btDeformableMassSpringForce.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/BulletSoftBody/btDeformableMassSpringForce.h b/src/BulletSoftBody/btDeformableMassSpringForce.h index a85dd547a..73d7efb42 100644 --- a/src/BulletSoftBody/btDeformableMassSpringForce.h +++ b/src/BulletSoftBody/btDeformableMassSpringForce.h @@ -45,7 +45,7 @@ public: virtual void addScaledDampingForce(btScalar scale, TVStack& force) { int numNodes = getNumNodes(); - btAssert(numNodes <= force.size()) + btAssert(numNodes <= force.size()); for (int i = 0; i < m_softBodies.size(); ++i) { const btSoftBody* psb = m_softBodies[i]; @@ -77,7 +77,7 @@ public: virtual void addScaledElasticForce(btScalar scale, TVStack& force) { int numNodes = getNumNodes(); - btAssert(numNodes <= force.size()) + btAssert(numNodes <= force.size()); for (int i = 0; i < m_softBodies.size(); ++i) { const btSoftBody* psb = m_softBodies[i]; From 66fc3a9ce94cbf9793898d9ebb11dec587670ada Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Mon, 9 Sep 2019 20:42:21 -0700 Subject: [PATCH 140/389] Update btDeformableGravityForce.h --- src/BulletSoftBody/btDeformableGravityForce.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/BulletSoftBody/btDeformableGravityForce.h b/src/BulletSoftBody/btDeformableGravityForce.h index 14d49ec1e..6fd53144a 100644 --- a/src/BulletSoftBody/btDeformableGravityForce.h +++ b/src/BulletSoftBody/btDeformableGravityForce.h @@ -53,7 +53,7 @@ public: virtual void addScaledGravityForce(btScalar scale, TVStack& force) { int numNodes = getNumNodes(); - btAssert(numNodes <= force.size()) + btAssert(numNodes <= force.size()); for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; From 93810cb09a1c8cfec7cb1784aac00c7e585f5a41 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 11 Sep 2019 08:39:05 -0700 Subject: [PATCH 141/389] revert constraint solver changes to allow block solver, since it breaks the multithreaded solver. (re-enable if/when we can redo those changes without breaking multithreading) --- .../btSequentialImpulseConstraintSolver.cpp | 825 ++++-------------- .../btSequentialImpulseConstraintSolver.h | 124 +-- .../btDeformableMultiBodyConstraintSolver.h | 21 +- 3 files changed, 170 insertions(+), 800 deletions(-) diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp index 9d5ffbfe8..e4da46829 100644 --- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp +++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp @@ -394,18 +394,6 @@ btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getScalarConstr return gResolveSingleConstraintRowLowerLimit_scalar_reference; } -btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getScalarSplitPenetrationImpulseGeneric() -{ - return gResolveSplitPenetrationImpulse_scalar_reference; -} - -btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2SplitPenetrationImpulseGeneric() -{ - return gResolveSplitPenetrationImpulse_sse2; -} - - - #ifdef USE_SIMD btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2ConstraintRowSolverGeneric() { @@ -433,11 +421,6 @@ unsigned long btSequentialImpulseConstraintSolver::btRand2() return m_btSeed2; } -unsigned long btSequentialImpulseConstraintSolver::btRand2a(unsigned long& seed) -{ - seed = (1664525L * seed + 1013904223L) & 0xffffffff; - return seed; -} //See ODE: adam's all-int straightforward(?) dRandInt (0..n-1) int btSequentialImpulseConstraintSolver::btRandInt2(int n) { @@ -471,44 +454,42 @@ int btSequentialImpulseConstraintSolver::btRandInt2(int n) return (int)(r % un); } -int btSequentialImpulseConstraintSolver::btRandInt2a(int n, unsigned long& seed) -{ - // seems good; xor-fold and modulus - const unsigned long un = static_cast(n); - unsigned long r = btSequentialImpulseConstraintSolver::btRand2a(seed); - - // note: probably more aggressive than it needs to be -- might be - // able to get away without one or two of the innermost branches. - if (un <= 0x00010000UL) - { - r ^= (r >> 16); - if (un <= 0x00000100UL) - { - r ^= (r >> 8); - if (un <= 0x00000010UL) - { - r ^= (r >> 4); - if (un <= 0x00000004UL) - { - r ^= (r >> 2); - if (un <= 0x00000002UL) - { - r ^= (r >> 1); - } - } - } - } - } - - return (int)(r % un); -} - void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep) { - btSISolverSingleIterationData::initSolverBody(solverBody, collisionObject, timeStep); -} + btRigidBody* rb = collisionObject ? btRigidBody::upcast(collisionObject) : 0; -btScalar btSequentialImpulseConstraintSolver::restitutionCurveInternal(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold) + solverBody->internalGetDeltaLinearVelocity().setValue(0.f, 0.f, 0.f); + solverBody->internalGetDeltaAngularVelocity().setValue(0.f, 0.f, 0.f); + solverBody->internalGetPushVelocity().setValue(0.f, 0.f, 0.f); + solverBody->internalGetTurnVelocity().setValue(0.f, 0.f, 0.f); + + if (rb) + { + solverBody->m_worldTransform = rb->getWorldTransform(); + solverBody->internalSetInvMass(btVector3(rb->getInvMass(), rb->getInvMass(), rb->getInvMass()) * rb->getLinearFactor()); + solverBody->m_originalBody = rb; + solverBody->m_angularFactor = rb->getAngularFactor(); + solverBody->m_linearFactor = rb->getLinearFactor(); + solverBody->m_linearVelocity = rb->getLinearVelocity(); + solverBody->m_angularVelocity = rb->getAngularVelocity(); + solverBody->m_externalForceImpulse = rb->getTotalForce() * rb->getInvMass() * timeStep; + solverBody->m_externalTorqueImpulse = rb->getTotalTorque() * rb->getInvInertiaTensorWorld() * timeStep; + } + else + { + solverBody->m_worldTransform.setIdentity(); + solverBody->internalSetInvMass(btVector3(0, 0, 0)); + solverBody->m_originalBody = 0; + solverBody->m_angularFactor.setValue(1, 1, 1); + solverBody->m_linearFactor.setValue(1, 1, 1); + solverBody->m_linearVelocity.setValue(0, 0, 0); + solverBody->m_angularVelocity.setValue(0, 0, 0); + solverBody->m_externalForceImpulse.setValue(0, 0, 0); + solverBody->m_externalTorqueImpulse.setValue(0, 0, 0); + } + } + +btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold) { //printf("rel_vel =%f\n", rel_vel); if (btFabs(rel_vel) < velocityThreshold) @@ -517,10 +498,6 @@ btScalar btSequentialImpulseConstraintSolver::restitutionCurveInternal(btScalar btScalar rest = restitution * -rel_vel; return rest; } -btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold) -{ - return btSequentialImpulseConstraintSolver::restitutionCurveInternal(rel_vel, restitution, velocityThreshold); -} void btSequentialImpulseConstraintSolver::applyAnisotropicFriction(btCollisionObject* colObj, btVector3& frictionDirection, int frictionMode) { @@ -536,13 +513,13 @@ void btSequentialImpulseConstraintSolver::applyAnisotropicFriction(btCollisionOb } } -void btSequentialImpulseConstraintSolver::setupFrictionConstraintInternal(btAlignedObjectArray& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) +void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) { - btSolverBody& solverBodyA = tmpSolverBodyPool[solverBodyIdA]; - btSolverBody& solverBodyB = tmpSolverBodyPool[solverBodyIdB]; + btSolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB]; - btRigidBody* body0 = tmpSolverBodyPool[solverBodyIdA].m_originalBody; - btRigidBody* bodyA = tmpSolverBodyPool[solverBodyIdB].m_originalBody; + btRigidBody* body0 = m_tmpSolverBodyPool[solverBodyIdA].m_originalBody; + btRigidBody* bodyA = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody; solverConstraint.m_solverBodyIdA = solverBodyIdA; solverConstraint.m_solverBodyIdB = solverBodyIdB; @@ -628,22 +605,6 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraintInternal(btAlig } } -void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) -{ - btSequentialImpulseConstraintSolver::setupFrictionConstraintInternal(m_tmpSolverBodyPool, solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, desiredVelocity, cfmSlip); -} - -btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(btAlignedObjectArray& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) -{ - btSolverConstraint& solverConstraint = tmpSolverContactFrictionConstraintPool.expandNonInitializing(); - solverConstraint.m_frictionIndex = frictionIndex; - setupFrictionConstraintInternal(tmpSolverBodyPool, solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, - colObj0, colObj1, relaxation, infoGlobal, desiredVelocity, cfmSlip); - return solverConstraint; -} - - - btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) { btSolverConstraint& solverConstraint = m_tmpSolverContactFrictionConstraintPool.expandNonInitializing(); @@ -653,8 +614,7 @@ btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(c return solverConstraint; } - -void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraintInternal(btAlignedObjectArray& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis1, int solverBodyIdA, int solverBodyIdB, +void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis1, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip) @@ -664,11 +624,11 @@ void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraintIntern solverConstraint.m_contactNormal1 = normalAxis; solverConstraint.m_contactNormal2 = -normalAxis; - btSolverBody& solverBodyA = tmpSolverBodyPool[solverBodyIdA]; - btSolverBody& solverBodyB = tmpSolverBodyPool[solverBodyIdB]; + btSolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB]; - btRigidBody* body0 = tmpSolverBodyPool[solverBodyIdA].m_originalBody; - btRigidBody* bodyA = tmpSolverBodyPool[solverBodyIdB].m_originalBody; + btRigidBody* body0 = m_tmpSolverBodyPool[solverBodyIdA].m_originalBody; + btRigidBody* bodyA = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody; solverConstraint.m_solverBodyIdA = solverBodyIdA; solverConstraint.m_solverBodyIdB = solverBodyIdB; @@ -717,30 +677,6 @@ void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraintIntern } } - -void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis1, int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, - btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, - btScalar desiredVelocity, btScalar cfmSlip) - -{ - setupTorsionalFrictionConstraintInternal(m_tmpSolverBodyPool, solverConstraint, normalAxis1, solverBodyIdA, solverBodyIdB, - cp, combinedTorsionalFriction, rel_pos1, rel_pos2, - colObj0, colObj1, relaxation, - desiredVelocity, cfmSlip); - -} - -btSolverConstraint& btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraintInternal(btAlignedObjectArray& tmpSolverBodyPool, btConstraintArray& tmpSolverContactRollingFrictionConstraintPool, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip) -{ - btSolverConstraint& solverConstraint = tmpSolverContactRollingFrictionConstraintPool.expandNonInitializing(); - solverConstraint.m_frictionIndex = frictionIndex; - setupTorsionalFrictionConstraintInternal(tmpSolverBodyPool, solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, combinedTorsionalFriction, rel_pos1, rel_pos2, - colObj0, colObj1, relaxation, desiredVelocity, cfmSlip); - return solverConstraint; -} - - btSolverConstraint& btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraint(const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip) { btSolverConstraint& solverConstraint = m_tmpSolverContactRollingFrictionConstraintPool.expandNonInitializing(); @@ -750,217 +686,6 @@ btSolverConstraint& btSequentialImpulseConstraintSolver::addTorsionalFrictionCon return solverConstraint; } -int btSISolverSingleIterationData::getOrInitSolverBody(btCollisionObject & body, btScalar timeStep) -{ -#if BT_THREADSAFE - int solverBodyId = -1; - bool isRigidBodyType = btRigidBody::upcast(&body) != NULL; - if (isRigidBodyType && !body.isStaticOrKinematicObject()) - { - // dynamic body - // Dynamic bodies can only be in one island, so it's safe to write to the companionId - solverBodyId = body.getCompanionId(); - if (solverBodyId < 0) - { - solverBodyId = m_tmpSolverBodyPool.size(); - btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); - initSolverBody(&solverBody, &body, timeStep); - body.setCompanionId(solverBodyId); - } - } - else if (isRigidBodyType && body.isKinematicObject()) - { - // - // NOTE: must test for kinematic before static because some kinematic objects also - // identify as "static" - // - // Kinematic bodies can be in multiple islands at once, so it is a - // race condition to write to them, so we use an alternate method - // to record the solverBodyId - int uniqueId = body.getWorldArrayIndex(); - const int INVALID_SOLVER_BODY_ID = -1; - if (uniqueId >= m_kinematicBodyUniqueIdToSolverBodyTable.size()) - { - m_kinematicBodyUniqueIdToSolverBodyTable.resize(uniqueId + 1, INVALID_SOLVER_BODY_ID); - } - solverBodyId = m_kinematicBodyUniqueIdToSolverBodyTable[uniqueId]; - // if no table entry yet, - if (solverBodyId == INVALID_SOLVER_BODY_ID) - { - // create a table entry for this body - solverBodyId = m_tmpSolverBodyPool.size(); - btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); - initSolverBody(&solverBody, &body, timeStep); - m_kinematicBodyUniqueIdToSolverBodyTable[uniqueId] = solverBodyId; - } - } - else - { - bool isMultiBodyType = (body.getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK); - // Incorrectly set collision object flags can degrade performance in various ways. - if (!isMultiBodyType) - { - btAssert(body.isStaticOrKinematicObject()); - } - //it could be a multibody link collider - // all fixed bodies (inf mass) get mapped to a single solver id - if (m_fixedBodyId < 0) - { - m_fixedBodyId = m_tmpSolverBodyPool.size(); - btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); - initSolverBody(&fixedBody, 0, timeStep); - } - solverBodyId = m_fixedBodyId; - } - btAssert(solverBodyId >= 0 && solverBodyId < m_tmpSolverBodyPool.size()); - return solverBodyId; -#else // BT_THREADSAFE - - int solverBodyIdA = -1; - - if (body.getCompanionId() >= 0) - { - //body has already been converted - solverBodyIdA = body.getCompanionId(); - btAssert(solverBodyIdA < m_tmpSolverBodyPool.size()); - } - else - { - btRigidBody* rb = btRigidBody::upcast(&body); - //convert both active and kinematic objects (for their velocity) - if (rb && (rb->getInvMass() || rb->isKinematicObject())) - { - solverBodyIdA = m_tmpSolverBodyPool.size(); - btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); - initSolverBody(&solverBody, &body, timeStep); - body.setCompanionId(solverBodyIdA); - } - else - { - if (m_fixedBodyId < 0) - { - m_fixedBodyId = m_tmpSolverBodyPool.size(); - btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); - initSolverBody(&fixedBody, 0, timeStep); - } - return m_fixedBodyId; - // return 0;//assume first one is a fixed solver body - } - } - - return solverBodyIdA; -#endif // BT_THREADSAFE -} -void btSISolverSingleIterationData::initSolverBody(btSolverBody * solverBody, btCollisionObject * collisionObject, btScalar timeStep) -{ - btRigidBody* rb = collisionObject ? btRigidBody::upcast(collisionObject) : 0; - - solverBody->internalGetDeltaLinearVelocity().setValue(0.f, 0.f, 0.f); - solverBody->internalGetDeltaAngularVelocity().setValue(0.f, 0.f, 0.f); - solverBody->internalGetPushVelocity().setValue(0.f, 0.f, 0.f); - solverBody->internalGetTurnVelocity().setValue(0.f, 0.f, 0.f); - - if (rb) - { - solverBody->m_worldTransform = rb->getWorldTransform(); - solverBody->internalSetInvMass(btVector3(rb->getInvMass(), rb->getInvMass(), rb->getInvMass()) * rb->getLinearFactor()); - solverBody->m_originalBody = rb; - solverBody->m_angularFactor = rb->getAngularFactor(); - solverBody->m_linearFactor = rb->getLinearFactor(); - solverBody->m_linearVelocity = rb->getLinearVelocity(); - solverBody->m_angularVelocity = rb->getAngularVelocity(); - solverBody->m_externalForceImpulse = rb->getTotalForce() * rb->getInvMass() * timeStep; - solverBody->m_externalTorqueImpulse = rb->getTotalTorque() * rb->getInvInertiaTensorWorld() * timeStep; - } - else - { - solverBody->m_worldTransform.setIdentity(); - solverBody->internalSetInvMass(btVector3(0, 0, 0)); - solverBody->m_originalBody = 0; - solverBody->m_angularFactor.setValue(1, 1, 1); - solverBody->m_linearFactor.setValue(1, 1, 1); - solverBody->m_linearVelocity.setValue(0, 0, 0); - solverBody->m_angularVelocity.setValue(0, 0, 0); - solverBody->m_externalForceImpulse.setValue(0, 0, 0); - solverBody->m_externalTorqueImpulse.setValue(0, 0, 0); - } -} - -int btSISolverSingleIterationData::getSolverBody(btCollisionObject& body) const -{ -#if BT_THREADSAFE - int solverBodyId = -1; - bool isRigidBodyType = btRigidBody::upcast(&body) != NULL; - if (isRigidBodyType && !body.isStaticOrKinematicObject()) - { - // dynamic body - // Dynamic bodies can only be in one island, so it's safe to write to the companionId - solverBodyId = body.getCompanionId(); - btAssert(solverBodyId >= 0); - } - else if (isRigidBodyType && body.isKinematicObject()) - { - // - // NOTE: must test for kinematic before static because some kinematic objects also - // identify as "static" - // - // Kinematic bodies can be in multiple islands at once, so it is a - // race condition to write to them, so we use an alternate method - // to record the solverBodyId - int uniqueId = body.getWorldArrayIndex(); - const int INVALID_SOLVER_BODY_ID = -1; - if (uniqueId >= m_kinematicBodyUniqueIdToSolverBodyTable.size()) - { - m_kinematicBodyUniqueIdToSolverBodyTable.resize(uniqueId + 1, INVALID_SOLVER_BODY_ID); - } - solverBodyId = m_kinematicBodyUniqueIdToSolverBodyTable[uniqueId]; - btAssert(solverBodyId != INVALID_SOLVER_BODY_ID); - } - else - { - bool isMultiBodyType = (body.getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK); - // Incorrectly set collision object flags can degrade performance in various ways. - if (!isMultiBodyType) - { - btAssert(body.isStaticOrKinematicObject()); - } - btAssert(m_fixedBodyId >= 0); - solverBodyId = m_fixedBodyId; - } - btAssert(solverBodyId >= 0 && solverBodyId < m_tmpSolverBodyPool.size()); - return solverBodyId; -#else // BT_THREADSAFE - int solverBodyIdA = -1; - - if (body.getCompanionId() >= 0) - { - //body has already been converted - solverBodyIdA = body.getCompanionId(); - btAssert(solverBodyIdA < m_tmpSolverBodyPool.size()); - } - else - { - btRigidBody* rb = btRigidBody::upcast(&body); - //convert both active and kinematic objects (for their velocity) - if (rb && (rb->getInvMass() || rb->isKinematicObject())) - { - btAssert(0); - } - else - { - if (m_fixedBodyId < 0) - { - btAssert(0); - } - return m_fixedBodyId; - // return 0;//assume first one is a fixed solver body - } - } - - return solverBodyIdA; -#endif // BT_THREADSAFE -} - int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& body, btScalar timeStep) { #if BT_THREADSAFE @@ -1064,10 +789,7 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& } #include - - -void btSequentialImpulseConstraintSolver::setupContactConstraintInternal(btSISolverSingleIterationData& siData, - btSolverConstraint& solverConstraint, +void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, btScalar& relaxation, @@ -1076,8 +798,8 @@ void btSequentialImpulseConstraintSolver::setupContactConstraintInternal(btSISol // const btVector3& pos1 = cp.getPositionWorldOnA(); // const btVector3& pos2 = cp.getPositionWorldOnB(); - btSolverBody* bodyA = &siData.m_tmpSolverBodyPool[solverBodyIdA]; - btSolverBody* bodyB = &siData.m_tmpSolverBodyPool[solverBodyIdB]; + btSolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB]; btRigidBody* rb0 = bodyA->m_originalBody; btRigidBody* rb1 = bodyB->m_originalBody; @@ -1184,7 +906,7 @@ void btSequentialImpulseConstraintSolver::setupContactConstraintInternal(btSISol solverConstraint.m_friction = cp.m_combinedFriction; - restitution = btSequentialImpulseConstraintSolver::restitutionCurveInternal(rel_vel, cp.m_combinedRestitution, infoGlobal.m_restitutionVelocityThreshold); + restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution, infoGlobal.m_restitutionVelocityThreshold); if (restitution <= btScalar(0.)) { restitution = 0.f; @@ -1252,81 +974,39 @@ void btSequentialImpulseConstraintSolver::setupContactConstraintInternal(btSISol } } -void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstraint& solverConstraint, - int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, - btScalar& relaxation, - const btVector3& rel_pos1, const btVector3& rel_pos2) -{ - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations - ); - - - setupContactConstraintInternal(siData, solverConstraint, - solverBodyIdA, solverBodyIdB, - cp, infoGlobal, - relaxation, - rel_pos1, rel_pos2); -} - - -void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulseInternal(btAlignedObjectArray& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, - btSolverConstraint& solverConstraint, +void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal) { { - btSolverConstraint& frictionConstraint1 = tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex]; + btSolverConstraint& frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex]; + frictionConstraint1.m_appliedImpulse = 0.f; } if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { - btSolverConstraint& frictionConstraint2 = tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex + 1]; + btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex + 1]; + frictionConstraint2.m_appliedImpulse = 0.f; } } -void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse(btSolverConstraint& solverConstraint, - int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, const btContactSolverInfo& infoGlobal) -{ - setFrictionConstraintImpulseInternal(m_tmpSolverBodyPool, m_tmpSolverContactFrictionConstraintPool, - solverConstraint, - solverBodyIdA, solverBodyIdB, - cp, infoGlobal); - -} -void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingleIterationData& siData, btPersistentManifold* manifold, const btContactSolverInfo& infoGlobal) +void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* manifold, const btContactSolverInfo& infoGlobal) { btCollisionObject *colObj0 = 0, *colObj1 = 0; colObj0 = (btCollisionObject*)manifold->getBody0(); colObj1 = (btCollisionObject*)manifold->getBody1(); - int solverBodyIdA = siData.getOrInitSolverBody(*colObj0, infoGlobal.m_timeStep); - int solverBodyIdB = siData.getOrInitSolverBody(*colObj1, infoGlobal.m_timeStep); + int solverBodyIdA = getOrInitSolverBody(*colObj0, infoGlobal.m_timeStep); + int solverBodyIdB = getOrInitSolverBody(*colObj1, infoGlobal.m_timeStep); // btRigidBody* bodyA = btRigidBody::upcast(colObj0); // btRigidBody* bodyB = btRigidBody::upcast(colObj1); - btSolverBody* solverBodyA = &siData.m_tmpSolverBodyPool[solverBodyIdA]; - btSolverBody* solverBodyB = &siData.m_tmpSolverBodyPool[solverBodyIdB]; + btSolverBody* solverBodyA = &m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody* solverBodyB = &m_tmpSolverBodyPool[solverBodyIdB]; ///avoid collision response between two static objects if (!solverBodyA || (solverBodyA->m_invMass.fuzzyZero() && (!solverBodyB || solverBodyB->m_invMass.fuzzyZero()))) @@ -1343,8 +1023,8 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl btVector3 rel_pos2; btScalar relaxation; - int frictionIndex = siData.m_tmpSolverContactConstraintPool.size(); - btSolverConstraint& solverConstraint = siData.m_tmpSolverContactConstraintPool.expandNonInitializing(); + int frictionIndex = m_tmpSolverContactConstraintPool.size(); + btSolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.expandNonInitializing(); solverConstraint.m_solverBodyIdA = solverBodyIdA; solverConstraint.m_solverBodyIdB = solverBodyIdB; @@ -1365,20 +1045,16 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl btVector3 vel = vel1 - vel2; btScalar rel_vel = cp.m_normalWorldOnB.dot(vel); - setupContactConstraintInternal(siData, solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, relaxation, rel_pos1, rel_pos2); + setupContactConstraint(solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, relaxation, rel_pos1, rel_pos2); /////setup the friction constraints - solverConstraint.m_frictionIndex = siData.m_tmpSolverContactFrictionConstraintPool.size(); + solverConstraint.m_frictionIndex = m_tmpSolverContactFrictionConstraintPool.size(); if ((cp.m_combinedRollingFriction > 0.f) && (rollingFriction > 0)) { { - - btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraintInternal(siData.m_tmpSolverBodyPool, - siData.m_tmpSolverContactRollingFrictionConstraintPool, - cp.m_normalWorldOnB, solverBodyIdA, solverBodyIdB, frictionIndex, cp, cp.m_combinedSpinningFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation); - + addTorsionalFrictionConstraint(cp.m_normalWorldOnB, solverBodyIdA, solverBodyIdB, frictionIndex, cp, cp.m_combinedSpinningFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation); btVector3 axis0, axis1; btPlaneSpace1(cp.m_normalWorldOnB, axis0, axis1); axis0.normalize(); @@ -1389,19 +1065,13 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl applyAnisotropicFriction(colObj0, axis1, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); applyAnisotropicFriction(colObj1, axis1, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); if (axis0.length() > 0.001) - { - btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraintInternal(siData.m_tmpSolverBodyPool, - siData.m_tmpSolverContactRollingFrictionConstraintPool, axis0, solverBodyIdA, solverBodyIdB, frictionIndex, cp, + addTorsionalFrictionConstraint(axis0, solverBodyIdA, solverBodyIdB, frictionIndex, cp, cp.m_combinedRollingFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation); - } if (axis1.length() > 0.001) - { - btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraintInternal(siData.m_tmpSolverBodyPool, - siData.m_tmpSolverContactRollingFrictionConstraintPool, axis1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, + addTorsionalFrictionConstraint(axis1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, cp.m_combinedRollingFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation); } } - } ///Bullet has several options to set the friction directions ///By default, each contact has only a single friction direction that is recomputed automatically very frame @@ -1428,8 +1098,7 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl cp.m_lateralFrictionDir1 *= 1.f / btSqrt(lat_rel_vel); applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); - btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); + addFrictionConstraint(cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { @@ -1437,8 +1106,7 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl cp.m_lateralFrictionDir2.normalize(); //?? applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); - btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); + addFrictionConstraint(cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); } } else @@ -1447,15 +1115,13 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); - btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); + addFrictionConstraint(cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); - btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); + addFrictionConstraint(cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); } if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION)) @@ -1466,43 +1132,15 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl } else { - btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM); + addFrictionConstraint(cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) - { - btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM); + addFrictionConstraint(cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM); } + setFrictionConstraintImpulse(solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal); } - btSequentialImpulseConstraintSolver::setFrictionConstraintImpulseInternal( - siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal); } } -} - -void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* manifold, const btContactSolverInfo& infoGlobal) -{ - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations); - - btSequentialImpulseConstraintSolver::convertContactInternal(siData, manifold, infoGlobal); -} void btSequentialImpulseConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal) { @@ -1517,9 +1155,7 @@ void btSequentialImpulseConstraintSolver::convertContacts(btPersistentManifold** } } -void btSequentialImpulseConstraintSolver::convertJointInternal(btAlignedObjectArray& tmpSolverBodyPool, - int& maxOverrideNumSolverIterations, - btSolverConstraint* currentConstraintRow, +void btSequentialImpulseConstraintSolver::convertJoint(btSolverConstraint* currentConstraintRow, btTypedConstraint* constraint, const btTypedConstraint::btConstraintInfo1& info1, int solverBodyIdA, @@ -1529,12 +1165,12 @@ void btSequentialImpulseConstraintSolver::convertJointInternal(btAlignedObjectAr const btRigidBody& rbA = constraint->getRigidBodyA(); const btRigidBody& rbB = constraint->getRigidBodyB(); - const btSolverBody* bodyAPtr = &tmpSolverBodyPool[solverBodyIdA]; - const btSolverBody* bodyBPtr = &tmpSolverBodyPool[solverBodyIdB]; + const btSolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA]; + const btSolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB]; int overrideNumSolverIterations = constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations; - if (overrideNumSolverIterations > maxOverrideNumSolverIterations) - maxOverrideNumSolverIterations = overrideNumSolverIterations; + if (overrideNumSolverIterations > m_maxOverrideNumSolverIterations) + m_maxOverrideNumSolverIterations = overrideNumSolverIterations; for (int j = 0; j < info1.m_numConstraintRows; j++) { @@ -1651,16 +1287,7 @@ void btSequentialImpulseConstraintSolver::convertJointInternal(btAlignedObjectAr } } -void btSequentialImpulseConstraintSolver::convertJoint(btSolverConstraint* currentConstraintRow, - btTypedConstraint* constraint, - const btTypedConstraint::btConstraintInfo1& info1, - int solverBodyIdA, - int solverBodyIdB, - const btContactSolverInfo& infoGlobal) -{ -} - -void btSequentialImpulseConstraintSolver::convertJointsInternal(btSISolverSingleIterationData& siData, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal) +void btSequentialImpulseConstraintSolver::convertJoints(btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal) { BT_PROFILE("convertJoints"); for (int j = 0; j < numConstraints; j++) @@ -1672,11 +1299,11 @@ void btSequentialImpulseConstraintSolver::convertJointsInternal(btSISolverSingle int totalNumRows = 0; - siData.m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints); + m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints); //calculate the total number of contraint rows for (int i = 0; i < numConstraints; i++) { - btTypedConstraint::btConstraintInfo1& info1 = siData.m_tmpConstraintSizesPool[i]; + btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i]; btJointFeedback* fb = constraints[i]->getJointFeedback(); if (fb) { @@ -1697,58 +1324,34 @@ void btSequentialImpulseConstraintSolver::convertJointsInternal(btSISolverSingle } totalNumRows += info1.m_numConstraintRows; } - siData.m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows); + m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows); ///setup the btSolverConstraints int currentRow = 0; for (int i = 0; i < numConstraints; i++) { - const btTypedConstraint::btConstraintInfo1& info1 = siData.m_tmpConstraintSizesPool[i]; + const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i]; if (info1.m_numConstraintRows) { btAssert(currentRow < totalNumRows); - btSolverConstraint* currentConstraintRow = &siData.m_tmpSolverNonContactConstraintPool[currentRow]; + btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow]; btTypedConstraint* constraint = constraints[i]; btRigidBody& rbA = constraint->getRigidBodyA(); btRigidBody& rbB = constraint->getRigidBodyB(); - int solverBodyIdA = siData.getOrInitSolverBody(rbA, infoGlobal.m_timeStep); - int solverBodyIdB = siData.getOrInitSolverBody(rbB, infoGlobal.m_timeStep); + int solverBodyIdA = getOrInitSolverBody(rbA, infoGlobal.m_timeStep); + int solverBodyIdB = getOrInitSolverBody(rbB, infoGlobal.m_timeStep); - convertJointInternal(siData.m_tmpSolverBodyPool, siData.m_maxOverrideNumSolverIterations, - currentConstraintRow, constraint, info1, solverBodyIdA, solverBodyIdB, infoGlobal); + convertJoint(currentConstraintRow, constraint, info1, solverBodyIdA, solverBodyIdB, infoGlobal); } currentRow += info1.m_numConstraintRows; } } -void btSequentialImpulseConstraintSolver::convertJoints(btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal) -{ - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations); - - convertJointsInternal(siData, constraints, numConstraints, infoGlobal); -} - - -void btSequentialImpulseConstraintSolver::convertBodiesInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) +void btSequentialImpulseConstraintSolver::convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) { BT_PROFILE("convertBodies"); for (int i = 0; i < numBodies; i++) @@ -1756,23 +1359,23 @@ void btSequentialImpulseConstraintSolver::convertBodiesInternal(btSISolverSingle bodies[i]->setCompanionId(-1); } #if BT_THREADSAFE - siData.m_kinematicBodyUniqueIdToSolverBodyTable.resize(0); + m_kinematicBodyUniqueIdToSolverBodyTable.resize(0); #endif // BT_THREADSAFE - siData.m_tmpSolverBodyPool.reserve(numBodies + 1); - siData.m_tmpSolverBodyPool.resize(0); + m_tmpSolverBodyPool.reserve(numBodies + 1); + m_tmpSolverBodyPool.resize(0); //btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); //initSolverBody(&fixedBody,0); for (int i = 0; i < numBodies; i++) { - int bodyId = siData.getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep); + int bodyId = getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep); btRigidBody* body = btRigidBody::upcast(bodies[i]); if (body && body->getInvMass()) { - btSolverBody& solverBody = siData.m_tmpSolverBodyPool[bodyId]; + btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId]; btVector3 gyroForce(0, 0, 0); if (body->getFlags() & BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT) { @@ -1793,29 +1396,6 @@ void btSequentialImpulseConstraintSolver::convertBodiesInternal(btSISolverSingle } } - -void btSequentialImpulseConstraintSolver::convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) -{ - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations); - - convertBodiesInternal(siData, bodies, numBodies, infoGlobal); -} - btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) { m_fixedBodyId = -1; @@ -1939,14 +1519,14 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol return 0.f; } -btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSISolverSingleIterationData& siData, int iteration, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal) +btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* /*debugDrawer*/) { BT_PROFILE("solveSingleIteration"); btScalar leastSquaresResidual = 0.f; - int numNonContactPool = siData.m_tmpSolverNonContactConstraintPool.size(); - int numConstraintPool = siData.m_tmpSolverContactConstraintPool.size(); - int numFrictionPool = siData.m_tmpSolverContactFrictionConstraintPool.size(); + int numNonContactPool = m_tmpSolverNonContactConstraintPool.size(); + int numConstraintPool = m_tmpSolverContactConstraintPool.size(); + int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size(); if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER) { @@ -1954,10 +1534,10 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS { for (int j = 0; j < numNonContactPool; ++j) { - int tmp = siData.m_orderNonContactConstraintPool[j]; - int swapi = btRandInt2a(j + 1, siData.m_seed); - siData.m_orderNonContactConstraintPool[j] = siData.m_orderNonContactConstraintPool[swapi]; - siData.m_orderNonContactConstraintPool[swapi] = tmp; + int tmp = m_orderNonContactConstraintPool[j]; + int swapi = btRandInt2(j + 1); + m_orderNonContactConstraintPool[j] = m_orderNonContactConstraintPool[swapi]; + m_orderNonContactConstraintPool[swapi] = tmp; } //contact/friction constraints are not solved more than @@ -1965,30 +1545,30 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS { for (int j = 0; j < numConstraintPool; ++j) { - int tmp = siData.m_orderTmpConstraintPool[j]; - int swapi = btRandInt2a(j + 1, siData.m_seed); - siData.m_orderTmpConstraintPool[j] = siData.m_orderTmpConstraintPool[swapi]; - siData.m_orderTmpConstraintPool[swapi] = tmp; + int tmp = m_orderTmpConstraintPool[j]; + int swapi = btRandInt2(j + 1); + m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi]; + m_orderTmpConstraintPool[swapi] = tmp; } for (int j = 0; j < numFrictionPool; ++j) { - int tmp = siData.m_orderFrictionConstraintPool[j]; - int swapi = btRandInt2a(j + 1, siData.m_seed); - siData.m_orderFrictionConstraintPool[j] = siData.m_orderFrictionConstraintPool[swapi]; - siData.m_orderFrictionConstraintPool[swapi] = tmp; + int tmp = m_orderFrictionConstraintPool[j]; + int swapi = btRandInt2(j + 1); + m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi]; + m_orderFrictionConstraintPool[swapi] = tmp; } } } } ///solve all joint constraints - for (int j = 0; j < siData.m_tmpSolverNonContactConstraintPool.size(); j++) + for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) { - btSolverConstraint& constraint = siData.m_tmpSolverNonContactConstraintPool[siData.m_orderNonContactConstraintPool[j]]; + btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]]; if (iteration < constraint.m_overrideNumSolverIterations) { - btScalar residual = siData.m_resolveSingleConstraintRowGeneric(siData.m_tmpSolverBodyPool[constraint.m_solverBodyIdA], siData.m_tmpSolverBodyPool[constraint.m_solverBodyIdB], constraint); + btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA], m_tmpSolverBodyPool[constraint.m_solverBodyIdB], constraint); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } @@ -1999,10 +1579,10 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS { if (constraints[j]->isEnabled()) { - int bodyAid = siData.getSolverBody(constraints[j]->getRigidBodyA()); - int bodyBid = siData.getSolverBody(constraints[j]->getRigidBodyB()); - btSolverBody& bodyA = siData.m_tmpSolverBodyPool[bodyAid]; - btSolverBody& bodyB = siData.m_tmpSolverBodyPool[bodyBid]; + int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(), infoGlobal.m_timeStep); + int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(), infoGlobal.m_timeStep); + btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid]; + btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid]; constraints[j]->solveConstraintObsolete(bodyA, bodyB, infoGlobal.m_timeStep); } } @@ -2010,7 +1590,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS ///solve all contact constraints if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS) { - int numPoolConstraints = siData.m_tmpSolverContactConstraintPool.size(); + int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); int multiplier = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) ? 2 : 1; for (int c = 0; c < numPoolConstraints; c++) @@ -2018,8 +1598,8 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS btScalar totalImpulse = 0; { - const btSolverConstraint& solveManifold = siData.m_tmpSolverContactConstraintPool[siData.m_orderTmpConstraintPool[c]]; - btScalar residual = siData.m_resolveSingleConstraintRowLowerLimit(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]]; + btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); totalImpulse = solveManifold.m_appliedImpulse; @@ -2028,28 +1608,28 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS if (applyFriction) { { - btSolverConstraint& solveManifold = siData.m_tmpSolverContactFrictionConstraintPool[siData.m_orderFrictionConstraintPool[c * multiplier]]; + btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier]]; if (totalImpulse > btScalar(0)) { solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse); solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse; - btScalar residual = siData.m_resolveSingleConstraintRowGeneric(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) { - btSolverConstraint& solveManifold = siData.m_tmpSolverContactFrictionConstraintPool[siData.m_orderFrictionConstraintPool[c * multiplier + 1]]; + btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier + 1]]; if (totalImpulse > btScalar(0)) { solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse); solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse; - btScalar residual = siData.m_resolveSingleConstraintRowGeneric(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } @@ -2059,40 +1639,40 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS else //SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS { //solve the friction constraints after all contact constraints, don't interleave them - int numPoolConstraints = siData.m_tmpSolverContactConstraintPool.size(); + int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); int j; for (j = 0; j < numPoolConstraints; j++) { - const btSolverConstraint& solveManifold = siData.m_tmpSolverContactConstraintPool[siData.m_orderTmpConstraintPool[j]]; - btScalar residual = siData.m_resolveSingleConstraintRowLowerLimit(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; + btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } ///solve all friction constraints - int numFrictionPoolConstraints = siData.m_tmpSolverContactFrictionConstraintPool.size(); + int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size(); for (j = 0; j < numFrictionPoolConstraints; j++) { - btSolverConstraint& solveManifold = siData.m_tmpSolverContactFrictionConstraintPool[siData.m_orderFrictionConstraintPool[j]]; - btScalar totalImpulse = siData.m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; + btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]]; + btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; if (totalImpulse > btScalar(0)) { solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse); solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse; - btScalar residual = siData.m_resolveSingleConstraintRowGeneric(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } } - int numRollingFrictionPoolConstraints = siData.m_tmpSolverContactRollingFrictionConstraintPool.size(); + int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size(); for (int j = 0; j < numRollingFrictionPoolConstraints; j++) { - btSolverConstraint& rollingFrictionConstraint = siData.m_tmpSolverContactRollingFrictionConstraintPool[j]; - btScalar totalImpulse = siData.m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse; + btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j]; + btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse; if (totalImpulse > btScalar(0)) { btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction * totalImpulse; @@ -2102,7 +1682,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude; rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude; - btScalar residual = siData.m_resolveSingleConstraintRowGeneric(siData.m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], siData.m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint); + btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } @@ -2110,55 +1690,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS return leastSquaresResidual; } - -btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* /*debugDrawer*/) -{ - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations); - - btScalar leastSquaresResidual = btSequentialImpulseConstraintSolver::solveSingleIterationInternal(siData, - iteration, constraints, numConstraints, infoGlobal); - return leastSquaresResidual; -} - void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) -{ - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations); - - solveGroupCacheFriendlySplitImpulseIterationsInternal(siData, - bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); - -} -void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterationsInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) { BT_PROFILE("solveGroupCacheFriendlySplitImpulseIterations"); int iteration; @@ -2169,13 +1701,13 @@ void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIte { btScalar leastSquaresResidual = 0.f; { - int numPoolConstraints = siData.m_tmpSolverContactConstraintPool.size(); + int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); int j; for (j = 0; j < numPoolConstraints; j++) { - const btSolverConstraint& solveManifold = siData.m_tmpSolverContactConstraintPool[siData.m_orderTmpConstraintPool[j]]; + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; - btScalar residual = siData.m_resolveSplitPenetrationImpulse(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + btScalar residual = resolveSplitPenetrationImpulse(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } @@ -2226,42 +1758,31 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations( return 0.f; } -void btSequentialImpulseConstraintSolver::writeBackContactsInternal(btConstraintArray& tmpSolverContactConstraintPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) +void btSequentialImpulseConstraintSolver::writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) { for (int j = iBegin; j < iEnd; j++) { - const btSolverConstraint& solveManifold = tmpSolverContactConstraintPool[j]; + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[j]; btManifoldPoint* pt = (btManifoldPoint*)solveManifold.m_originalContactPoint; btAssert(pt); pt->m_appliedImpulse = solveManifold.m_appliedImpulse; // float f = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; // printf("pt->m_appliedImpulseLateral1 = %f\n", f); - pt->m_appliedImpulseLateral1 = tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; + pt->m_appliedImpulseLateral1 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; //printf("pt->m_appliedImpulseLateral1 = %f\n", pt->m_appliedImpulseLateral1); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { - pt->m_appliedImpulseLateral2 = tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex + 1].m_appliedImpulse; + pt->m_appliedImpulseLateral2 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex + 1].m_appliedImpulse; } //do a callback here? } } -void btSequentialImpulseConstraintSolver::writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) -{ - writeBackContactsInternal(m_tmpSolverContactConstraintPool, m_tmpSolverContactFrictionConstraintPool, iBegin, iEnd, infoGlobal); - -} - void btSequentialImpulseConstraintSolver::writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) -{ - writeBackJointsInternal(m_tmpSolverNonContactConstraintPool, iBegin, iEnd, infoGlobal); -} - -void btSequentialImpulseConstraintSolver::writeBackJointsInternal(btConstraintArray& tmpSolverNonContactConstraintPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) { for (int j = iBegin; j < iEnd; j++) { - const btSolverConstraint& solverConstr = tmpSolverNonContactConstraintPool[j]; + const btSolverConstraint& solverConstr = m_tmpSolverNonContactConstraintPool[j]; btTypedConstraint* constr = (btTypedConstraint*)solverConstr.m_originalContactPoint; btJointFeedback* fb = constr->getJointFeedback(); if (fb) @@ -2281,80 +1802,54 @@ void btSequentialImpulseConstraintSolver::writeBackJointsInternal(btConstraintAr } void btSequentialImpulseConstraintSolver::writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) -{ - writeBackBodiesInternal(m_tmpSolverBodyPool, iBegin, iEnd, infoGlobal); -} -void btSequentialImpulseConstraintSolver::writeBackBodiesInternal(btAlignedObjectArray& tmpSolverBodyPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) { for (int i = iBegin; i < iEnd; i++) { - btRigidBody* body = tmpSolverBodyPool[i].m_originalBody; + btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody; if (body) { if (infoGlobal.m_splitImpulse) - tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep, infoGlobal.m_splitImpulseTurnErp); + m_tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep, infoGlobal.m_splitImpulseTurnErp); else - tmpSolverBodyPool[i].writebackVelocity(); + m_tmpSolverBodyPool[i].writebackVelocity(); - tmpSolverBodyPool[i].m_originalBody->setLinearVelocity( - tmpSolverBodyPool[i].m_linearVelocity + - tmpSolverBodyPool[i].m_externalForceImpulse); + m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity( + m_tmpSolverBodyPool[i].m_linearVelocity + + m_tmpSolverBodyPool[i].m_externalForceImpulse); - tmpSolverBodyPool[i].m_originalBody->setAngularVelocity( - tmpSolverBodyPool[i].m_angularVelocity + - tmpSolverBodyPool[i].m_externalTorqueImpulse); + m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity( + m_tmpSolverBodyPool[i].m_angularVelocity + + m_tmpSolverBodyPool[i].m_externalTorqueImpulse); if (infoGlobal.m_splitImpulse) - tmpSolverBodyPool[i].m_originalBody->setWorldTransform(tmpSolverBodyPool[i].m_worldTransform); + m_tmpSolverBodyPool[i].m_originalBody->setWorldTransform(m_tmpSolverBodyPool[i].m_worldTransform); - tmpSolverBodyPool[i].m_originalBody->setCompanionId(-1); + m_tmpSolverBodyPool[i].m_originalBody->setCompanionId(-1); } } } -btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinishInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) +btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) { BT_PROFILE("solveGroupCacheFriendlyFinish"); if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) { - writeBackContactsInternal(siData.m_tmpSolverContactConstraintPool, siData.m_tmpSolverContactFrictionConstraintPool, 0, siData.m_tmpSolverContactConstraintPool.size(), infoGlobal); + writeBackContacts(0, m_tmpSolverContactConstraintPool.size(), infoGlobal); } - writeBackJointsInternal(siData.m_tmpSolverNonContactConstraintPool, 0, siData.m_tmpSolverNonContactConstraintPool.size(), infoGlobal); - writeBackBodiesInternal(siData.m_tmpSolverBodyPool, 0, siData.m_tmpSolverBodyPool.size(), infoGlobal); + writeBackJoints(0, m_tmpSolverNonContactConstraintPool.size(), infoGlobal); + writeBackBodies(0, m_tmpSolverBodyPool.size(), infoGlobal); - siData.m_tmpSolverContactConstraintPool.resizeNoInitialize(0); - siData.m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0); - siData.m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0); - siData.m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize(0); + m_tmpSolverContactConstraintPool.resizeNoInitialize(0); + m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0); + m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0); + m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize(0); - siData.m_tmpSolverBodyPool.resizeNoInitialize(0); + m_tmpSolverBodyPool.resizeNoInitialize(0); return 0.f; } -btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) -{ - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations); - - return btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinishInternal(siData, bodies, numBodies, infoGlobal); -} - /// btSequentialImpulseConstraintSolver Sequentially applies impulses btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer, btDispatcher* /*dispatcher*/) { diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h index 2b88e25be..f3ef02fcc 100644 --- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h +++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h @@ -29,68 +29,6 @@ class btCollisionObject; typedef btScalar (*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&); -struct btSISolverSingleIterationData -{ - btAlignedObjectArray& m_tmpSolverBodyPool; - btConstraintArray& m_tmpSolverContactConstraintPool; - btConstraintArray& m_tmpSolverNonContactConstraintPool; - btConstraintArray& m_tmpSolverContactFrictionConstraintPool; - btConstraintArray& m_tmpSolverContactRollingFrictionConstraintPool; - - btAlignedObjectArray& m_orderTmpConstraintPool; - btAlignedObjectArray& m_orderNonContactConstraintPool; - btAlignedObjectArray& m_orderFrictionConstraintPool; - btAlignedObjectArray& m_tmpConstraintSizesPool; - unsigned long& m_seed; - - btSingleConstraintRowSolver& m_resolveSingleConstraintRowGeneric; - btSingleConstraintRowSolver& m_resolveSingleConstraintRowLowerLimit; - btSingleConstraintRowSolver& m_resolveSplitPenetrationImpulse; - btAlignedObjectArray& m_kinematicBodyUniqueIdToSolverBodyTable; - int& m_fixedBodyId; - int& m_maxOverrideNumSolverIterations; - int getOrInitSolverBody(btCollisionObject & body, btScalar timeStep); - static void initSolverBody(btSolverBody * solverBody, btCollisionObject * collisionObject, btScalar timeStep); - int getSolverBody(btCollisionObject& body) const; - - - btSISolverSingleIterationData(btAlignedObjectArray& tmpSolverBodyPool, - btConstraintArray& tmpSolverContactConstraintPool, - btConstraintArray& tmpSolverNonContactConstraintPool, - btConstraintArray& tmpSolverContactFrictionConstraintPool, - btConstraintArray& tmpSolverContactRollingFrictionConstraintPool, - btAlignedObjectArray& orderTmpConstraintPool, - btAlignedObjectArray& orderNonContactConstraintPool, - btAlignedObjectArray& orderFrictionConstraintPool, - btAlignedObjectArray& tmpConstraintSizesPool, - btSingleConstraintRowSolver& resolveSingleConstraintRowGeneric, - btSingleConstraintRowSolver& resolveSingleConstraintRowLowerLimit, - btSingleConstraintRowSolver& resolveSplitPenetrationImpulse, - btAlignedObjectArray& kinematicBodyUniqueIdToSolverBodyTable, - unsigned long& seed, - int& fixedBodyId, - int& maxOverrideNumSolverIterations - ) - :m_tmpSolverBodyPool(tmpSolverBodyPool), - m_tmpSolverContactConstraintPool(tmpSolverContactConstraintPool), - m_tmpSolverNonContactConstraintPool(tmpSolverNonContactConstraintPool), - m_tmpSolverContactFrictionConstraintPool(tmpSolverContactFrictionConstraintPool), - m_tmpSolverContactRollingFrictionConstraintPool(tmpSolverContactRollingFrictionConstraintPool), - m_orderTmpConstraintPool(orderTmpConstraintPool), - m_orderNonContactConstraintPool(orderNonContactConstraintPool), - m_orderFrictionConstraintPool(orderFrictionConstraintPool), - m_tmpConstraintSizesPool(tmpConstraintSizesPool), - m_seed(seed), - m_resolveSingleConstraintRowGeneric(resolveSingleConstraintRowGeneric), - m_resolveSingleConstraintRowLowerLimit(resolveSingleConstraintRowLowerLimit), - m_resolveSplitPenetrationImpulse(resolveSplitPenetrationImpulse), - m_kinematicBodyUniqueIdToSolverBodyTable(kinematicBodyUniqueIdToSolverBodyTable), - m_fixedBodyId(fixedBodyId), - m_maxOverrideNumSolverIterations(maxOverrideNumSolverIterations) - { - } -}; - struct btSolverAnalyticsData { btSolverAnalyticsData() @@ -178,7 +116,6 @@ protected: virtual void convertJoints(btTypedConstraint * *constraints, int numConstraints, const btContactSolverInfo& infoGlobal); void convertJoint(btSolverConstraint * currentConstraintRow, btTypedConstraint * constraint, const btTypedConstraint::btConstraintInfo1& info1, int solverBodyIdA, int solverBodyIdB, const btContactSolverInfo& infoGlobal); - virtual void convertBodies(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal); btScalar resolveSplitPenetrationSIMD(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint) @@ -204,8 +141,7 @@ protected: return m_resolveSplitPenetrationImpulse(bodyA, bodyB, contactConstraint); } -public: - +protected: void writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); void writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); void writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); @@ -213,7 +149,6 @@ public: virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal); virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); - virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); @@ -225,51 +160,12 @@ public: virtual btScalar solveGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher); - static btScalar solveSingleIterationInternal(btSISolverSingleIterationData& siData, int iteration, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal); - static void convertBodiesInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal); - static void convertJointsInternal(btSISolverSingleIterationData& siData, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal); - static void convertContactInternal(btSISolverSingleIterationData& siData, btPersistentManifold * manifold, const btContactSolverInfo& infoGlobal); - static void setupContactConstraintInternal(btSISolverSingleIterationData& siData, btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, btScalar& relaxation, - const btVector3& rel_pos1, const btVector3& rel_pos2); - static btScalar restitutionCurveInternal(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold); - static btSolverConstraint& addTorsionalFrictionConstraintInternal(btAlignedObjectArray& tmpSolverBodyPool, btConstraintArray& tmpSolverContactRollingFrictionConstraintPool, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity = 0, btScalar cfmSlip = 0.); - static void setupTorsionalFrictionConstraintInternal(btAlignedObjectArray& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis1, int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, - btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, - btScalar desiredVelocity, btScalar cfmSlip); - static void setupFrictionConstraintInternal(btAlignedObjectArray& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip); - static btSolverConstraint& addFrictionConstraintInternal(btAlignedObjectArray& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0., btScalar cfmSlip = 0.); - static void setFrictionConstraintImpulseInternal(btAlignedObjectArray& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, - - btSolverConstraint& solverConstraint, - int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, const btContactSolverInfo& infoGlobal); - static void convertJointInternal(btAlignedObjectArray& tmpSolverBodyPool, - int& maxOverrideNumSolverIterations, - btSolverConstraint* currentConstraintRow, - btTypedConstraint* constraint, - const btTypedConstraint::btConstraintInfo1& info1, - int solverBodyIdA, - int solverBodyIdB, - const btContactSolverInfo& infoGlobal); - - static btScalar solveGroupCacheFriendlyFinishInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal); - - static void writeBackContactsInternal(btConstraintArray& tmpSolverContactConstraintPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); - - static void writeBackJointsInternal(btConstraintArray& tmpSolverNonContactConstraintPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); - static void writeBackBodiesInternal(btAlignedObjectArray& tmpSolverBodyPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); - static void solveGroupCacheFriendlySplitImpulseIterationsInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); - - ///clear internal cached data and reset random seed virtual void reset(); unsigned long btRand2(); - int btRandInt2(int n); - static unsigned long btRand2a(unsigned long& seed); - static int btRandInt2a(int n, unsigned long& seed); + int btRandInt2(int n); void setRandSeed(unsigned long seed) { @@ -305,18 +201,14 @@ public: ///Various implementations of solving a single constraint row using a generic equality constraint, using scalar reference, SSE2 or SSE4 - static btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric(); - static btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric(); - static btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric(); + btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric(); + btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric(); + btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric(); ///Various implementations of solving a single constraint row using an inequality (lower limit) constraint, using scalar reference, SSE2 or SSE4 - static btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit(); - static btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit(); - static btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit(); - - static btSingleConstraintRowSolver getScalarSplitPenetrationImpulseGeneric(); - static btSingleConstraintRowSolver getSSE2SplitPenetrationImpulseGeneric(); - + btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit(); + btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit(); + btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit(); btSolverAnalyticsData m_analyticsData; }; diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h index f7d156e4d..80aafe03f 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h @@ -46,31 +46,14 @@ protected: void writeToSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) { - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations); - for (int i = 0; i < numBodies; i++) { - int bodyId = siData.getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep); + int bodyId = getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep); btRigidBody* body = btRigidBody::upcast(bodies[i]); if (body && body->getInvMass()) { - btSolverBody& solverBody = siData.m_tmpSolverBodyPool[bodyId]; + btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId]; solverBody.m_linearVelocity = body->getLinearVelocity() - solverBody.m_deltaLinearVelocity; solverBody.m_angularVelocity = body->getAngularVelocity() - solverBody.m_deltaAngularVelocity; } From 25c61a40b515f6a3d68e3e68c970d30bf408509a Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 11 Sep 2019 10:19:43 -0700 Subject: [PATCH 142/389] remove BlockSolver/* --- examples/BlockSolver/BlockSolverExample.cpp | 209 ----------- examples/BlockSolver/BlockSolverExample.h | 7 - examples/BlockSolver/RigidBodyBoxes.cpp | 151 -------- examples/BlockSolver/RigidBodyBoxes.h | 6 - examples/BlockSolver/btBlockSolver.cpp | 374 -------------------- examples/BlockSolver/btBlockSolver.h | 77 ---- examples/ExampleBrowser/ExampleEntries.cpp | 10 - 7 files changed, 834 deletions(-) delete mode 100644 examples/BlockSolver/BlockSolverExample.cpp delete mode 100644 examples/BlockSolver/BlockSolverExample.h delete mode 100644 examples/BlockSolver/RigidBodyBoxes.cpp delete mode 100644 examples/BlockSolver/RigidBodyBoxes.h delete mode 100644 examples/BlockSolver/btBlockSolver.cpp delete mode 100644 examples/BlockSolver/btBlockSolver.h diff --git a/examples/BlockSolver/BlockSolverExample.cpp b/examples/BlockSolver/BlockSolverExample.cpp deleted file mode 100644 index 61685079a..000000000 --- a/examples/BlockSolver/BlockSolverExample.cpp +++ /dev/null @@ -1,209 +0,0 @@ -#include "BlockSolverExample.h" -#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h" -#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h" -#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" -#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h" -#include "btBlockSolver.h" -//for URDF import support -#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h" -#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h" -#include "../Importers/ImportURDFDemo/URDF2Bullet.h" -#include "../CommonInterfaces/CommonMultiBodyBase.h" - -class BlockSolverExample : public CommonMultiBodyBase -{ - int m_option; - -public: - BlockSolverExample(GUIHelperInterface* helper, int option); - virtual ~BlockSolverExample(); - - virtual void initPhysics(); - - virtual void stepSimulation(float deltaTime); - - virtual void resetCamera() - { - float dist = 3; - float pitch = -35; - float yaw = 50; - float targetPos[3] = {0, 0, .1}; - m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]); - } - - void createMultiBodyStack(); - btMultiBody* createMultiBody(btScalar mass, const btTransform& trans, btCollisionShape* collisionShape); - btMultiBody* loadRobot(std::string filepath); -}; - -BlockSolverExample::BlockSolverExample(GUIHelperInterface* helper, int option) - : CommonMultiBodyBase(helper), - m_option(option) -{ - m_guiHelper->setUpAxis(2); -} - -BlockSolverExample::~BlockSolverExample() -{ - // Do nothing -} - -void BlockSolverExample::stepSimulation(float deltaTime) -{ - //use a smaller internal timestep, there are stability issues - btScalar internalTimeStep = 1. / 240.f; - m_dynamicsWorld->stepSimulation(deltaTime, 10, internalTimeStep); -} - -void BlockSolverExample::initPhysics() -{ - ///collision configuration contains default setup for memory, collision setup - m_collisionConfiguration = new btDefaultCollisionConfiguration(); - - ///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(); - - btMLCPSolverInterface* mlcp; - if (m_option & BLOCK_SOLVER_SI) - { - btAssert(!m_solver); - m_solver = new btMultiBodyConstraintSolver; - b3Printf("Constraint Solver: Sequential Impulse"); - } - if (m_option & BLOCK_SOLVER_MLCP_PGS) - { - btAssert(!m_solver); - mlcp = new btSolveProjectedGaussSeidel(); - m_solver = new btMultiBodyMLCPConstraintSolver(mlcp); - b3Printf("Constraint Solver: MLCP + PGS"); - } - if (m_option & BLOCK_SOLVER_MLCP_DANTZIG) - { - btAssert(!m_solver); - mlcp = new btDantzigSolver(); - m_solver = new btMultiBodyMLCPConstraintSolver(mlcp); - b3Printf("Constraint Solver: MLCP + Dantzig"); - } - if (m_option & BLOCK_SOLVER_BLOCK) - { - m_solver = new btBlockSolver(); - } - - btAssert(m_solver); - - btMultiBodyDynamicsWorld* world = new btMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration); - m_dynamicsWorld = world; - m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); - m_dynamicsWorld->setGravity(btVector3(0, 0, -10)); - m_dynamicsWorld->getSolverInfo().m_numIterations = 50; - m_dynamicsWorld->getSolverInfo().m_globalCfm = btScalar(1e-6); //todo: what value is good? - - if (m_option & BLOCK_SOLVER_SCENE_MB_STACK) - { - createMultiBodyStack(); - } - - m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); -} - -void BlockSolverExample::createMultiBodyStack() -{ - ///create a few basic rigid bodies - bool loadPlaneFromURDF = false; - if (loadPlaneFromURDF) - { - btMultiBody* mb = loadRobot("plane.urdf"); - printf("!\n"); - } - else - { - btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.), btScalar(50.), btScalar(50.))); - m_collisionShapes.push_back(groundShape); - btScalar mass = 0; - btTransform tr; - tr.setIdentity(); - tr.setOrigin(btVector3(0, 0, -50)); - btMultiBody* body = createMultiBody(mass, tr, groundShape); - } - - for (int i = 0; i < 10; i++) - { - btBoxShape* boxShape = createBoxShape(btVector3(btScalar(.1), btScalar(.1), btScalar(.1))); - m_collisionShapes.push_back(boxShape); - btScalar mass = 1; - if (i == 9) - mass = 100; - btTransform tr; - tr.setIdentity(); - tr.setOrigin(btVector3(0, 0, 0.1 + i * 0.2)); - btMultiBody* body = createMultiBody(mass, tr, boxShape); - } - if (/* DISABLES CODE */ (0)) - { - btMultiBody* mb = loadRobot("cube_small.urdf"); - btTransform tr; - tr.setIdentity(); - tr.setOrigin(btVector3(0, 0, 1.)); - mb->setBaseWorldTransform(tr); - } -} - -btMultiBody* BlockSolverExample::createMultiBody(btScalar mass, const btTransform& trans, btCollisionShape* collisionShape) -{ - btVector3 inertia; - collisionShape->calculateLocalInertia(mass, inertia); - - bool canSleep = false; - bool isDynamic = mass > 0; - btMultiBody* mb = new btMultiBody(0, mass, inertia, !isDynamic, canSleep); - btMultiBodyLinkCollider* collider = new btMultiBodyLinkCollider(mb, -1); - collider->setWorldTransform(trans); - mb->setBaseWorldTransform(trans); - - collider->setCollisionShape(collisionShape); - - int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter); - int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter); - - this->m_dynamicsWorld->addCollisionObject(collider, collisionFilterGroup, collisionFilterMask); - mb->setBaseCollider(collider); - - mb->finalizeMultiDof(); - - this->m_dynamicsWorld->addMultiBody(mb); - m_dynamicsWorld->forwardKinematics(); - return mb; -} - -btMultiBody* BlockSolverExample::loadRobot(std::string filepath) -{ - btMultiBody* m_multiBody = 0; - BulletURDFImporter u2b(m_guiHelper, 0, 0, 1, 0); - bool loadOk = u2b.loadURDF(filepath.c_str()); // lwr / kuka.urdf"); - if (loadOk) - { - int rootLinkIndex = u2b.getRootLinkIndex(); - b3Printf("urdf root link index = %d\n", rootLinkIndex); - MyMultiBodyCreator creation(m_guiHelper); - btTransform identityTrans; - identityTrans.setIdentity(); - ConvertURDF2Bullet(u2b, creation, identityTrans, m_dynamicsWorld, true, u2b.getPathPrefix()); - for (int i = 0; i < u2b.getNumAllocatedCollisionShapes(); i++) - { - m_collisionShapes.push_back(u2b.getAllocatedCollisionShape(i)); - } - m_multiBody = creation.getBulletMultiBody(); - if (m_multiBody) - { - b3Printf("Root link name = %s", u2b.getLinkName(u2b.getRootLinkIndex()).c_str()); - } - } - return m_multiBody; -} - -CommonExampleInterface* BlockSolverExampleCreateFunc(CommonExampleOptions& options) -{ - return new BlockSolverExample(options.m_guiHelper, options.m_option); -} diff --git a/examples/BlockSolver/BlockSolverExample.h b/examples/BlockSolver/BlockSolverExample.h deleted file mode 100644 index faa11d885..000000000 --- a/examples/BlockSolver/BlockSolverExample.h +++ /dev/null @@ -1,7 +0,0 @@ - -#ifndef BLOCK_SOLVER_EXAMPLE_H -#define BLOCK_SOLVER_EXAMPLE_H - -class CommonExampleInterface* BlockSolverExampleCreateFunc(struct CommonExampleOptions& options); - -#endif //BLOCK_SOLVER_EXAMPLE_H diff --git a/examples/BlockSolver/RigidBodyBoxes.cpp b/examples/BlockSolver/RigidBodyBoxes.cpp deleted file mode 100644 index e475413be..000000000 --- a/examples/BlockSolver/RigidBodyBoxes.cpp +++ /dev/null @@ -1,151 +0,0 @@ -#include "RigidBodyBoxes.h" -#include "../CommonInterfaces/CommonParameterInterface.h" -#include "../CommonInterfaces/CommonRigidBodyBase.h" -#include "BlockSolverExample.h" -#include "btBlockSolver.h" - -class RigidBodyBoxes : public CommonRigidBodyBase -{ - int m_option; - int m_numIterations; - int m_numBoxes; - btAlignedObjectArray boxes; - static btScalar numSolverIterations; - -public: - RigidBodyBoxes(GUIHelperInterface* helper, int option); - virtual ~RigidBodyBoxes(); - - virtual void initPhysics(); - - virtual void stepSimulation(float deltaTime); - void resetCubePosition(); - virtual void resetCamera() - { - float dist = 3; - float pitch = -35; - float yaw = 50; - float targetPos[3] = {0, 0, .1}; - m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], - targetPos[2]); - } - - void createRigidBodyStack(); -}; - -btScalar RigidBodyBoxes::numSolverIterations = 50; - -RigidBodyBoxes::RigidBodyBoxes(GUIHelperInterface* helper, int option) - : CommonRigidBodyBase(helper), - m_option(option), - m_numIterations(numSolverIterations), - m_numBoxes(4) -{ - m_guiHelper->setUpAxis(2); -} - -RigidBodyBoxes::~RigidBodyBoxes() -{ - // Do nothing -} - -void RigidBodyBoxes::createRigidBodyStack() -{ - // create ground - btBoxShape* groundShape = - createBoxShape(btVector3(btScalar(5.), btScalar(5.), btScalar(5.))); - m_collisionShapes.push_back(groundShape); - btTransform groundTransform; - groundTransform.setIdentity(); - groundTransform.setOrigin(btVector3(0, 0, -5)); - btScalar mass(0.); - btRigidBody* body = createRigidBody(mass, groundTransform, groundShape, - btVector4(0, 0, 1, 1)); - - // create a few boxes - mass = 1; - for (int i = 0; i < m_numBoxes; i++) - { - btBoxShape* boxShape = - createBoxShape(btVector3(btScalar(.1), btScalar(.1), btScalar(.1))); - m_collisionShapes.push_back(boxShape); - mass *= 4; - btTransform tr; - tr.setIdentity(); - tr.setOrigin(btVector3(0, 0, 0.1 + i * 0.2)); - boxes.push_back(createRigidBody(mass, tr, boxShape)); - } -} - -void RigidBodyBoxes::initPhysics() -{ - /// collision configuration contains default setup for memory, collision setup - m_collisionConfiguration = new btDefaultCollisionConfiguration(); - - /// 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(); - - { - SliderParams slider("numSolverIterations", &numSolverIterations); - slider.m_minVal = 5; - slider.m_maxVal = 500; - m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); - } - - if (m_option & BLOCK_SOLVER_SI) - { - m_solver = new btSequentialImpulseConstraintSolver; - b3Printf("Constraint Solver: Sequential Impulse"); - } - if (m_option & BLOCK_SOLVER_BLOCK) - { - m_solver = new btBlockSolver(); - b3Printf("Constraint Solver: Block solver"); - } - - btAssert(m_solver); - - m_dynamicsWorld = new btDiscreteDynamicsWorld( - m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration); - m_dynamicsWorld->setGravity(btVector3(0, 0, -10)); - - createRigidBodyStack(); - - m_dynamicsWorld->getSolverInfo().m_numIterations = numSolverIterations; - m_dynamicsWorld->getSolverInfo().m_globalCfm = btScalar(1e-6); - - m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); - m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); -} - -void RigidBodyBoxes::resetCubePosition() -{ - for (int i = 0; i < m_numBoxes; i++) - { - btTransform tr; - tr.setIdentity(); - tr.setOrigin(btVector3(0, 0, 0.1 + i * 0.2)); - boxes[i]->setWorldTransform(tr); - } -} - -void RigidBodyBoxes::stepSimulation(float deltaTime) -{ - if ((int)numSolverIterations != m_numIterations) - { - resetCubePosition(); - m_numIterations = (int)numSolverIterations; - m_dynamicsWorld->getSolverInfo().m_numIterations = m_numIterations; - b3Printf("New num iterations; %d", m_numIterations); - } - - m_dynamicsWorld->stepSimulation(deltaTime); -} - -CommonExampleInterface* RigidBodyBoxesCreateFunc( - CommonExampleOptions& options) -{ - return new RigidBodyBoxes(options.m_guiHelper, options.m_option); -} diff --git a/examples/BlockSolver/RigidBodyBoxes.h b/examples/BlockSolver/RigidBodyBoxes.h deleted file mode 100644 index 0b6e651d6..000000000 --- a/examples/BlockSolver/RigidBodyBoxes.h +++ /dev/null @@ -1,6 +0,0 @@ -#ifndef BLOCKSOLVER_RIGIDBODYBOXES_H_ -#define BLOCKSOLVER_RIGIDBODYBOXES_H_ - -class CommonExampleInterface* RigidBodyBoxesCreateFunc(struct CommonExampleOptions& options); - -#endif //BLOCKSOLVER_RIGIDBODYBOXES_H_ diff --git a/examples/BlockSolver/btBlockSolver.cpp b/examples/BlockSolver/btBlockSolver.cpp deleted file mode 100644 index 8cf144c14..000000000 --- a/examples/BlockSolver/btBlockSolver.cpp +++ /dev/null @@ -1,374 +0,0 @@ -#include "btBlockSolver.h" -#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h" -#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h" -#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h" -#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h" - -#include "LinearMath/btQuickprof.h" - -void setupHelper(btSISolverSingleIterationData& siData, - btCollisionObject** bodies, int numBodies, - const btContactSolverInfo& info, - btTypedConstraint** constraintStart, int constrainNums, - btPersistentManifold** manifoldPtr, int numManifolds); - -struct btBlockSolverInternalData -{ - btAlignedObjectArray m_tmpSolverBodyPool; - btConstraintArray m_tmpSolverContactConstraintPool; - btConstraintArray m_tmpSolverNonContactConstraintPool; - btConstraintArray m_tmpSolverContactFrictionConstraintPool; - btConstraintArray m_tmpSolverContactRollingFrictionConstraintPool; - - btAlignedObjectArray m_orderTmpConstraintPool; - btAlignedObjectArray m_orderNonContactConstraintPool; - btAlignedObjectArray m_orderFrictionConstraintPool; - btAlignedObjectArray - m_tmpConstraintSizesPool; - - unsigned long m_btSeed2; - int m_fixedBodyId; - int m_maxOverrideNumSolverIterations; - btAlignedObjectArray - m_kinematicBodyUniqueIdToSolverBodyTable; // only used for multithreading - - btSingleConstraintRowSolver m_resolveSingleConstraintRowGeneric; - btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit; - btSingleConstraintRowSolver m_resolveSplitPenetrationImpulse; - - btBlockSolverInternalData() - : m_btSeed2(0), - m_fixedBodyId(-1), - m_maxOverrideNumSolverIterations(0), - m_resolveSingleConstraintRowGeneric( - btSequentialImpulseConstraintSolver:: - getScalarConstraintRowSolverGeneric()), - m_resolveSingleConstraintRowLowerLimit( - btSequentialImpulseConstraintSolver:: - getScalarConstraintRowSolverLowerLimit()), - m_resolveSplitPenetrationImpulse( - btSequentialImpulseConstraintSolver:: - getScalarSplitPenetrationImpulseGeneric()) {} -}; - -btBlockSolver::btBlockSolver() -{ - m_data21 = new btBlockSolverInternalData; - m_data22 = new btBlockSolverInternalData; -} - -btBlockSolver::~btBlockSolver() -{ - delete m_data21; - delete m_data22; -} - -btScalar btBlockSolver::solveGroupInternalBlock( - btCollisionObject** bodies, int numBodies, - btPersistentManifold** manifoldPtr, int numManifolds, - btTypedConstraint** constraints, int numConstraints, - const btContactSolverInfo& info, btIDebugDraw* debugDrawer, - btDispatcher* dispatcher) -{ - // initialize data for two children solvers - btSISolverSingleIterationData siData1( - m_data21->m_tmpSolverBodyPool, m_data21->m_tmpSolverContactConstraintPool, - m_data21->m_tmpSolverNonContactConstraintPool, - m_data21->m_tmpSolverContactFrictionConstraintPool, - m_data21->m_tmpSolverContactRollingFrictionConstraintPool, - m_data21->m_orderTmpConstraintPool, - m_data21->m_orderNonContactConstraintPool, - m_data21->m_orderFrictionConstraintPool, - m_data21->m_tmpConstraintSizesPool, - m_data21->m_resolveSingleConstraintRowGeneric, - m_data21->m_resolveSingleConstraintRowLowerLimit, - m_data21->m_resolveSplitPenetrationImpulse, - m_data21->m_kinematicBodyUniqueIdToSolverBodyTable, m_data21->m_btSeed2, - m_data21->m_fixedBodyId, m_data21->m_maxOverrideNumSolverIterations); - - btSISolverSingleIterationData siData2( - m_data22->m_tmpSolverBodyPool, m_data22->m_tmpSolverContactConstraintPool, - m_data22->m_tmpSolverNonContactConstraintPool, - m_data22->m_tmpSolverContactFrictionConstraintPool, - m_data22->m_tmpSolverContactRollingFrictionConstraintPool, - m_data22->m_orderTmpConstraintPool, - m_data22->m_orderNonContactConstraintPool, - m_data22->m_orderFrictionConstraintPool, - m_data22->m_tmpConstraintSizesPool, - m_data22->m_resolveSingleConstraintRowGeneric, - m_data22->m_resolveSingleConstraintRowLowerLimit, - m_data22->m_resolveSplitPenetrationImpulse, - m_data22->m_kinematicBodyUniqueIdToSolverBodyTable, m_data22->m_btSeed2, - m_data22->m_fixedBodyId, m_data22->m_maxOverrideNumSolverIterations); - - m_data21->m_fixedBodyId = -1; - m_data22->m_fixedBodyId = -1; - - // set up - int halfNumConstraints1 = numConstraints / 2; - int halfNumConstraints2 = numConstraints - halfNumConstraints1; - - int halfNumManifolds1 = numConstraints / 2; - int halfNumManifolds2 = numManifolds - halfNumManifolds1; - - setupHelper(siData1, bodies, numBodies, info, constraints, - halfNumConstraints1, manifoldPtr, halfNumManifolds1); - - setupHelper(siData2, bodies, numBodies, info, - constraints + halfNumConstraints1, halfNumConstraints2, - manifoldPtr + halfNumManifolds1, halfNumManifolds2); - // set up complete - - // begin solve - btScalar leastSquaresResidual = 0; - { - BT_PROFILE("solveGroupCacheFriendlyIterations"); - /// this is a special step to resolve penetrations (just for contacts) - btSequentialImpulseConstraintSolver:: - solveGroupCacheFriendlySplitImpulseIterationsInternal( - siData1, bodies, numBodies, manifoldPtr, halfNumManifolds1, - constraints, halfNumConstraints1, info, debugDrawer); - - btSequentialImpulseConstraintSolver:: - solveGroupCacheFriendlySplitImpulseIterationsInternal( - siData2, bodies, numBodies, manifoldPtr + halfNumManifolds1, - halfNumManifolds2, constraints + halfNumConstraints1, - halfNumConstraints2, info, debugDrawer); - - int maxIterations = - siData1.m_maxOverrideNumSolverIterations > info.m_numIterations - ? siData1.m_maxOverrideNumSolverIterations - : info.m_numIterations; - - for (int iteration = 0; iteration < maxIterations; iteration++) - { - btScalar res1 = - btSequentialImpulseConstraintSolver::solveSingleIterationInternal( - siData1, iteration, constraints, halfNumConstraints1, info); - - btScalar res2 = - btSequentialImpulseConstraintSolver::solveSingleIterationInternal( - siData2, iteration, constraints + halfNumConstraints1, - halfNumConstraints2, info); - leastSquaresResidual = btMax(res1, res2); - - if (leastSquaresResidual <= info.m_leastSquaresResidualThreshold || - (iteration >= (maxIterations - 1))) - { -#ifdef VERBOSE_RESIDUAL_PRINTF - printf("residual = %f at iteration #%d\n", m_leastSquaresResidual, - iteration); -#endif - break; - } - } - } - - btScalar res = btSequentialImpulseConstraintSolver:: - solveGroupCacheFriendlyFinishInternal(siData1, bodies, numBodies, info); - +btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinishInternal( - siData2, bodies, numBodies, info); - - return res; -} - -void setupHelper(btSISolverSingleIterationData& siData, - btCollisionObject** bodies, int numBodies, - const btContactSolverInfo& info, - btTypedConstraint** constraintStart, int constrainNums, - btPersistentManifold** manifoldPtr, int numManifolds) -{ - btSequentialImpulseConstraintSolver::convertBodiesInternal(siData, bodies, - numBodies, info); - btSequentialImpulseConstraintSolver::convertJointsInternal( - siData, constraintStart, constrainNums, info); - - int i; - btPersistentManifold* manifold = 0; - - for (i = 0; i < numManifolds; i++) - { - manifold = manifoldPtr[i]; - btSequentialImpulseConstraintSolver::convertContactInternal(siData, - manifold, info); - - int numNonContactPool = siData.m_tmpSolverNonContactConstraintPool.size(); - int numConstraintPool = siData.m_tmpSolverContactConstraintPool.size(); - int numFrictionPool = - siData.m_tmpSolverContactFrictionConstraintPool.size(); - - siData.m_orderNonContactConstraintPool.resizeNoInitialize( - numNonContactPool); - if ((info.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) - siData.m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool * 2); - else - siData.m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool); - - siData.m_orderFrictionConstraintPool.resizeNoInitialize(numFrictionPool); - { - int i; - for (i = 0; i < numNonContactPool; i++) - { - siData.m_orderNonContactConstraintPool[i] = i; - } - for (i = 0; i < numConstraintPool; i++) - { - siData.m_orderTmpConstraintPool[i] = i; - } - for (i = 0; i < numFrictionPool; i++) - { - siData.m_orderFrictionConstraintPool[i] = i; - } - } - } -} - -btScalar btBlockSolver::solveGroup(btCollisionObject** bodies, int numBodies, - btPersistentManifold** manifoldPtr, - int numManifolds, - btTypedConstraint** constraints, - int numConstraints, - const btContactSolverInfo& info, - btIDebugDraw* debugDrawer, - btDispatcher* dispatcher) -{ - // if (m_childSolvers.size()) - // hard code to use block solver for now - return solveGroupInternalBlock(bodies, numBodies, manifoldPtr, numManifolds, - constraints, numConstraints, info, debugDrawer, - dispatcher); - // else - // return solveGroupInternal(bodies, numBodies, manifoldPtr, numManifolds, - // constraints, numConstraints, info, debugDrawer, - // dispatcher); -} - -btScalar btBlockSolver::solveGroupInternal( - btCollisionObject** bodies, int numBodies, - btPersistentManifold** manifoldPtr, int numManifolds, - btTypedConstraint** constraints, int numConstraints, - const btContactSolverInfo& info, btIDebugDraw* debugDrawer, - btDispatcher* dispatcher) -{ - btSISolverSingleIterationData siData( - m_data21->m_tmpSolverBodyPool, m_data21->m_tmpSolverContactConstraintPool, - m_data21->m_tmpSolverNonContactConstraintPool, - m_data21->m_tmpSolverContactFrictionConstraintPool, - m_data21->m_tmpSolverContactRollingFrictionConstraintPool, - m_data21->m_orderTmpConstraintPool, - m_data21->m_orderNonContactConstraintPool, - m_data21->m_orderFrictionConstraintPool, - m_data21->m_tmpConstraintSizesPool, - m_data21->m_resolveSingleConstraintRowGeneric, - m_data21->m_resolveSingleConstraintRowLowerLimit, - m_data21->m_resolveSplitPenetrationImpulse, - m_data21->m_kinematicBodyUniqueIdToSolverBodyTable, m_data21->m_btSeed2, - m_data21->m_fixedBodyId, m_data21->m_maxOverrideNumSolverIterations); - - m_data21->m_fixedBodyId = -1; - // todo: setup sse2/4 constraint row methods - - btSequentialImpulseConstraintSolver::convertBodiesInternal(siData, bodies, - numBodies, info); - btSequentialImpulseConstraintSolver::convertJointsInternal( - siData, constraints, numConstraints, info); - - int i; - btPersistentManifold* manifold = 0; - // btCollisionObject* colObj0=0,*colObj1=0; - - for (i = 0; i < numManifolds; i++) - { - manifold = manifoldPtr[i]; - btSequentialImpulseConstraintSolver::convertContactInternal(siData, - manifold, info); - } - - int numNonContactPool = siData.m_tmpSolverNonContactConstraintPool.size(); - int numConstraintPool = siData.m_tmpSolverContactConstraintPool.size(); - int numFrictionPool = siData.m_tmpSolverContactFrictionConstraintPool.size(); - - // @todo: use stack allocator for such temporarily memory, same for solver - // bodies/constraints - siData.m_orderNonContactConstraintPool.resizeNoInitialize(numNonContactPool); - if ((info.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) - siData.m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool * 2); - else - siData.m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool); - - siData.m_orderFrictionConstraintPool.resizeNoInitialize(numFrictionPool); - { - int i; - for (i = 0; i < numNonContactPool; i++) - { - siData.m_orderNonContactConstraintPool[i] = i; - } - for (i = 0; i < numConstraintPool; i++) - { - siData.m_orderTmpConstraintPool[i] = i; - } - for (i = 0; i < numFrictionPool; i++) - { - siData.m_orderFrictionConstraintPool[i] = i; - } - } - - btScalar leastSquaresResidual = 0; - - { - BT_PROFILE("solveGroupCacheFriendlyIterations"); - /// this is a special step to resolve penetrations (just for contacts) - btSequentialImpulseConstraintSolver:: - solveGroupCacheFriendlySplitImpulseIterationsInternal( - siData, bodies, numBodies, manifoldPtr, numManifolds, constraints, - numConstraints, info, debugDrawer); - - int maxIterations = - siData.m_maxOverrideNumSolverIterations > info.m_numIterations - ? siData.m_maxOverrideNumSolverIterations - : info.m_numIterations; - - for (int iteration = 0; iteration < maxIterations; iteration++) - { - leastSquaresResidual = - btSequentialImpulseConstraintSolver::solveSingleIterationInternal( - siData, iteration, constraints, numConstraints, info); - - if (leastSquaresResidual <= info.m_leastSquaresResidualThreshold || - (iteration >= (maxIterations - 1))) - { -#ifdef VERBOSE_RESIDUAL_PRINTF - printf("residual = %f at iteration #%d\n", m_leastSquaresResidual, - iteration); -#endif - break; - } - } - } - - btScalar res = btSequentialImpulseConstraintSolver:: - solveGroupCacheFriendlyFinishInternal(siData, bodies, numBodies, info); - return res; -} - -void btBlockSolver::solveMultiBodyGroup( - btCollisionObject** bodies, int numBodies, btPersistentManifold** manifold, - int numManifolds, btTypedConstraint** constraints, int numConstraints, - btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, - const btContactSolverInfo& info, btIDebugDraw* debugDrawer, - btDispatcher* dispatcher) -{ - btMultiBodyConstraintSolver::solveMultiBodyGroup( - bodies, numBodies, manifold, numManifolds, constraints, numConstraints, - multiBodyConstraints, numMultiBodyConstraints, info, debugDrawer, - dispatcher); -} - -void btBlockSolver::reset() -{ - // or just set m_data2->m_btSeed2=0? - delete m_data21; - delete m_data22; - m_data21 = new btBlockSolverInternalData; - m_data22 = new btBlockSolverInternalData; -} diff --git a/examples/BlockSolver/btBlockSolver.h b/examples/BlockSolver/btBlockSolver.h deleted file mode 100644 index 271ad399d..000000000 --- a/examples/BlockSolver/btBlockSolver.h +++ /dev/null @@ -1,77 +0,0 @@ -#ifndef BT_BLOCK_SOLVER_H -#define BT_BLOCK_SOLVER_H - -#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h" -#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h" -#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" -#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h" -#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h" -#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h" -#include "Bullet3Common/b3Logging.h" - -enum BlockSolverOptions -{ - BLOCK_SOLVER_SI = 1 << 0, - BLOCK_SOLVER_MLCP_PGS = 1 << 1, - BLOCK_SOLVER_MLCP_DANTZIG = 1 << 2, - BLOCK_SOLVER_BLOCK = 1 << 3, - - BLOCK_SOLVER_SCENE_MB_STACK = 1 << 5, - BLOCK_SOLVER_SCENE_CHAIN = 1 << 6, -}; - -class btBlockSolver : public btMultiBodyConstraintSolver -{ - struct btBlockSolverInternalData* m_data21; - struct btBlockSolverInternalData* m_data22; - public - : btBlockSolver(); - - virtual ~btBlockSolver(); - - // btRigidBody - virtual btScalar solveGroup(btCollisionObject** bodies, int numBodies, - btPersistentManifold** manifoldPtr, - int numManifolds, btTypedConstraint** constraints, - int numConstraints, - const btContactSolverInfo& info, - class btIDebugDraw* debugDrawer, - btDispatcher* dispatcher); - - btScalar solveGroupInternal(btCollisionObject** bodies, int numBodies, - btPersistentManifold** manifoldPtr, - int numManifolds, - btTypedConstraint** constraints, - int numConstraints, - const btContactSolverInfo& info, - btIDebugDraw* debugDrawer, - btDispatcher* dispatcher); - - btScalar solveGroupInternalBlock(btCollisionObject** bodies, int numBodies, - btPersistentManifold** manifoldPtr, - int numManifolds, - btTypedConstraint** constraints, - int numConstraints, - const btContactSolverInfo& info, - btIDebugDraw* debugDrawer, - btDispatcher* dispatcher); - - // btMultibody - virtual void solveMultiBodyGroup( - btCollisionObject** bodies, int numBodies, - btPersistentManifold** manifold, int numManifolds, - btTypedConstraint** constraints, int numConstraints, - btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, - const btContactSolverInfo& info, btIDebugDraw* debugDrawer, - btDispatcher* dispatcher); - - /// clear internal cached data and reset random seed - virtual void reset(); - - virtual btConstraintSolverType getSolverType() const - { - return BT_BLOCK_SOLVER; - } -}; - -#endif //BT_BLOCK_SOLVER_H diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index 2beef333c..1c8fa7921 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -1,8 +1,5 @@ #include "ExampleEntries.h" -#include "../BlockSolver/btBlockSolver.h" -#include "../BlockSolver/BlockSolverExample.h" -#include "../BlockSolver/RigidBodyBoxes.h" #include "LinearMath/btAlignedObjectArray.h" #include "EmptyExample.h" #include "../Heightfield/HeightfieldExample.h" @@ -164,13 +161,6 @@ static ExampleEntry gDefaultExamples[] = // // ExampleEntry(1, "Physics Client (Direct)", "Create a physics client that can communicate with a physics server directly in-process.", PhysicsClientCreateFunc,eCLIENTEXAMPLE_DIRECT), - ExampleEntry(0, "BlockSolver"), - ExampleEntry(1, "Stack MultiBody SI", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_SI), - ExampleEntry(1, "Stack MultiBody MLCP PGS", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_MLCP_PGS), - ExampleEntry(1, "Stack MultiBody MLCP Dantzig", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_MLCP_DANTZIG), - ExampleEntry(1, "Stack MultiBody Block", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_BLOCK), - //ExampleEntry(1, "Stack RigidBody SI", "Create a stack of blocks, with heavy block at the top", RigidBodyBoxesCreateFunc, BLOCK_SOLVER_SI), - //ExampleEntry(1, "Stack RigidBody Block", "Create a stack of blocks, with heavy block at the top", RigidBodyBoxesCreateFunc, BLOCK_SOLVER_BLOCK), ExampleEntry(0, "Inverse Dynamics"), ExampleEntry(1, "Inverse Dynamics URDF", "Create a btMultiBody from URDF. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc, BT_ID_LOAD_URDF), From b86bf6c571c1c8be7bbc696430cd36b8506730ca Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 11 Sep 2019 10:20:37 -0700 Subject: [PATCH 143/389] remove BlockSolver/* --- examples/ExampleBrowser/CMakeLists.txt | 6 ------ examples/ExampleBrowser/premake4.lua | 1 - 2 files changed, 7 deletions(-) diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt index 686313f99..87f47f162 100644 --- a/examples/ExampleBrowser/CMakeLists.txt +++ b/examples/ExampleBrowser/CMakeLists.txt @@ -220,12 +220,6 @@ SET(BulletExampleBrowser_SRCS ../MultiThreadedDemo/CommonRigidBodyMTBase.h ../Heightfield/HeightfieldExample.cpp ../Heightfield/HeightfieldExample.h - ../BlockSolver/btBlockSolver.cpp - ../BlockSolver/btBlockSolver.h - ../BlockSolver/BlockSolverExample.cpp - ../BlockSolver/BlockSolverExample.h - ../BlockSolver/RigidBodyBoxes.cpp - ../BlockSolver/RigidBodyBoxes.h ../Tutorial/Tutorial.cpp ../Tutorial/Tutorial.h ../Tutorial/Dof6ConstraintTutorial.cpp diff --git a/examples/ExampleBrowser/premake4.lua b/examples/ExampleBrowser/premake4.lua index a0b8f1587..5ffba4a9a 100644 --- a/examples/ExampleBrowser/premake4.lua +++ b/examples/ExampleBrowser/premake4.lua @@ -168,7 +168,6 @@ project "App_BulletExampleBrowser" "../Evolution/NN3DWalkers.h", "../Collision/*", "../RoboticsLearning/*", - "../BlockSolver/*", "../Collision/Internal/*", "../Benchmarks/*", "../MultiThreadedDemo/*", From 95a74883106ac7fb7c00a32a359e71c12fc64bf8 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Fri, 13 Sep 2019 07:38:00 -0700 Subject: [PATCH 144/389] PyBullet: fix createMultiBodyBatch.py example --- examples/pybullet/examples/createMultiBodyBatch.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/pybullet/examples/createMultiBodyBatch.py b/examples/pybullet/examples/createMultiBodyBatch.py index 3d9597387..dd53d99b0 100644 --- a/examples/pybullet/examples/createMultiBodyBatch.py +++ b/examples/pybullet/examples/createMultiBodyBatch.py @@ -117,14 +117,14 @@ for x in range(32): batchPositions.append( [x * meshScale[0] * 5.5, y * meshScale[1] * 5.5, (0.5 + z) * meshScale[2] * 2.5]) -bodyUid = p.createMultiBody(baseMass=0, +bodyUids = p.createMultiBody(baseMass=0, baseInertialFramePosition=[0, 0, 0], baseCollisionShapeIndex=collisionShapeId, baseVisualShapeIndex=visualShapeId, basePosition=[0, 0, 2], batchPositions=batchPositions, useMaximalCoordinates=True) -p.changeVisualShape(bodyUid, -1, textureUniqueId=texUid) +p.changeVisualShape(bodyUids[0], -1, textureUniqueId=texUid) p.syncBodyInfo() print("numBodies=", p.getNumBodies()) From 275a2aecb0848761634194ce8f9f615b7fbf05f0 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Fri, 13 Sep 2019 09:37:23 -0700 Subject: [PATCH 145/389] fix compile issues --- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 2 +- src/BulletSoftBody/btDeformableCorotatedForce.h | 2 +- src/BulletSoftBody/btDeformableNeoHookeanForce.h | 8 ++++---- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 03fd8d09d..501b33c63 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -4005,7 +4005,7 @@ bool PhysicsServerCommandProcessor::processSaveWorldCommand(const struct SharedM FILE* f = fopen(clientCmd.m_sdfArguments.m_sdfFileName, "w"); if (f) { - char line[1024]; + char line[2048]; { sprintf(line, "import pybullet as p\n"); int len = strlen(line); diff --git a/src/BulletSoftBody/btDeformableCorotatedForce.h b/src/BulletSoftBody/btDeformableCorotatedForce.h index d7f18a1dc..13f64ccfa 100644 --- a/src/BulletSoftBody/btDeformableCorotatedForce.h +++ b/src/BulletSoftBody/btDeformableCorotatedForce.h @@ -56,7 +56,7 @@ public: virtual void addScaledElasticForce(btScalar scale, TVStack& force) { int numNodes = getNumNodes(); - btAssert(numNodes <= force.size()) + btAssert(numNodes <= force.size()); btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); for (int i = 0; i < m_softBodies.size(); ++i) { diff --git a/src/BulletSoftBody/btDeformableNeoHookeanForce.h b/src/BulletSoftBody/btDeformableNeoHookeanForce.h index 88763e8a1..fe80b372d 100644 --- a/src/BulletSoftBody/btDeformableNeoHookeanForce.h +++ b/src/BulletSoftBody/btDeformableNeoHookeanForce.h @@ -51,7 +51,7 @@ public: virtual void addScaledDampingForce(btScalar scale, TVStack& force) { int numNodes = getNumNodes(); - btAssert(numNodes <= force.size()) + btAssert(numNodes <= force.size()); btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); for (int i = 0; i < m_softBodies.size(); ++i) { @@ -114,7 +114,7 @@ public: virtual void addScaledElasticForce(btScalar scale, TVStack& force) { int numNodes = getNumNodes(); - btAssert(numNodes <= force.size()) + btAssert(numNodes <= force.size()); btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); for (int i = 0; i < m_softBodies.size(); ++i) { @@ -149,7 +149,7 @@ public: virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) { int numNodes = getNumNodes(); - btAssert(numNodes <= df.size()) + btAssert(numNodes <= df.size()); btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); for (int i = 0; i < m_softBodies.size(); ++i) { @@ -184,7 +184,7 @@ public: virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) { int numNodes = getNumNodes(); - btAssert(numNodes <= df.size()) + btAssert(numNodes <= df.size()); btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); for (int i = 0; i < m_softBodies.size(); ++i) { From 32c38cd3dc568c985efb373af4bf881e8f7cc425 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 24 Sep 2019 13:42:45 -0700 Subject: [PATCH 146/389] remove 'disableVRCamera' to fix issue #2390 --- .../plugins/eglPlugin/eglRendererVisualShapeConverter.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp b/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp index f6eb2ae05..5c808b904 100644 --- a/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp @@ -1276,7 +1276,10 @@ void EGLRendererVisualShapeConverter::render(const float viewMat[16], const floa render(); - m_data->m_camera.disableVRCamera(); +// don't disableVRCamera, see issue https://github.com/bulletphysics/bullet3/issues/2390 +// todo: check out why +// +// m_data->m_camera.disableVRCamera(); //cout< Date: Wed, 25 Sep 2019 09:08:48 -0700 Subject: [PATCH 147/389] fix define SKIP_DEFORMABE_BODY -> SKIP_DEFORMABLE_BODY --- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 03fd8d09d..2e9349a7f 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -105,7 +105,7 @@ #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h" #endif -#define SKIP_DEFORMABE_BODY 1 +#define SKIP_DEFORMABLE_BODY 1 int gInternalSimFlags = 0; bool gResetSimulation = 0; From 391411b660eafe2f6c8c3844f36dbe438c34201c Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 25 Sep 2019 13:49:11 -0700 Subject: [PATCH 148/389] fix use of uninitialized variable --- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 3c2b11bd9..62a0e3ac7 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -7999,10 +7999,12 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar } const std::string& error_message_prefix = ""; std::string out_found_filename; - int out_type; + int out_type=0; bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type); btSoftBody* psb = NULL; + if (foundFile) + { btScalar spring_elastic_stiffness, spring_damping_stiffness; if (out_type == UrdfGeometry::FILE_OBJ) { @@ -8063,6 +8065,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true)); } #endif + } } if (psb != NULL) { From e7cf32acfdc2fa6e689ffffe776b68a231fb71e9 Mon Sep 17 00:00:00 2001 From: grdowns Date: Fri, 27 Sep 2019 01:08:15 -0700 Subject: [PATCH 149/389] Add vcpkg installation instructions --- README.md | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/README.md b/README.md index 35681bd78..e84da725f 100644 --- a/README.md +++ b/README.md @@ -44,6 +44,18 @@ track down the issue, but more work is required to cover all OpenCL kernels. All source code files are licensed under the permissive zlib license (http://opensource.org/licenses/Zlib) unless marked differently in a particular folder/file. +## Build instructions for Bullet using vcpkg + +You can download and install Bullet using the [vcpkg](https://github.com/Microsoft/vcpkg/) dependency manager: + + git clone https://github.com/Microsoft/vcpkg.git + cd vcpkg + ./bootstrap-vcpkg.sh + ./vcpkg integrate install + vcpkg install bullet3 + +The Bullet port in vcpkg is kept up to date by Microsoft team members and community contributors. If the version is out of date, please [create an issue or pull request](https://github.com/Microsoft/vcpkg) on the vcpkg repository. + ## Build instructions for Bullet using premake. You can also use cmake instead. **Windows** From 0549fd4ecceebbf6283416b058bf315fabefd666 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Fri, 27 Sep 2019 17:14:36 -0700 Subject: [PATCH 150/389] PyBullet eglPlugin: use -1 as default egl render device clear m_cachedVisualShapes at reset --- .../plugins/eglPlugin/eglRendererVisualShapeConverter.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp b/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp index 5c808b904..6110b45b1 100644 --- a/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp @@ -216,7 +216,7 @@ struct EGLRendererVisualShapeConverterInternalData ci.m_title = "PyBullet"; ci.m_width = m_swWidth; ci.m_height = m_swHeight; - ci.m_renderDevice = 0; + ci.m_renderDevice = -1; m_window->createWindow(ci); m_window->setWindowTitle(ci.m_title); @@ -1573,7 +1573,7 @@ void EGLRendererVisualShapeConverter::removeVisualShape(int collisionObjectUniqu void EGLRendererVisualShapeConverter::resetAll() { m_data->m_cachedTextureIds.clear(); - + for (int i = 0; i < m_data->m_swRenderInstances.size(); i++) { EGLRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(i); @@ -1600,6 +1600,7 @@ void EGLRendererVisualShapeConverter::resetAll() m_data->m_visualShapes.clear(); m_data->m_graphicsIndexToSegmentationMask.clear(); m_data->m_instancingRenderer->removeAllInstances(); + m_data->m_cachedVisualShapes.clear(); } void EGLRendererVisualShapeConverter::changeShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId) From 1febf8d6127eade99e6ae3c0899cb3151ce8b4e4 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Sat, 31 Aug 2019 14:32:06 -0700 Subject: [PATCH 151/389] change CG tolerance criterion --- src/BulletSoftBody/btConjugateGradient.h | 2 +- src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp | 6 +++--- src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h | 2 +- src/BulletSoftBody/btDeformableNeoHookeanForce.h | 2 +- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h index eee3ea52e..08af5542d 100644 --- a/src/BulletSoftBody/btConjugateGradient.h +++ b/src/BulletSoftBody/btConjugateGradient.h @@ -48,7 +48,7 @@ public: A.precondition(r, z); A.project(z); btScalar r_dot_z = dot(z,r); - if (r_dot_z < tolerance) { + if (dot(z,z) < tolerance) { if (verbose) { std::cout << "Iteration = 0" << std::endl; diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index 4ca5187c4..268ce5d92 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -131,12 +131,12 @@ void btDeformableBackwardEulerObjective::computeResidual(btScalar dt, TVStack &r btScalar btDeformableBackwardEulerObjective::computeNorm(const TVStack& residual) const { - btScalar norm_squared = 0; + btScalar mag = 0; for (int i = 0; i < residual.size(); ++i) { - norm_squared += residual[i].length2(); + mag += residual[i].length(); } - return std::sqrt(norm_squared); + return mag; } void btDeformableBackwardEulerObjective::applyExplicitForce(TVStack& force) diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h index 972f05664..4cd1eaebc 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h @@ -73,7 +73,7 @@ public: m_sbi.m_broadphase = pairCache; m_sbi.m_dispatcher = dispatcher; m_sbi.m_sparsesdf.Initialize(); - m_sbi.m_sparsesdf.setDefaultVoxelsz(0.025); + m_sbi.m_sparsesdf.setDefaultVoxelsz(0.005); m_sbi.m_sparsesdf.Reset(); m_sbi.air_density = (btScalar)1.2; diff --git a/src/BulletSoftBody/btDeformableNeoHookeanForce.h b/src/BulletSoftBody/btDeformableNeoHookeanForce.h index fe80b372d..f3e8c0773 100644 --- a/src/BulletSoftBody/btDeformableNeoHookeanForce.h +++ b/src/BulletSoftBody/btDeformableNeoHookeanForce.h @@ -31,7 +31,7 @@ public: m_lambda_damp = damping * m_lambda; } - btDeformableNeoHookeanForce(btScalar mu, btScalar lambda, btScalar damping = 0.005): m_mu(mu), m_lambda(lambda) + btDeformableNeoHookeanForce(btScalar mu, btScalar lambda, btScalar damping = 0.05): m_mu(mu), m_lambda(lambda) { m_mu_damp = damping * m_mu; m_lambda_damp = damping * m_lambda; From a47eeb82251b327fce442ab03e55db504424d4f1 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Sat, 31 Aug 2019 14:37:16 -0700 Subject: [PATCH 152/389] add render mesh interpolation from simulation mesh --- src/BulletSoftBody/btSoftBody.cpp | 14 ++ src/BulletSoftBody/btSoftBody.h | 6 + src/BulletSoftBody/btSoftBodyHelpers.cpp | 162 ++++++++++++++++++++++- src/BulletSoftBody/btSoftBodyHelpers.h | 5 + 4 files changed, 186 insertions(+), 1 deletion(-) diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index eb630cbfc..18577bdac 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -3082,6 +3082,20 @@ void btSoftBody::applyForces() } } +// +void btSoftBody::interpolateRenderMesh() +{ + for (int i = 0; i < m_renderNodes.size(); ++i) + { + Node& n = m_renderNodes[i]; + n.m_x.setZero(); + for (int j = 0; j < m_renderNodesParents[i].size(); ++j) + { + n.m_x += m_renderNodesParents[i][j]->m_x * m_renderNodesInterpolationWeights[j]; + } + } +} + // void btSoftBody::PSolve_Anchors(btSoftBody* psb, btScalar kst, btScalar ti) { diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index 5371e172d..b8139c5e9 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -703,8 +703,10 @@ public: btSoftBodyWorldInfo* m_worldInfo; // World info tNoteArray m_notes; // Notes tNodeArray m_nodes; // Nodes + tNodeArray m_renderNodes; // Nodes tLinkArray m_links; // Links tFaceArray m_faces; // Faces + tFaceArray m_renderFaces; // Faces tTetraArray m_tetras; // Tetras tAnchorArray m_anchors; // Anchors tRContactArray m_rcontacts; // Rigid contacts @@ -719,6 +721,9 @@ public: btDbvt m_cdbvt; // Clusters tree tClusterArray m_clusters; // Clusters btScalar m_dampingCoefficient; // Damping Coefficient + + btAlignedObjectArray m_renderNodesInterpolationWeights; + btAlignedObjectArray > m_renderNodesParents; btAlignedObjectArray m_clusterConnectivity; //cluster connectivity, for self-collision @@ -1030,6 +1035,7 @@ public: void initializeDmInverse(); void updateDeformation(); void applyForces(); + void interpolateRenderMesh(); static void PSolve_Anchors(btSoftBody* psb, btScalar kst, btScalar ti); static void PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti); static void PSolve_SContacts(btSoftBody* psb, btScalar, btScalar ti); diff --git a/src/BulletSoftBody/btSoftBodyHelpers.cpp b/src/BulletSoftBody/btSoftBodyHelpers.cpp index d9bd513ad..5bc8fba0d 100644 --- a/src/BulletSoftBody/btSoftBodyHelpers.cpp +++ b/src/BulletSoftBody/btSoftBodyHelpers.cpp @@ -23,8 +23,9 @@ subject to the following restrictions: #include "btSoftBodyHelpers.h" #include "LinearMath/btConvexHull.h" #include "LinearMath/btConvexHullComputer.h" +#include +#include -// static void drawVertex(btIDebugDraw* idraw, const btVector3& x, btScalar s, const btVector3& c) { @@ -1321,6 +1322,57 @@ btSoftBody* btSoftBodyHelpers::CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, psb->appendLink(ni[2], ni[3], 0, true); } } + + std::map, std::vector > dict; + for (int i = 0; i < indices.size(); ++i) + { + for (int j = 0; j < 4; ++j) + { + std::vector f; + if (j == 0) + { + f.push_back(indices[i][1]); + f.push_back(indices[i][0]); + f.push_back(indices[i][2]); + } + if (j == 1) + { + f.push_back(indices[i][3]); + f.push_back(indices[i][0]); + f.push_back(indices[i][1]); + } + if (j == 2) + { + f.push_back(indices[i][3]); + f.push_back(indices[i][1]); + f.push_back(indices[i][2]); + } + if (j == 3) + { + f.push_back(indices[i][2]); + f.push_back(indices[i][0]); + f.push_back(indices[i][3]); + } + std::vector f_sorted = f; + std::sort(f_sorted.begin(), f_sorted.end()); + if (dict.find(f_sorted) != dict.end()) + { + dict.erase(f_sorted); + } + else + { + dict.insert(std::make_pair(f_sorted, f)); + } + } + } + + for (auto it = dict.begin(); it != dict.end(); ++it) + { + std::vector f = it->second; + psb->appendFace(f[0], f[1], f[2]); + } + + psb->initializeDmInverse(); printf("Nodes: %u\r\n", psb->m_nodes.size()); printf("Links: %u\r\n", psb->m_links.size()); @@ -1330,3 +1382,111 @@ btSoftBody* btSoftBodyHelpers::CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, fs.close(); return psb; } + +void btSoftBodyHelpers::writeObj(const char* filename, const btSoftBody* psb) +{ + std::ofstream fs; + fs.open(filename); + btAssert(fs); + for (int i = 0; i < psb->m_nodes.size(); ++i) + { + fs << "v"; + for (int d = 0; d < 3; d++) + { + fs << " " << psb->m_nodes[i].m_x[d]; + } + fs << "\n"; + } + + for (int i = 0; i < psb->m_faces.size(); ++i) + { + fs << "f"; + for (int n = 0; n < 3; n++) + { + fs << " " << psb->m_faces[i].m_n[n]->index + 1; + } + fs << "\n"; + } + fs.close(); +} + +void btSoftBodyHelpers::getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, const btVector3& p, btVector4& bary) +{ + btVector3 vap = p - a; + btVector3 vbp = p - b; + + btVector3 vab = b - a; + btVector3 vac = c - a; + btVector3 vad = d - a; + + btVector3 vbc = c - b; + btVector3 vbd = d - b; + btScalar va6 = (vbp.cross(vbd)).dot(vbc); + btScalar vb6 = (vap.cross(vac)).dot(vad); + btScalar vc6 = (vap.cross(vad)).dot(vab); + btScalar vd6 = (vap.cross(vab)).dot(vac); + btScalar v6 = btScalar(1) / (vab.cross(vac).dot(vad)); + bary = btVector4(va6*v6, vb6*v6, vc6*v6, vd6*v6); +} + +void btSoftBodyHelpers::readRenderMeshFromObj(const char* file, btSoftBody* psb) +{ + std::ifstream fs; + fs.open(file); + std::string line; + btVector3 pos; + while (std::getline(fs, line)) + { + std::stringstream ss(line); + if (line[0] == 'v') + { + ss.ignore(); + for (size_t i = 0; i < 3; i++) + ss >> pos[i]; + btSoftBody::Node n; + n.m_x = pos; + psb->m_renderNodes.push_back(n); + } + else if (line[0] == 'f') + { + ss.ignore(); + int id0, id1, id2; + ss >> id0; + ss >> id1; + ss >> id2; + btSoftBody::Face f; + f.m_n[0] = &psb->m_renderNodes[id0-1]; + f.m_n[1] = &psb->m_renderNodes[id1-1]; + f.m_n[2] = &psb->m_renderNodes[id2-1]; + psb->m_renderFaces.push_back(f); + } + } + fs.close(); +} + +void btSoftBodyHelpers::interpolateBarycentricWeights(btSoftBody* psb) +{ + psb->m_renderNodesInterpolationWeights.resize(psb->m_renderNodes.size()); + psb->m_renderNodesParents.resize(psb->m_renderNodes.size()); + for (int i = 0; i < psb->m_renderNodes.size(); ++i) + { + const btVector3& p = psb->m_renderNodes[i].m_x; + btVector4 bary; + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + const btSoftBody::Tetra& t = psb->m_tetras[j]; + getBarycentricWeights(t.m_n[0]->m_x, t.m_n[1]->m_x, t.m_n[2]->m_x, t.m_n[3]->m_x, p, bary); + if (bary[0]>=0 && bary[1]>=0 && bary[2]>=0 && bary[3]>=0) + { + btAlignedObjectArray parents; + parents.push_back(t.m_n[0]); + parents.push_back(t.m_n[1]); + parents.push_back(t.m_n[2]); + parents.push_back(t.m_n[3]); + psb->m_renderNodesParents[i] = parents; + break; + } + } + psb->m_renderNodesInterpolationWeights[i] = bary; + } +} diff --git a/src/BulletSoftBody/btSoftBodyHelpers.h b/src/BulletSoftBody/btSoftBodyHelpers.h index 60e0d6133..4b225cf85 100644 --- a/src/BulletSoftBody/btSoftBodyHelpers.h +++ b/src/BulletSoftBody/btSoftBodyHelpers.h @@ -144,8 +144,13 @@ struct btSoftBodyHelpers bool bfacesfromtetras); static btSoftBody* CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file); + static void writeObj(const char* file, const btSoftBody* psb); + static void getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, const btVector3& p, btVector4& bary); + + static void readRenderMeshFromObj(const char* file, btSoftBody* psb); + static void interpolateBarycentricWeights(btSoftBody* psb); /// Sort the list of links to move link calculations that are dependent upon earlier /// ones as far as possible away from the calculation of those values /// This tends to make adjacent loop iterations not dependent upon one another, From 27bf4d33726273a9624afee3f40f04310198a140 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Sat, 31 Aug 2019 14:37:38 -0700 Subject: [PATCH 153/389] new vtk mesh --- data/paper_collision.vtk | 3225 +++++++++++++++++++ examples/DeformableDemo/GraspDeformable.cpp | 33 +- 2 files changed, 3243 insertions(+), 15 deletions(-) create mode 100644 data/paper_collision.vtk diff --git a/data/paper_collision.vtk b/data/paper_collision.vtk new file mode 100644 index 000000000..430a20d44 --- /dev/null +++ b/data/paper_collision.vtk @@ -0,0 +1,3225 @@ +# vtk DataFile Version 2.0 +paper_collision, Created by Gmsh +ASCII +DATASET UNSTRUCTURED_GRID +POINTS 412 double +-0.0798514932 0.0149937477 0.0206544828 +-0.0790450945 -0.0127552943 -0.0124013424 +-0.0780825317 0.012215009 -0.0277125854 +-0.0720056817 -0.00502119027 0.0456755236 +-0.0705661923 0.0299513582 -0.00211349502 +-0.0638125464 -0.0273741614 0.00410486199 +-0.06380074469999999 0.0300440472 -0.0348700248 +-0.0577872805 0.00418848079 -0.0575864427 +-0.0571920946 0.0365523808 -0.0186748393 +-0.0529749095 0.0257498082 -0.0529402308 +-0.0525738671 0.0404502563 0.0388024524 +-0.0512716472 0.0467252024 0.00880652107 +-0.0507368259 -0.0201681964 -0.0492436476 +-0.04762247039192807 0.0348754824291312 -0.03618575143528616 +-0.0463904887 -0.0185252633 0.0573576167 +-0.0452418029 0.0268723201 0.06923313439999999 +-0.0450602584 0.0438725837 -0.0120340809 +-0.0447889306 0.0386486165 -0.0291038658 +-0.04469918114274272 0.03219772793715973 -0.0443236964930268 +-0.03949963403817546 0.04160078153781051 -0.02520521171874138 +-0.03788957058852005 -0.03704054523703147 0.01856849384882313 +-0.0351954959 -0.0310790949 -0.0341904089 +-0.035087917 0.0342393704 -0.0468971319 +-0.0350660831 0.0287204832 -0.062914148 +-0.0346768871 0.0386576392 -0.0358594432 +-0.03335163 0.0433749259 -0.0263383593 +-0.0306712184 0.0477556437 -0.0132296858 +-0.0283984877 0.00816077925 -0.07867389919999999 +-0.0280937441 0.0354234576 -0.0453123078 +-0.0278285872 0.0435199551 -0.0299467482 +-0.0252116152879978 0.05007118199265022 0.007147923030108534 +-0.0245310478 0.0418390818 -0.0354041904 +-0.0245076139 0.0389184207 -0.0410808884 +-0.0241638459 0.00673970766 0.0837060139 +-0.0215230156 -0.0245913863 0.0599329472 +-0.0187296886 0.0324856527 -0.0582891628 +-0.0182702225 0.0450742766 -0.0206493642 +-0.0156984404 0.0450861901 0.0339377411 +-0.0154369362 -0.0363751464 -0.0170974582 +-0.0125727467 -0.0139743583 -0.0719676316 +-0.0123336269 -0.0379464515 0.0287727714 +-0.0110792266 0.0414306782 -0.0328307189 +-0.0107581913 0.0389411226 -0.0471989214 +-0.0040699942 0.0449028611 -0.0063264221 +-0.00343501847 0.0338849798 0.0555836074 +-0.0020239111 -0.0110258143 0.0776162446 +-0.00133447163 0.0242523961 -0.0753385127 +0.00359241385 -0.0269939303 -0.058288794 +0.00378023973 -0.038893804 0.00127462856 +0.00624911999 -0.0312372576 0.0508415736 +0.01023677983853266 -0.03452968920213689 0.03071116911332998 +0.009557361091678016 0.03961807275536097 -0.0288460447565983 +0.0102930171 0.0362066813 -0.0532082133 +0.013878433 0.0211894587 0.0740507394 +0.0157535449 -0.0236616768 0.0642987117 +0.0171408225 -0.0334864408 -0.0408184454 +0.01781126725617366 0.045593637712402 0.01441078717400669 +0.01799145583235717 -0.03622036691695094 0.01652025190088073 +0.0209705569 0.004584422340000002 -0.07808747890000001 +0.0234485306 -0.0305266604 0.0415627584 +0.02384892295413105 -0.03284768867376705 0.03090358439249017 +0.0260607488 -0.0368426815 -0.0182624366 +0.0275926273 -0.0325779244 0.0484817363 +0.0282474572310186 -0.03395914921722401 0.02525583297340204 +0.0289282408 -0.0007367823269999999 0.0806203187 +0.031354107 -0.0363190025 0.00483915396 +0.0325140618 0.0404513963 -0.0177632421 +0.03294919011917687 -0.03462225739272083 0.01923186236554258 +0.034409482 0.0360297002 0.0353381783 +0.0354992114 -0.0326281935 0.0346817896 +0.0360291973 -0.0207777955 0.0688243285 +0.0367511101 -0.0310608968 0.0500535183 +0.0377072059 0.0294647515 -0.0535913929 +0.04196216680583513 -0.03460246735068836 0.01980535378198632 +0.0426275395 -0.0193124302 -0.06686683 +0.0443605855 -0.0308691077 0.0442918092 +0.04599969706800438 -0.03611389674373018 0.004939726099039117 +0.0463987328 -0.0347424112 0.0267554447 +0.04835685817915118 -0.03280913865861572 0.03546956097808678 +0.05088925877785338 -0.03582673578559618 -0.01660896332459125 +0.0514672622 0.0218239184 0.0507143959 +0.0523538366 -0.0352241397 -0.0422832295 +0.0533739589 -0.0234434083 0.0552398637 +0.0587589331 -0.00368985347 0.0605345443 +0.0589167625 -0.0355811752 0.0166702513 +0.0605825968 0.033381898 -0.00229938631 +0.06259462168878385 -0.02972315392262693 0.03582999071974086 +0.06796488169999999 0.0106940679 -0.0443939082 +0.07272417840000001 -0.0304218382 0.00172252394 +0.0797980353 -0.0175584685 0.0329943858 +0.0814706311 -0.0154668596 -0.0208948776 +0.085020557 0.0121538425 0.0183929037 +-0.06440967879999999 -0.0039765937 -0.0384781165 +0.04708863259141125 0.0072638345606248 0.04002223496867525 +-0.02550266508395307 0.03675074191485136 0.008332238564828159 +-0.001232388053492784 0.02910463115856776 0.03707572411368061 +-0.008872780938184218 0.04504905817689032 0.009441296470238903 +-0.02283763820492265 -0.01644208071484967 -0.002736485537906843 +0.02678478826865979 0.02633771574671151 -0.02852596616144323 +0.04384358695 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+10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index 34127774d..2b9905f9a 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -129,6 +129,7 @@ public: //use a smaller internal timestep, there are stability issues float internalTimeStep = 1. / 250.f; m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep); + btSoftBodyHelpers::writeObj("/Users/xuchenhan/Desktop/paper.obj", getDeformableDynamicsWorld()->getSoftBodyArray()[0]); } void createGrip() @@ -325,7 +326,8 @@ void GraspDeformable::initPhysics() { char relative_path[1024]; // b3FileUtils::findFile("banana.vtk", relative_path, 1024); - b3FileUtils::findFile("ball.vtk", relative_path, 1024); +// b3FileUtils::findFile("ball.vtk", relative_path, 1024); + b3FileUtils::findFile("paper_collision.vtk", relative_path, 1024); // b3FileUtils::findFile("single_tet.vtk", relative_path, 1024); // b3FileUtils::findFile("tube.vtk", relative_path, 1024); // b3FileUtils::findFile("torus.vtk", relative_path, 1024); @@ -341,10 +343,11 @@ void GraspDeformable::initPhysics() btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), relative_path); // psb->scale(btVector3(30, 30, 30)); // for banana - psb->scale(btVector3(.25, .25, .25)); +// psb->scale(btVector3(.25, .25, .25)); +// psb->scale(btVector3(2, 2, 2)); // psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot // psb->scale(btVector3(1, 1, 1)); // for ditto - psb->translate(btVector3(.25, 0, 0.4)); +// psb->translate(btVector3(.25, 0, 0.4)); psb->getCollisionShape()->setMargin(0.02); psb->setTotalMass(.1); psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects @@ -352,15 +355,15 @@ void GraspDeformable::initPhysics() psb->m_cfg.kDF = 2; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addSoftBody(psb); - - btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(.0,.04, true); - getDeformableDynamicsWorld()->addForce(psb, mass_spring); - m_forces.push_back(mass_spring); - + +// btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(.0,.04, true); +// getDeformableDynamicsWorld()->addForce(psb, mass_spring); +// m_forces.push_back(mass_spring); + btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); getDeformableDynamicsWorld()->addForce(psb, gravity_force); m_forces.push_back(gravity_force); - + btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(5,10); getDeformableDynamicsWorld()->addForce(psb, neohookean); m_forces.push_back(neohookean); @@ -369,7 +372,7 @@ void GraspDeformable::initPhysics() // // create a piece of cloth // { // bool onGround = false; -// const btScalar s = 4; +// const btScalar s = .4; // btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s), // btVector3(+s, 0, -s), // btVector3(-s, 0, +s), @@ -386,17 +389,17 @@ void GraspDeformable::initPhysics() // 2,2, // 0, true); // -// psb->getCollisionShape()->setMargin(0.1); +// psb->getCollisionShape()->setMargin(0.02); // psb->generateBendingConstraints(2); -// psb->setTotalMass(1); -// psb->setSpringStiffness(2); -// psb->setDampingCoefficient(0.03); +// psb->setTotalMass(.01); +// psb->setSpringStiffness(5); +// psb->setDampingCoefficient(0.05); // 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; // psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; // getDeformableDynamicsWorld()->addSoftBody(psb); -// getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce()); +// getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(.2,0.02, true)); // getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); // } From e74ffa2f6583090680402d826c2224565b4b4a85 Mon Sep 17 00:00:00 2001 From: Chuyuan Fu Date: Tue, 3 Sep 2019 14:27:19 -0700 Subject: [PATCH 154/389] add body type info to dynamics info --- examples/pybullet/examples/load_soft_body.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/examples/pybullet/examples/load_soft_body.py b/examples/pybullet/examples/load_soft_body.py index 401c25a92..1d1052c88 100644 --- a/examples/pybullet/examples/load_soft_body.py +++ b/examples/pybullet/examples/load_soft_body.py @@ -5,6 +5,7 @@ physicsClient = p.connect(p.DIRECT) p.setGravity(0, 0, -10) planeId = p.loadURDF("plane.urdf") +boxId = p.loadURDF("cube.urdf", useMaximalCoordinates = True) bunnyId = p.loadSoftBody("bunny.obj") #meshData = p.getMeshData(bunnyId) #print("meshData=",meshData) @@ -14,6 +15,10 @@ useRealTimeSimulation = 1 if (useRealTimeSimulation): p.setRealTimeSimulation(1) +print(p.getDynamicsInfo(planeId, -1)) +print(p.getDynamicsInfo(bunnyId, 0)) +print(p.getDynamicsInfo(boxId, -1)) + while p.isConnected(): p.setGravity(0, 0, -10) if (useRealTimeSimulation): From acfcc3fc9a3854da0920c718420aa79b5ed1ec00 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 9 Sep 2019 16:32:39 -0700 Subject: [PATCH 155/389] updates to interpolation for rendering mesh --- src/BulletSoftBody/btSoftBody.cpp | 5 +- src/BulletSoftBody/btSoftBodyHelpers.cpp | 71 ++++++++++++++++++++++-- src/BulletSoftBody/btSoftBodyHelpers.h | 1 + 3 files changed, 70 insertions(+), 7 deletions(-) diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 18577bdac..c94ed6fca 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -2303,6 +2303,7 @@ bool btSoftBody::checkDeformableContact(const btCollisionObjectWrapper* colObjWr btTransform wtr = (predict) ? (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform()) : colObjWrap->getWorldTransform(); + //const btTransform& wtr = colObjWrap->getWorldTransform(); btScalar dst = m_worldInfo->m_sparsesdf.Evaluate( wtr.invXform(x), @@ -3089,9 +3090,9 @@ void btSoftBody::interpolateRenderMesh() { Node& n = m_renderNodes[i]; n.m_x.setZero(); - for (int j = 0; j < m_renderNodesParents[i].size(); ++j) + for (int j = 0; j < 4; ++j) { - n.m_x += m_renderNodesParents[i][j]->m_x * m_renderNodesInterpolationWeights[j]; + n.m_x += m_renderNodesParents[i][j]->m_x * m_renderNodesInterpolationWeights[i][j]; } } } diff --git a/src/BulletSoftBody/btSoftBodyHelpers.cpp b/src/BulletSoftBody/btSoftBodyHelpers.cpp index 5bc8fba0d..1a93a3091 100644 --- a/src/BulletSoftBody/btSoftBodyHelpers.cpp +++ b/src/BulletSoftBody/btSoftBodyHelpers.cpp @@ -1410,6 +1410,51 @@ void btSoftBodyHelpers::writeObj(const char* filename, const btSoftBody* psb) fs.close(); } +void btSoftBodyHelpers::duplicateFaces(const char* filename, const btSoftBody* psb) +{ + std::ifstream fs_read; + fs_read.open(filename); + std::string line; + btVector3 pos; + btAlignedObjectArray > additional_faces; + while (std::getline(fs_read, line)) + { + std::stringstream ss(line); + if (line[0] == 'v') + { + } + else if (line[0] == 'f') + { + ss.ignore(); + int id0, id1, id2; + ss >> id0; + ss >> id1; + ss >> id2; + btAlignedObjectArray new_face; + new_face.push_back(id1); + new_face.push_back(id0); + new_face.push_back(id2); + additional_faces.push_back(new_face); + } + } + fs_read.close(); + + std::ofstream fs_write; + fs_write.open(filename, std::ios_base::app); + for (int i = 0; i < additional_faces.size(); ++i) + { + fs_write << "f"; + for (int n = 0; n < 3; n++) + { + fs_write << " " << additional_faces[i][n]; + } + fs_write << "\n"; + } + fs_write.close(); +} + + + void btSoftBodyHelpers::getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, const btVector3& p, btVector4& bary) { btVector3 vap = p - a; @@ -1438,7 +1483,7 @@ void btSoftBodyHelpers::readRenderMeshFromObj(const char* file, btSoftBody* psb) while (std::getline(fs, line)) { std::stringstream ss(line); - if (line[0] == 'v') + if (line[0] == 'v' && line[1] != 't' && line[1] != 'n') { ss.ignore(); for (size_t i = 0; i < 3; i++) @@ -1472,21 +1517,37 @@ void btSoftBodyHelpers::interpolateBarycentricWeights(btSoftBody* psb) { const btVector3& p = psb->m_renderNodes[i].m_x; btVector4 bary; + btVector4 optimal_bary; + btScalar min_bary_weight = -1e3; + btAlignedObjectArray optimal_parents; + bool found = false; for (int j = 0; j < psb->m_tetras.size(); ++j) { const btSoftBody::Tetra& t = psb->m_tetras[j]; getBarycentricWeights(t.m_n[0]->m_x, t.m_n[1]->m_x, t.m_n[2]->m_x, t.m_n[3]->m_x, p, bary); - if (bary[0]>=0 && bary[1]>=0 && bary[2]>=0 && bary[3]>=0) + btScalar new_min_bary_weight = bary[0]; + for (int k = 1; k < 4; ++k) + { + new_min_bary_weight = btMin(new_min_bary_weight, bary[k]); + } + if (new_min_bary_weight > min_bary_weight) { btAlignedObjectArray parents; parents.push_back(t.m_n[0]); parents.push_back(t.m_n[1]); parents.push_back(t.m_n[2]); parents.push_back(t.m_n[3]); - psb->m_renderNodesParents[i] = parents; - break; + optimal_parents = parents; + optimal_bary = bary; + min_bary_weight = new_min_bary_weight; + // stop searching if p is inside the tetrahedron at hand + if (bary[0]>=0. && bary[1]>=0. && bary[2]>=0. && bary[3]>=0.) + { + break; + } } } - psb->m_renderNodesInterpolationWeights[i] = bary; + psb->m_renderNodesInterpolationWeights[i] = optimal_bary; + psb->m_renderNodesParents[i] = optimal_parents; } } diff --git a/src/BulletSoftBody/btSoftBodyHelpers.h b/src/BulletSoftBody/btSoftBodyHelpers.h index 4b225cf85..f189e7353 100644 --- a/src/BulletSoftBody/btSoftBodyHelpers.h +++ b/src/BulletSoftBody/btSoftBodyHelpers.h @@ -151,6 +151,7 @@ struct btSoftBodyHelpers static void readRenderMeshFromObj(const char* file, btSoftBody* psb); static void interpolateBarycentricWeights(btSoftBody* psb); + static void duplicateFaces(const char* filename, const btSoftBody* psb); /// Sort the list of links to move link calculations that are dependent upon earlier /// ones as far as possible away from the calculation of those values /// This tends to make adjacent loop iterations not dependent upon one another, From 36278edc002f9c09f6c91a0f1354fce4262b0a8d Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 9 Sep 2019 16:34:54 -0700 Subject: [PATCH 156/389] add back preTickCallback & disable position Correction for more stability --- .../btDeformableMultiBodyDynamicsWorld.cpp | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 3fff883c9..cc54549a1 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -37,6 +37,10 @@ The algorithm also closely resembles the one in http://physbam.stanford.edu/~fed void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) { BT_PROFILE("internalSingleStepSimulation"); + if (0 != m_internalPreTickCallback) + { + (*m_internalPreTickCallback)(this, timeStep); + } reinitialize(timeStep); // add gravity to velocity of rigid and multi bodys applyRigidBodyGravity(timeStep); @@ -144,8 +148,8 @@ void btDeformableMultiBodyDynamicsWorld::positionCorrection(btScalar timeStep) void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) { BT_PROFILE("integrateTransforms"); - m_deformableBodySolver->backupVelocity(); - positionCorrection(timeStep); + //m_deformableBodySolver->backupVelocity(); + //positionCorrection(timeStep); btMultiBodyDynamicsWorld::integrateTransforms(timeStep); for (int i = 0; i < m_softBodies.size(); ++i) { @@ -170,8 +174,9 @@ void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) node.m_q = node.m_x; node.m_vn = node.m_v; } + psb->interpolateRenderMesh(); } - m_deformableBodySolver->revertVelocity(); + //m_deformableBodySolver->revertVelocity(); } void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep) From 1bc75cc8339d9b73af26cf7169a9f9d38efb5640 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 9 Sep 2019 16:35:37 -0700 Subject: [PATCH 157/389] add relative tolerance for linear solver and newton with line search --- src/BulletSoftBody/btConjugateGradient.h | 21 +++- .../btDeformableBackwardEulerObjective.cpp | 14 ++- .../btDeformableBackwardEulerObjective.h | 2 + src/BulletSoftBody/btDeformableBodySolver.cpp | 118 ++++++++++++++++-- src/BulletSoftBody/btDeformableBodySolver.h | 9 +- src/BulletSoftBody/btDeformableGravityForce.h | 18 +++ 6 files changed, 167 insertions(+), 15 deletions(-) diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h index 08af5542d..830667448 100644 --- a/src/BulletSoftBody/btConjugateGradient.h +++ b/src/BulletSoftBody/btConjugateGradient.h @@ -26,16 +26,18 @@ class btConjugateGradient typedef btAlignedObjectArray TVStack; TVStack r,p,z,temp; int max_iterations; + btScalar tolerance; public: btConjugateGradient(const int max_it_in) : max_iterations(max_it_in) { + tolerance = 1024 * std::numeric_limits::epsilon(); } virtual ~btConjugateGradient(){} // return the number of iterations taken - int solve(MatrixX& A, TVStack& x, const TVStack& b, btScalar tolerance, bool verbose = false) + int solve(MatrixX& A, TVStack& x, const TVStack& b, btScalar relative_tolerance, bool verbose = false) { BT_PROFILE("CGSolve"); btAssert(x.size() == b.size()); @@ -48,7 +50,8 @@ public: A.precondition(r, z); A.project(z); btScalar r_dot_z = dot(z,r); - if (dot(z,z) < tolerance) { + btScalar local_tolerance = btMin(relative_tolerance * std::sqrt(r_dot_z), tolerance); + if (std::sqrt(r_dot_z) < local_tolerance) { if (verbose) { std::cout << "Iteration = 0" << std::endl; @@ -58,11 +61,21 @@ public: } p = z; btScalar r_dot_z_new = r_dot_z; - for (int k = 1; k < max_iterations; k++) { + for (int k = 1; k <= max_iterations; k++) { // temp = A*p A.multiply(p, temp); A.project(temp); // alpha = r^T * z / (p^T * A * p) + if (dot(p,temp) < 0) + { + if (verbose) + std::cout << "Encountered negative direction in CG!"<totalElasticEnergy(); + } + return e; } void btDeformableBackwardEulerObjective::applyExplicitForce(TVStack& force) diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index e96738557..c57f2e097 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -124,6 +124,8 @@ public: { m_implicit = implicit; } + + btScalar totalEnergy(); }; #endif /* btBackwardEulerObjective_h */ diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index a902322ce..b85255220 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -23,6 +23,11 @@ btDeformableBodySolver::btDeformableBodySolver() , m_cg(20) , m_maxNewtonIterations(5) , m_newtonTolerance(1e-4) +//, m_lineSearch(false) +//, m_cg(10) +//, m_maxNewtonIterations(5) +//, m_newtonTolerance(1e-3) +, m_lineSearch(true) { m_objective = new btDeformableBackwardEulerObjective(m_softBodySet, m_backupVelocity); } @@ -63,13 +68,37 @@ void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt) } m_objective->computeResidual(solverdt, m_residual); - if (m_objective->computeNorm(m_residual) < m_newtonTolerance) + if (m_objective->computeNorm(m_residual) < m_newtonTolerance && i > 0) { break; } m_objective->applyDynamicFriction(m_residual); - computeStep(m_ddv, m_residual); - updateDv(); + if (m_lineSearch) + { + btScalar inner_product = computeDescentStep(m_ddv,m_residual); + btScalar alpha = 0.01, beta = 0.5; // Boyd & Vandenberghe suggested alpha between 0.01 and 0.3, beta between 0.1 to 0.8 + btScalar scale = 2; + btScalar f0 = m_objective->totalEnergy()+kineticEnergy(), f1, f2; + backupDv(); + do { + scale *= beta; + if (scale < 1e-8) { + //std::cout << "Could not find sufficient descent!" << std::endl; + return; + } + updateEnergy(scale); + f1 = m_objective->totalEnergy()+kineticEnergy(); + f2 = f0 - alpha * scale * inner_product; + } while (!(f1 < f2)); // if anything here is nan then the search continues + revertDv(); + updateDv(scale); + } + else + { + computeStep(m_ddv, m_residual); + updateDv(); + } + for (int j = 0; j < m_numNodes; ++j) { m_ddv[j].setZero(); @@ -79,26 +108,99 @@ void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt) } } +btScalar btDeformableBodySolver::kineticEnergy() +{ + btScalar ke = 0; + for (int i = 0; i < m_softBodySet.size();++i) + { + btSoftBody* psb = m_softBodySet[i]; + for (int j = 0; j < psb->m_nodes.size();++j) + { + btSoftBody::Node& node = psb->m_nodes[j]; + if (node.m_im > 0) + { + ke += m_dv[node.index].length2() * 0.5 / node.m_im; + } + } + } + return ke; +} + +void btDeformableBodySolver::backupDv() +{ + m_backup_dv.resize(m_dv.size()); + for (int i = 0; icomputeNorm(residual), m_newtonTolerance))); + m_cg.solve(*m_objective, ddv, residual, relative_tolerance, false); + btScalar inner_product = m_cg.dot(residual, m_ddv); + btScalar tol = 1e-5 * m_objective->computeNorm(residual) * m_objective->computeNorm(m_ddv); + if (inner_product < -tol) + { + std::cout << "Looking backwards!" << std::endl; + for (int i = 0; i < m_ddv.size();++i) + { + m_ddv[i] = -m_ddv[i]; + } + inner_product = -inner_product; + } + else if (std::abs(inner_product) < tol) + { + std::cout << "Gradient Descent!" << std::endl; + btScalar res_norm = m_objective->computeNorm(residual); + btScalar scale = m_objective->computeNorm(m_ddv) / res_norm; + for (int i = 0; i < m_ddv.size();++i) + { + m_ddv[i] = scale * residual[i]; + } + inner_product = scale * res_norm * res_norm; + } + return inner_product; +} + void btDeformableBodySolver::updateState() { updateVelocity(); updateTempPosition(); - } -void btDeformableBodySolver::updateDv() +void btDeformableBodySolver::updateDv(btScalar scale) { for (int i = 0; i < m_numNodes; ++i) { - m_dv[i] += m_ddv[i]; + m_dv[i] += scale * m_ddv[i]; } } void btDeformableBodySolver::computeStep(TVStack& ddv, const TVStack& residual) { //btScalar tolerance = std::numeric_limits::epsilon() * m_objective->computeNorm(residual); - btScalar tolerance = std::numeric_limits::epsilon(); - m_cg.solve(*m_objective, ddv, residual, tolerance); + btScalar relative_tolerance = btMin(0.5, std::sqrt(btMax(m_objective->computeNorm(residual), m_newtonTolerance))); + m_cg.solve(*m_objective, ddv, residual, relative_tolerance, false); } void btDeformableBodySolver::reinitialize(const btAlignedObjectArray& softBodies, btScalar dt) diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index fed15b2b2..e0629466a 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -34,6 +34,7 @@ class btDeformableBodySolver : public btSoftBodySolver protected: int m_numNodes; TVStack m_dv; + TVStack m_backup_dv; TVStack m_ddv; TVStack m_residual; btAlignedObjectArray m_softBodySet; @@ -45,6 +46,7 @@ protected: bool m_implicit; int m_maxNewtonIterations; btScalar m_newtonTolerance; + bool m_lineSearch; public: btDeformableBackwardEulerObjective* m_objective; @@ -82,6 +84,7 @@ public: bool updateNodes(); void computeStep(TVStack& dv, const TVStack& residual); + btScalar computeDescentStep(TVStack& ddv, const TVStack& residual); virtual void predictMotion(btScalar solverdt); @@ -103,9 +106,13 @@ public: void updateState(); - void updateDv(); + void updateDv(btScalar scale = 1); void updateTempPosition(); + void backupDv(); + void revertDv(); + void updateEnergy(btScalar scale); + btScalar kineticEnergy(); }; #endif /* btDeformableBodySolver_h */ diff --git a/src/BulletSoftBody/btDeformableGravityForce.h b/src/BulletSoftBody/btDeformableGravityForce.h index 6fd53144a..f5b4c2de9 100644 --- a/src/BulletSoftBody/btDeformableGravityForce.h +++ b/src/BulletSoftBody/btDeformableGravityForce.h @@ -72,6 +72,24 @@ public: { return BT_GRAVITY_FORCE; } + + virtual double totalElasticEnergy() + { + double e = 0; + for (int i = 0; im_nodes.size(); ++j) + { + const btSoftBody::Node& node = psb->m_nodes[j]; + if (node.m_im > 0) + { + e -= m_gravity.dot(node.m_q)/node.m_im; + } + } + } + return e; + } }; From f813cb1c886e3574e2b4eef79374d077d9ca91ac Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 16 Sep 2019 17:40:17 -0700 Subject: [PATCH 158/389] modify loadSoftBody to enable separate render mesh from simulation mesh --- .../PhysicsServerCommandProcessor.cpp | 329 ++++++++++-------- 1 file changed, 176 insertions(+), 153 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 62a0e3ac7..d983ed83c 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -7989,6 +7989,9 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar } { + btSoftBody* psb = NULL; + btScalar spring_elastic_stiffness, spring_damping_stiffness; + CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface()); char relativeFileName[1024]; char pathPrefix[1024]; @@ -7997,39 +8000,57 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar { b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024); } + + // add _sim.vtk postfix + char relativeSimFileName[1024]; + char sim_file_ending[9] = "_sim.vtk"; + strncpy(relativeSimFileName, relativeFileName, strlen(relativeFileName)); + strncpy(relativeSimFileName + strlen(relativeFileName)-4, sim_file_ending, sizeof(sim_file_ending)); + const std::string& error_message_prefix = ""; std::string out_found_filename; - int out_type=0; + std::string out_found_sim_filename; + int out_type, out_sim_type; + + bool render_mesh_is_sim_mesh = true; bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type); - btSoftBody* psb = NULL; - if (foundFile) - { - btScalar spring_elastic_stiffness, spring_damping_stiffness; - if (out_type == UrdfGeometry::FILE_OBJ) - { - std::vector shapes; - tinyobj::attrib_t attribute; - std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), "", fileIO); - if (!shapes.empty()) - { - const tinyobj::shape_t& shape = shapes[0]; - btAlignedObjectArray vertices; - btAlignedObjectArray indices; - for (int i = 0; i < attribute.vertices.size(); i++) - { - vertices.push_back(attribute.vertices[i]); - } - for (int i = 0; i < shape.mesh.indices.size(); i++) - { - indices.push_back(shape.mesh.indices[i].vertex_index); - } - int numTris = shape.mesh.indices.size() / 3; - if (numTris > 0) - { - psb = btSoftBodyHelpers::CreateFromTriMesh(m_data->m_dynamicsWorld->getWorldInfo(), &vertices[0], &indices[0], numTris); - } - } + if (out_type == UrdfGeometry::FILE_OBJ) + { + bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeSimFileName, error_message_prefix, &out_found_sim_filename, &out_sim_type); + render_mesh_is_sim_mesh = !foundFile; + } + + if (render_mesh_is_sim_mesh) + { + out_sim_type = out_type; + out_found_sim_filename = out_found_filename; + } + + if (out_sim_type == UrdfGeometry::FILE_OBJ) + { + std::vector shapes; + tinyobj::attrib_t attribute; + std::string err = tinyobj::LoadObj(attribute, shapes, out_found_sim_filename.c_str(), "", fileIO); + if (!shapes.empty()) + { + const tinyobj::shape_t& shape = shapes[0]; + btAlignedObjectArray vertices; + btAlignedObjectArray indices; + for (int i = 0; i < attribute.vertices.size(); i++) + { + vertices.push_back(attribute.vertices[i]); + } + for (int i = 0; i < shape.mesh.indices.size(); i++) + { + indices.push_back(shape.mesh.indices[i].vertex_index); + } + int numTris = shape.mesh.indices.size() / 3; + if (numTris > 0) + { + psb = btSoftBodyHelpers::CreateFromTriMesh(m_data->m_dynamicsWorld->getWorldInfo(), &vertices[0], &indices[0], numTris); + } + } #ifndef SKIP_DEFORMABLE_BODY if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE) { @@ -8038,151 +8059,153 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false)); } #endif - } - else if (out_type == UrdfGeometry::FILE_VTK) - { + } + else if (out_sim_type == UrdfGeometry::FILE_VTK) + { #ifndef SKIP_DEFORMABLE_BODY - psb = btSoftBodyHelpers::CreateFromVtkFile(m_data->m_dynamicsWorld->getWorldInfo(), out_found_filename.c_str()); - btScalar corotated_mu, corotated_lambda; - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE) - { - corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu; - corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda; - m_data->m_dynamicsWorld->addForce(psb, new btDeformableCorotatedForce(corotated_mu, corotated_lambda)); - } - btScalar neohookean_mu, neohookean_lambda; - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE) - { - neohookean_mu = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanMu; - neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda; - m_data->m_dynamicsWorld->addForce(psb, new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda)); - } - btScalar spring_elastic_stiffness, spring_damping_stiffness; - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE) - { - spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; - spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; - m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true)); - } + psb = btSoftBodyHelpers::CreateFromVtkFile(m_data->m_dynamicsWorld->getWorldInfo(), out_found_sim_filename.c_str()); + btScalar corotated_mu, corotated_lambda; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE) + { + corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu; + corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda; + m_data->m_dynamicsWorld->addForce(psb, new btDeformableCorotatedForce(corotated_mu, corotated_lambda)); + } + btScalar neohookean_mu, neohookean_lambda; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE) + { + neohookean_mu = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanMu; + neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda; + m_data->m_dynamicsWorld->addForce(psb, new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda)); + } + btScalar spring_elastic_stiffness, spring_damping_stiffness; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE) + { + spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; + spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; + m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true)); + } #endif } } if (psb != NULL) { #ifndef SKIP_DEFORMABLE_BODY - btVector3 gravity = m_data->m_dynamicsWorld->getGravity(); - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_GRAVITY_FORCE) - { - m_data->m_dynamicsWorld->addForce(psb, new btDeformableGravityForce(gravity)); - } - btScalar collision_hardness = 1; - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_COLLISION_HARDNESS) - { - collision_hardness = loadSoftBodyArgs.m_collisionHardness; - } - psb->m_cfg.kKHR = collision_hardness; - psb->m_cfg.kCHR = collision_hardness; + if (!render_mesh_is_sim_mesh) + { + // load render mesh + btSoftBodyHelpers::readRenderMeshFromObj(out_found_filename.c_str(), psb); + btSoftBodyHelpers::interpolateBarycentricWeights(psb); + } + btVector3 gravity = m_data->m_dynamicsWorld->getGravity(); + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_GRAVITY_FORCE) + { + m_data->m_dynamicsWorld->addForce(psb, new btDeformableGravityForce(gravity)); + } + btScalar collision_hardness = 1; + psb->m_cfg.kKHR = collision_hardness; + psb->m_cfg.kCHR = collision_hardness; - btScalar friction_coeff = 0; - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT) - { - friction_coeff = loadSoftBodyArgs.m_frictionCoeff; - } - psb->m_cfg.kDF = friction_coeff; + btScalar friction_coeff = 0; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT) + { + friction_coeff = loadSoftBodyArgs.m_frictionCoeff; + } + psb->m_cfg.kDF = friction_coeff; + + bool use_bending_spring = true; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS) + { + use_bending_spring = loadSoftBodyArgs.m_useBendingSprings; + } + btSoftBody::Material* pm = psb->appendMaterial(); + pm->m_flags -= btSoftBody::fMaterial::DebugDraw; + if (use_bending_spring) + { + psb->generateBendingConstraints(2,pm); + } - bool use_bending_spring = true; - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS) - { - use_bending_spring = loadSoftBodyArgs.m_useBendingSprings; - } - btSoftBody::Material* pm = psb->appendMaterial(); - pm->m_flags -= btSoftBody::fMaterial::DebugDraw; - if (use_bending_spring) - { - psb->generateBendingConstraints(2, pm); - } - - // turn on the collision flag for deformable - // collision - psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; - psb->setCollisionFlags(0); - psb->setTotalMass(mass); + // turn on the collision flag for deformable + // collision + psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; + psb->setCollisionFlags(0); + psb->setTotalMass(mass); #else - 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; - //turn on softbody vs softbody collision - psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS; - psb->randomizeConstraints(); - psb->setTotalMass(mass, true); + 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; + //turn on softbody vs softbody collision + psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS; + psb->randomizeConstraints(); + psb->setTotalMass(mass, true); #endif - psb->scale(btVector3(scale, scale, scale)); - psb->rotate(initialOrn); - psb->translate(initialPos); + psb->scale(btVector3(scale, scale, scale)); + psb->rotate(initialOrn); + psb->translate(initialPos); - psb->getCollisionShape()->setMargin(collisionMargin); - psb->getCollisionShape()->setUserPointer(psb); - m_data->m_dynamicsWorld->addSoftBody(psb); - m_data->m_guiHelper->createCollisionShapeGraphicsObject(psb->getCollisionShape()); - m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld); - int bodyUniqueId = m_data->m_bodyHandles.allocHandle(); - InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId); - bodyHandle->m_softBody = psb; + psb->getCollisionShape()->setMargin(collisionMargin); + psb->getCollisionShape()->setUserPointer(psb); + m_data->m_dynamicsWorld->addSoftBody(psb); + m_data->m_guiHelper->createCollisionShapeGraphicsObject(psb->getCollisionShape()); + m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld); + int bodyUniqueId = m_data->m_bodyHandles.allocHandle(); + InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId); + bodyHandle->m_softBody = psb; - b3VisualShapeData visualShape; + b3VisualShapeData visualShape; - visualShape.m_objectUniqueId = bodyUniqueId; - visualShape.m_linkIndex = -1; - visualShape.m_visualGeometryType = URDF_GEOM_MESH; - //dimensions just contains the scale - visualShape.m_dimensions[0] = scale; - visualShape.m_dimensions[1] = scale; - visualShape.m_dimensions[2] = scale; - //filename - strncpy(visualShape.m_meshAssetFileName, relativeFileName, VISUAL_SHAPE_MAX_PATH_LEN); - visualShape.m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN - 1] = 0; - //position and orientation - visualShape.m_localVisualFrame[0] = initialPos[0]; - visualShape.m_localVisualFrame[1] = initialPos[1]; - visualShape.m_localVisualFrame[2] = initialPos[2]; - visualShape.m_localVisualFrame[3] = initialOrn[0]; - visualShape.m_localVisualFrame[4] = initialOrn[1]; - visualShape.m_localVisualFrame[5] = initialOrn[2]; - visualShape.m_localVisualFrame[6] = initialOrn[3]; - //color and ids to be set by the renderer - visualShape.m_rgbaColor[0] = 0; - visualShape.m_rgbaColor[1] = 0; - visualShape.m_rgbaColor[2] = 0; - visualShape.m_rgbaColor[3] = 1; - visualShape.m_tinyRendererTextureId = -1; - visualShape.m_textureUniqueId = -1; - visualShape.m_openglTextureId = -1; + visualShape.m_objectUniqueId = bodyUniqueId; + visualShape.m_linkIndex = -1; + visualShape.m_visualGeometryType = URDF_GEOM_MESH; + //dimensions just contains the scale + visualShape.m_dimensions[0] = scale; + visualShape.m_dimensions[1] = scale; + visualShape.m_dimensions[2] = scale; + //filename + strncpy(visualShape.m_meshAssetFileName, relativeFileName, VISUAL_SHAPE_MAX_PATH_LEN); + visualShape.m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN - 1] = 0; + //position and orientation + visualShape.m_localVisualFrame[0] = initialPos[0]; + visualShape.m_localVisualFrame[1] = initialPos[1]; + visualShape.m_localVisualFrame[2] = initialPos[2]; + visualShape.m_localVisualFrame[3] = initialOrn[0]; + visualShape.m_localVisualFrame[4] = initialOrn[1]; + visualShape.m_localVisualFrame[5] = initialOrn[2]; + visualShape.m_localVisualFrame[6] = initialOrn[3]; + //color and ids to be set by the renderer + visualShape.m_rgbaColor[0] = 0; + visualShape.m_rgbaColor[1] = 0; + visualShape.m_rgbaColor[2] = 0; + visualShape.m_rgbaColor[3] = 1; + visualShape.m_tinyRendererTextureId = -1; + visualShape.m_textureUniqueId =-1; + visualShape.m_openglTextureId = -1; - m_data->m_pluginManager.getRenderInterface()->addVisualShape(&visualShape, fileIO); + m_data->m_pluginManager.getRenderInterface()->addVisualShape(&visualShape, fileIO); - serverStatusOut.m_loadSoftBodyResultArguments.m_objectUniqueId = bodyUniqueId; - serverStatusOut.m_type = CMD_LOAD_SOFT_BODY_COMPLETED; + serverStatusOut.m_loadSoftBodyResultArguments.m_objectUniqueId = bodyUniqueId; + serverStatusOut.m_type = CMD_LOAD_SOFT_BODY_COMPLETED; - int streamSizeInBytes = createBodyInfoStream(bodyUniqueId, bufferServerToClient, bufferSizeInBytes); - serverStatusOut.m_numDataStreamBytes = streamSizeInBytes; + int streamSizeInBytes = createBodyInfoStream(bodyUniqueId, bufferServerToClient, bufferSizeInBytes); + serverStatusOut.m_numDataStreamBytes = streamSizeInBytes; #ifdef ENABLE_LINK_MAPPER - if (m_data->m_urdfLinkNameMapper.size()) - { - serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size() - 1)->m_memSerializer->getCurrentBufferSize(); - } + if (m_data->m_urdfLinkNameMapper.size()) + { + serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size() - 1)->m_memSerializer->getCurrentBufferSize(); + } #endif - serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId; - InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); - strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str()); + serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId; + InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); + strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str()); - b3Notification notification; - notification.m_notificationType = BODY_ADDED; - notification.m_bodyArgs.m_bodyUniqueId = bodyUniqueId; - m_data->m_pluginManager.addNotification(notification); + b3Notification notification; + notification.m_notificationType = BODY_ADDED; + notification.m_bodyArgs.m_bodyUniqueId = bodyUniqueId; + m_data->m_pluginManager.addNotification(notification); } } #endif From f99cf56149c105acf9a9c03bdd47c4e76ebbd6be Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 30 Aug 2019 14:16:56 -0700 Subject: [PATCH 159/389] finished refactoring; start adding face contact --- src/BulletSoftBody/CMakeLists.txt | 2 + src/BulletSoftBody/btCGProjection.h | 40 +- src/BulletSoftBody/btConjugateGradient.h | 2 +- .../btDeformableBackwardEulerObjective.cpp | 19 +- .../btDeformableBackwardEulerObjective.h | 12 +- src/BulletSoftBody/btDeformableBodySolver.cpp | 55 ++- .../btDeformableContactConstraint.cpp | 190 ++++++++ .../btDeformableContactConstraint.h | 150 +++++++ .../btDeformableContactProjection.cpp | 416 ++++++++---------- .../btDeformableContactProjection.h | 17 +- .../btDeformableCorotatedForce.h | 4 +- .../btDeformableMultiBodyConstraintSolver.cpp | 1 + .../btDeformableMultiBodyDynamicsWorld.cpp | 151 ++++--- src/BulletSoftBody/btSoftBody.cpp | 86 +++- src/BulletSoftBody/btSoftBody.h | 40 ++ src/BulletSoftBody/btSoftBodyInternals.h | 107 ++++- 16 files changed, 937 insertions(+), 355 deletions(-) create mode 100644 src/BulletSoftBody/btDeformableContactConstraint.cpp create mode 100644 src/BulletSoftBody/btDeformableContactConstraint.h diff --git a/src/BulletSoftBody/CMakeLists.txt b/src/BulletSoftBody/CMakeLists.txt index 8c1e9c022..408d5b5d8 100644 --- a/src/BulletSoftBody/CMakeLists.txt +++ b/src/BulletSoftBody/CMakeLists.txt @@ -22,6 +22,7 @@ SET(BulletSoftBody_SRCS btDeformableMultiBodyConstraintSolver.cpp btDeformableContactProjection.cpp btDeformableMultiBodyDynamicsWorld.cpp + btDeformableContactConstraint.cpp ) @@ -54,6 +55,7 @@ SET(BulletSoftBody_HDRS btDeformableMultiBodyConstraintSolver.h btDeformableContactProjection.h btDeformableMultiBodyDynamicsWorld.h + btDeformableContactConstraint.h btSoftBodySolverVertexBuffer.h ) diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index 9055ad5ce..20ef961fb 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -20,8 +20,6 @@ #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" -//class btDeformableMultiBodyDynamicsWorld; - struct DeformableContactConstraint { const btSoftBody::Node* m_node; @@ -64,6 +62,37 @@ struct DeformableContactConstraint { } }; +// +// +//struct DeformableFaceContactConstraint +//{ +// const btSoftBody::Face* m_face; +// const btSoftBody::FaceRContact* m_contact; +// btVector3 m_total_normal_dv; +// btVector3 m_total_tangent_dv; +// bool m_static; +// bool m_can_be_dynamic; +// +// DeformableFaceContactConstraint(const btSoftBody::FaceRContact& rcontact) +// : m_face(rcontact.m_face), +// m_contact(&rcontact), +// m_total_normal_dv(0,0,0), +// m_total_tangent_dv(0,0,0), +// m_static(false), +// m_can_be_dynamic(true) +// { +// } +// +// void replace(const btSoftBody::FaceRContact& rcontact) +// { +// m_contact = &rcontact; +// m_face = rcontact.m_face; +// } +// +// ~DeformableFaceContactConstraint() +// { +// } +//}; class btCGProjection { @@ -73,6 +102,8 @@ public: typedef btAlignedObjectArray > TArrayStack; btAlignedObjectArray& m_softBodies; const btScalar& m_dt; + // map from node indices to node pointers + const btAlignedObjectArray* m_nodes; btCGProjection(btAlignedObjectArray& softBodies, const btScalar& dt) : m_softBodies(softBodies) @@ -95,6 +126,11 @@ public: virtual void reinitialize(bool nodeUpdated) { } + + virtual void setIndices(const btAlignedObjectArray* nodes) + { + m_nodes = nodes; + } }; diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h index 830667448..0236d9941 100644 --- a/src/BulletSoftBody/btConjugateGradient.h +++ b/src/BulletSoftBody/btConjugateGradient.h @@ -51,7 +51,7 @@ public: A.project(z); btScalar r_dot_z = dot(z,r); btScalar local_tolerance = btMin(relative_tolerance * std::sqrt(r_dot_z), tolerance); - if (std::sqrt(r_dot_z) < local_tolerance) { + if (std::sqrt(r_dot_z) <= local_tolerance) { if (verbose) { std::cout << "Iteration = 0" << std::endl; diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index a83b5d2ad..29801ab1d 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -47,6 +47,7 @@ void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated, btScalar m_lf[i]->reinitialize(nodeUpdated); } projection.reinitialize(nodeUpdated); + projection.setIndices(getIndices()); m_preconditioner->reinitialize(nodeUpdated); } @@ -84,11 +85,21 @@ void btDeformableBackwardEulerObjective::multiply(const TVStack& x, TVStack& b) void btDeformableBackwardEulerObjective::updateVelocity(const TVStack& dv) { - // only the velocity of the constrained nodes needs to be updated during contact solve - for (int i = 0; i < projection.m_constraints.size(); ++i) +// // only the velocity of the constrained nodes needs to be updated during contact solve +// for (int i = 0; i < projection.m_constraints.size(); ++i) +// { +// int index = projection.m_constraints.getKeyAtIndex(i).getUid1(); +// m_nodes[index]->m_v = m_backupVelocity[index] + dv[index]; +// } + + for (int i = 0; i < m_softBodies.size(); ++i) { - int index = projection.m_constraints.getKeyAtIndex(i).getUid1(); - m_nodes[index]->m_v = m_backupVelocity[index] + dv[index]; + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + btSoftBody::Node& node = psb->m_nodes[j]; + node.m_v = m_backupVelocity[node.index] + dv[node.index]; + } } } diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index c57f2e097..b61f2235f 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -101,16 +101,22 @@ public: virtual void updateId() { - size_t id = 0; + size_t node_id = 0; + size_t face_id = 0; m_nodes.clear(); for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; for (int j = 0; j < psb->m_nodes.size(); ++j) { - psb->m_nodes[j].index = id; + psb->m_nodes[j].index = node_id; m_nodes.push_back(&psb->m_nodes[j]); - ++id; + ++node_id; + } + for (int j = 0; j < psb->m_faces.size(); ++j) + { + psb->m_faces[j].m_index = face_id; + ++face_id; } } } diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index b85255220..9be65c031 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -16,6 +16,7 @@ #include #include #include "btDeformableBodySolver.h" +#include "btSoftBodyInternals.h" #include "LinearMath/btQuickprof.h" btDeformableBodySolver::btDeformableBodySolver() @@ -23,11 +24,7 @@ btDeformableBodySolver::btDeformableBodySolver() , m_cg(20) , m_maxNewtonIterations(5) , m_newtonTolerance(1e-4) -//, m_lineSearch(false) -//, m_cg(10) -//, m_maxNewtonIterations(5) -//, m_newtonTolerance(1e-3) -, m_lineSearch(true) +, m_lineSearch(false) { m_objective = new btDeformableBackwardEulerObjective(m_softBodySet, m_backupVelocity); } @@ -155,7 +152,7 @@ void btDeformableBodySolver::updateEnergy(btScalar scale) btScalar btDeformableBodySolver::computeDescentStep(TVStack& ddv, const TVStack& residual) { - btScalar relative_tolerance = btMin(0.5, std::sqrt(btMax(m_objective->computeNorm(residual), m_newtonTolerance))); + btScalar relative_tolerance = btMin(btScalar(0.5), std::sqrt(btMax(m_objective->computeNorm(residual), m_newtonTolerance))); m_cg.solve(*m_objective, ddv, residual, relative_tolerance, false); btScalar inner_product = m_cg.dot(residual, m_ddv); btScalar tol = 1e-5 * m_objective->computeNorm(residual) * m_objective->computeNorm(m_ddv); @@ -199,7 +196,7 @@ void btDeformableBodySolver::updateDv(btScalar scale) void btDeformableBodySolver::computeStep(TVStack& ddv, const TVStack& residual) { //btScalar tolerance = std::numeric_limits::epsilon() * m_objective->computeNorm(residual); - btScalar relative_tolerance = btMin(0.5, std::sqrt(btMax(m_objective->computeNorm(residual), m_newtonTolerance))); + btScalar relative_tolerance = btMin(btScalar(0.5), std::sqrt(btMax(m_objective->computeNorm(residual), m_newtonTolerance))); m_cg.solve(*m_objective, ddv, residual, relative_tolerance, false); } @@ -237,8 +234,18 @@ void btDeformableBodySolver::setConstraints() btScalar btDeformableBodySolver::solveContactConstraints() { BT_PROFILE("setConstraint"); + for (int i = 0; i < m_dv.size();++i) + { + m_dv[i].setZero(); + } btScalar maxSquaredResidual = m_objective->projection.update(); m_objective->enforceConstraint(m_dv); +// std::cout << "=================" << std::endl; +// for (int i = 0; i < m_dv.size(); ++i) +// { +// std::cout << m_dv[i].getX() << " " << m_dv[i].getY() << " " << m_dv[i].getZ() << std::endl; +// } + m_objective->updateVelocity(m_dv); return maxSquaredResidual; } @@ -302,7 +309,7 @@ void btDeformableBodySolver::backupVn() // Here: // dv = 0 for nodes not in constraints // dv = v_{n+1} - v_{n+1}^* for nodes in constraints - if (m_objective->projection.m_constraints.find(psb->m_nodes[j].index)!=NULL) + if (m_objective->projection.m_projectionsDict.find(psb->m_nodes[j].index)!=NULL) { m_dv[counter] += m_backupVelocity[counter] - psb->m_nodes[j].m_vn; } @@ -361,6 +368,18 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d { int i, ni; + /* Update */ + if (psb->m_bUpdateRtCst) + { + psb->m_bUpdateRtCst = false; + psb->updateConstants(); + psb->m_fdbvt.clear(); + if (psb->m_cfg.collisions & btSoftBody::fCollision::SDF_RDF) + { + psb->initializeFaceTree(); + } + } + /* Prepare */ psb->m_sst.sdt = dt * psb->m_cfg.timescale; psb->m_sst.isdt = 1 / psb->m_sst.sdt; @@ -388,11 +407,29 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d psb->m_sst.updmrg); } + if (!psb->m_fdbvt.empty()) + { + for (int i = 0; i < psb->m_faces.size(); ++i) + { + btSoftBody::Face& f = psb->m_faces[i]; + const btVector3 v = (f.m_n[0]->m_v + + f.m_n[1]->m_v + + f.m_n[2]->m_v) / + 3; + vol = VolumeOf(f, psb->m_sst.radmrg); + psb->m_fdbvt.update(f.m_leaf, + vol, + v * psb->m_sst.velmrg, + psb->m_sst.updmrg); + } + } /* Clear contacts */ - psb->m_rcontacts.resize(0); + psb->m_nodeRigidContacts.resize(0); + psb->m_faceRigidContacts.resize(0); psb->m_scontacts.resize(0); /* Optimize dbvt's */ psb->m_ndbvt.optimizeIncremental(1); + psb->m_fdbvt.optimizeIncremental(1); } void btDeformableBodySolver::updateSoftBodies() diff --git a/src/BulletSoftBody/btDeformableContactConstraint.cpp b/src/BulletSoftBody/btDeformableContactConstraint.cpp new file mode 100644 index 000000000..ce7cd257c --- /dev/null +++ b/src/BulletSoftBody/btDeformableContactConstraint.cpp @@ -0,0 +1,190 @@ +/* + Written by Xuchen Han + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + 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. + */ + +#include "btDeformableContactConstraint.h" + +btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c) +: m_contact(&c) +, btDeformableContactConstraint(c.m_cti.m_normal) +{ + m_total_normal_dv.setZero(); + m_total_tangent_dv.setZero(); +} + +btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btDeformableRigidContactConstraint& other) +: m_contact(other.m_contact) +, btDeformableContactConstraint(other) +{ + m_total_normal_dv = other.m_total_normal_dv; + m_total_tangent_dv = other.m_total_tangent_dv; +} + + +btVector3 btDeformableRigidContactConstraint::getVa() const +{ + const btSoftBody::sCti& cti = m_contact->m_cti; + btVector3 va(0, 0, 0); + if (cti.m_colObj->hasContactResponse()) + { + btRigidBody* rigidCol = 0; + btMultiBodyLinkCollider* multibodyLinkCol = 0; + + // grab the velocity of the rigid body + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + va = rigidCol ? (rigidCol->getVelocityInLocalPoint(m_contact->m_c1)) : btVector3(0, 0, 0); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + const btScalar* J_n = &m_contact->jacobianData_normal.m_jacobians[0]; + const btScalar* J_t1 = &m_contact->jacobianData_t1.m_jacobians[0]; + const btScalar* J_t2 = &m_contact->jacobianData_t2.m_jacobians[0]; + const btScalar* local_v = multibodyLinkCol->m_multiBody->getVelocityVector(); + const btScalar* local_dv = multibodyLinkCol->m_multiBody->getDeltaVelocityVector(); + // add in the normal component of the va + btScalar vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += (local_v[k]+local_dv[k]) * J_n[k]; + } + va = cti.m_normal * vel; + // add in the tangential components of the va + vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += (local_v[k]+local_dv[k]) * J_t1[k]; + } + va += m_contact->t1 * vel; + vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += (local_v[k]+local_dv[k]) * J_t2[k]; + } + va += m_contact->t2 * vel; + } + } + } + return va; +} + +btScalar btDeformableRigidContactConstraint::solveConstraint() +{ + const btSoftBody::sCti& cti = m_contact->m_cti; + btVector3 va = getVa(); + btVector3 vb = getVb(); + btVector3 vr = vb - va; + const btScalar dn = btDot(vr, cti.m_normal); + // dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt + btScalar residualSquare = dn*dn; + btVector3 impulse = m_contact->m_c0 * vr; + const btVector3 impulse_normal = m_contact->m_c0 * (cti.m_normal * dn); + btVector3 impulse_tangent = impulse - impulse_normal; + + btVector3 old_total_tangent_dv = m_total_tangent_dv; + // m_c2 is the inverse mass of the deformable node/face + m_total_normal_dv -= impulse_normal * m_contact->m_c2; + m_total_tangent_dv -= impulse_tangent * m_contact->m_c2; + + if (m_total_normal_dv.dot(cti.m_normal) < 0) + { + // separating in the normal direction + m_static = false; + m_total_tangent_dv = btVector3(0,0,0); + impulse_tangent.setZero(); + } + else + { + if (m_total_normal_dv.norm() * m_contact->m_c3 < m_total_tangent_dv.norm()) + { + // dynamic friction + // with dynamic friction, the impulse are still applied to the two objects colliding, however, it does not pose a constraint in the cg solve, hence the change to dv merely serves to update velocity in the contact iterations. + m_static = false; + if (m_total_tangent_dv.norm() < SIMD_EPSILON) + { + m_total_tangent_dv = btVector3(0,0,0); + } + else + { + m_total_tangent_dv = m_total_tangent_dv.normalized() * m_total_normal_dv.norm() * m_contact->m_c3; + } + impulse_tangent = -btScalar(1)/m_contact->m_c2 * (m_total_tangent_dv - old_total_tangent_dv); + } + else + { + // static friction + m_static = true; + } + } + impulse = impulse_normal + impulse_tangent; + + + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + btRigidBody* rigidCol = 0; + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + if (rigidCol) + { + rigidCol->applyImpulse(impulse, m_contact->m_c1); + } + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + btMultiBodyLinkCollider* multibodyLinkCol = 0; + multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + const btScalar* deltaV_normal = &m_contact->jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + // apply normal component of the impulse + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_normal, impulse.dot(cti.m_normal)); + if (impulse_tangent.norm() > SIMD_EPSILON) + { + // apply tangential component of the impulse + const btScalar* deltaV_t1 = &m_contact->jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t1, impulse.dot(m_contact->t1)); + const btScalar* deltaV_t2 = &m_contact->jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t2, impulse.dot(m_contact->t2)); + } + } + } + return residualSquare; +} + +btDeformableNodeRigidContactConstraint::btDeformableNodeRigidContactConstraint(const btSoftBody::DeformableNodeRigidContact& contact) + : m_node(contact.m_node) + , btDeformableRigidContactConstraint(contact) + { + } + +btDeformableNodeRigidContactConstraint::btDeformableNodeRigidContactConstraint(const btDeformableNodeRigidContactConstraint& other) +: m_node(other.m_node) +, btDeformableRigidContactConstraint(other) +{ +} + +btVector3 btDeformableNodeRigidContactConstraint::getVb() const +{ + return m_node->m_v; +} + + +btVector3 btDeformableNodeRigidContactConstraint::getDv(btSoftBody::Node* node) const +{ + return m_total_normal_dv + m_total_tangent_dv; +} diff --git a/src/BulletSoftBody/btDeformableContactConstraint.h b/src/BulletSoftBody/btDeformableContactConstraint.h new file mode 100644 index 000000000..4f266f72f --- /dev/null +++ b/src/BulletSoftBody/btDeformableContactConstraint.h @@ -0,0 +1,150 @@ +/* + Written by Xuchen Han + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + 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 BT_DEFORMABLE_CONTACT_CONSTRAINT_H +#define BT_DEFORMABLE_CONTACT_CONSTRAINT_H +#include "btSoftBody.h" + +class btDeformableContactConstraint +{ +public: + // True if the friction is static + // False if the friction is dynamic + bool m_static; + + // normal of the contact + btVector3 m_normal; + + btDeformableContactConstraint(const btVector3& normal): m_static(false), m_normal(normal) + { + } + + btDeformableContactConstraint(bool isStatic, const btVector3& normal): m_static(isStatic), m_normal(normal) + { + } + + btDeformableContactConstraint(const btDeformableContactConstraint& other) + : m_static(other.m_static) + , m_normal(other.m_normal) + { + + } + btDeformableContactConstraint(){} + + virtual ~btDeformableContactConstraint(){} + + // solve the constraint with inelastic impulse and return the error, which is the square of normal component of dt scaled velocity diffrerence + // the constraint is solved by calculating the impulse between object A and B in the contact and apply the impulse. + // if the object is rigid/multibody apply the impulse to change the velocity, + // if the object is deformable node, change the according dv. + virtual btScalar solveConstraint() = 0; + + // get the velocity of the object A in the contact + virtual btVector3 getVa() const = 0; + + // get the velocity of the object B in the contact + virtual btVector3 getVb() const = 0; + + // get the velocity change of the soft body node in the constraint + virtual btVector3 getDv(btSoftBody::Node*) const = 0; +}; + +class btDeformableStaticConstraint : public btDeformableContactConstraint +{ +public: + const btSoftBody::Node* m_node; + + btDeformableStaticConstraint(){} + + btDeformableStaticConstraint(const btSoftBody::Node* node): m_node(node), btDeformableContactConstraint(false, btVector3(0,0,0)) + { + } + + btDeformableStaticConstraint(const btDeformableStaticConstraint& other) + : m_node(other.m_node) + , btDeformableContactConstraint(other) + { + + } + + virtual ~btDeformableStaticConstraint(){} + + virtual btScalar solveConstraint() + { + return 0; + } + + virtual btVector3 getVa() const + { + return btVector3(0,0,0); + } + + virtual btVector3 getVb() const + { + return btVector3(0,0,0); + } + + virtual btVector3 getDv(btSoftBody::Node* n) const + { + return btVector3(0,0,0); + } +}; + +class btDeformableRigidContactConstraint : public btDeformableContactConstraint +{ +public: + btVector3 m_total_normal_dv; + btVector3 m_total_tangent_dv; + const btSoftBody::DeformableRigidContact* m_contact; + + btDeformableRigidContactConstraint(){} + btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c); + btDeformableRigidContactConstraint(const btDeformableRigidContactConstraint& other); + virtual ~btDeformableRigidContactConstraint() + { + } + + // object A is the rigid/multi body, and object B is the deformable node + virtual btVector3 getVa() const; + + virtual btScalar solveConstraint(); +}; + + + +class btDeformableNodeRigidContactConstraint : public btDeformableRigidContactConstraint +{ +public: + const btSoftBody::Node* m_node; + + btDeformableNodeRigidContactConstraint(){} + btDeformableNodeRigidContactConstraint(const btSoftBody::DeformableNodeRigidContact& contact); + btDeformableNodeRigidContactConstraint(const btDeformableNodeRigidContactConstraint& other); + + virtual ~btDeformableNodeRigidContactConstraint() + { + + } + + virtual btVector3 getVb() const; + + virtual btVector3 getDv(btSoftBody::Node*) const; + + const btSoftBody::DeformableNodeRigidContact* getContact() const + { + return static_cast(m_contact); + } +}; +#endif /* BT_DEFORMABLE_CONTACT_CONSTRAINT_H */ diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index 404eda494..3f09f58cb 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -20,148 +20,33 @@ btScalar btDeformableContactProjection::update() { btScalar residualSquare = 0; - btScalar max_impulse = 0; // loop through constraints to set constrained values - for (int index = 0; index < m_constraints.size(); ++index) + + // node constraints + for (int index = 0; index < m_nodeRigidConstraints.size(); ++index) { - DeformableContactConstraint& constraint = *m_constraints.getAtIndex(index); - const btSoftBody::Node* node = constraint.m_node; - for (int j = 0; j < constraint.m_contact.size(); ++j) + btAlignedObjectArray& constraints = *m_nodeRigidConstraints.getAtIndex(index); + for (int i = 0; i < constraints.size(); ++i) { - if (constraint.m_contact[j] == NULL) - { - // nothing needs to be done for dirichelet constraints - continue; - } - const btSoftBody::RContact* c = constraint.m_contact[j]; - const btSoftBody::sCti& cti = c->m_cti; - - if (cti.m_colObj->hasContactResponse()) - { - btVector3 va(0, 0, 0); - btRigidBody* rigidCol = 0; - btMultiBodyLinkCollider* multibodyLinkCol = 0; - const btScalar* deltaV_normal; - - // grab the velocity of the rigid body - if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) - { - rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); - va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c->m_c1)) * m_dt : btVector3(0, 0, 0); - } - else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) - { - multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); - if (multibodyLinkCol) - { - const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; - const btScalar* J_n = &c->jacobianData_normal.m_jacobians[0]; - const btScalar* J_t1 = &c->jacobianData_t1.m_jacobians[0]; - const btScalar* J_t2 = &c->jacobianData_t2.m_jacobians[0]; - const btScalar* local_v = multibodyLinkCol->m_multiBody->getVelocityVector(); - const btScalar* local_dv = multibodyLinkCol->m_multiBody->getDeltaVelocityVector(); - deltaV_normal = &c->jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; - // add in the normal component of the va - btScalar vel = 0.0; - for (int k = 0; k < ndof; ++k) - { - vel += (local_v[k]+local_dv[k]) * J_n[k]; - } - va = cti.m_normal * vel * m_dt; - // add in the tangential components of the va - vel = 0.0; - for (int k = 0; k < ndof; ++k) - { - vel += (local_v[k]+local_dv[k]) * J_t1[k]; - } - va += c->t1 * vel * m_dt; - vel = 0.0; - for (int k = 0; k < ndof; ++k) - { - vel += (local_v[k]+local_dv[k]) * J_t2[k]; - } - va += c->t2 * vel * m_dt; - } - } - - const btVector3 vb = c->m_node->m_v * m_dt; - const btVector3 vr = vb - va; - const btScalar dn = btDot(vr, cti.m_normal); - btVector3 impulse = c->m_c0 * vr; - const btVector3 impulse_normal = c->m_c0 * (cti.m_normal * dn); - btVector3 impulse_tangent = impulse - impulse_normal; - - btVector3 old_total_tangent_dv = constraint.m_total_tangent_dv[j]; - constraint.m_total_normal_dv[j] -= impulse_normal * node->m_im; - constraint.m_total_tangent_dv[j] -= impulse_tangent * node->m_im; - - if (constraint.m_total_normal_dv[j].dot(cti.m_normal) < 0) - { - // separating in the normal direction - constraint.m_static[j] = false; - constraint.m_can_be_dynamic[j] = false; - constraint.m_total_tangent_dv[j] = btVector3(0,0,0); - impulse_tangent.setZero(); - } - else - { - if (constraint.m_can_be_dynamic[j] && constraint.m_total_normal_dv[j].norm() * c->m_c3 < constraint.m_total_tangent_dv[j].norm()) - { - // dynamic friction - // with dynamic friction, the impulse are still applied to the two objects colliding, however, it does not pose a constraint in the cg solve, hence the change to dv merely serves to update velocity in the contact iterations. - constraint.m_static[j] = false; - constraint.m_can_be_dynamic[j] = true; - if (constraint.m_total_tangent_dv[j].norm() < SIMD_EPSILON) - { - constraint.m_total_tangent_dv[j] = btVector3(0,0,0); - } - else - { - constraint.m_total_tangent_dv[j] = constraint.m_total_tangent_dv[j].normalized() * constraint.m_total_normal_dv[j].norm() * c->m_c3; - } - impulse_tangent = -btScalar(1)/node->m_im * (constraint.m_total_tangent_dv[j] - old_total_tangent_dv); - } - else - { - // static friction - constraint.m_static[j] = true; - constraint.m_can_be_dynamic[j] = false; - } - } - impulse = impulse_normal + impulse_tangent; - max_impulse = btMax(impulse.length2(), max_impulse); - - // dn is the normal component of velocity diffrerence. Approximates the residual. - residualSquare = btMax(residualSquare, dn*dn); - if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) - { - if (rigidCol) - { - rigidCol->applyImpulse(impulse, c->m_c1); - } - } - else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) - { - if (multibodyLinkCol) - { - // apply normal component of the impulse - multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_normal, impulse.dot(cti.m_normal)); - if (impulse_tangent.norm() > SIMD_EPSILON) - { - // apply tangential component of the impulse - const btScalar* deltaV_t1 = &c->jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; - multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t1, impulse.dot(c->t1)); - const btScalar* deltaV_t2 = &c->jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; - multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t2, impulse.dot(c->t2)); - } - } - } - } + btScalar localResidualSquare = constraints[i].solveConstraint(); + residualSquare = btMax(residualSquare, localResidualSquare); } } + + // face constraints +// for (int index = 0; index < m_faceRigidConstraints.size(); ++index) +// { +// btAlignedObjectArray& constraints = *m_faceRigidConstraints.getAtIndex(index); +// for (int i = 0; i < constraints.size(); ++i) +// { +// btScalar localResidualSquare = constraints[i].solveConstraint(); +// residualSquare = btMax(residualSquare, localResidualSquare); +// } +// } return residualSquare; } + void btDeformableContactProjection::setConstraints() { BT_PROFILE("setConstraints"); @@ -173,132 +58,98 @@ void btDeformableContactProjection::setConstraints() { if (psb->m_nodes[j].m_im == 0) { - m_constraints.insert(psb->m_nodes[j].index, DeformableContactConstraint()); + btDeformableStaticConstraint static_constraint(&psb->m_nodes[j]); + m_staticConstraints.insert(psb->m_nodes[j].index, static_constraint); } } } + + // set Deformable Node vs. Rigid constraint for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; btMultiBodyJacobianData jacobianData_normal; btMultiBodyJacobianData jacobianData_complementary; - for (int j = 0; j < psb->m_rcontacts.size(); ++j) + for (int j = 0; j < psb->m_nodeRigidContacts.size(); ++j) { - const btSoftBody::RContact& c = psb->m_rcontacts[j]; - // skip anchor points - if (c.m_node->m_im == 0) + const btSoftBody::DeformableNodeRigidContact& contact = psb->m_nodeRigidContacts[j]; + // skip fixed points + if (contact.m_node->m_im == 0) { continue; } - - const btSoftBody::sCti& cti = c.m_cti; - if (cti.m_colObj->hasContactResponse()) + btDeformableNodeRigidContactConstraint constraint(contact); + btVector3 va = constraint.getVa(); + btVector3 vb = constraint.getVb(); + const btVector3 vr = vb - va; + const btSoftBody::sCti& cti = contact.m_cti; + const btScalar dn = btDot(vr, cti.m_normal); + if (dn < SIMD_EPSILON) { - btVector3 va(0, 0, 0); - btRigidBody* rigidCol = 0; - btMultiBodyLinkCollider* multibodyLinkCol = 0; - - // grab the velocity of the rigid body - if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + if (m_nodeRigidConstraints.find(contact.m_node->index) == NULL) { - rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); - va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c.m_c1)) * m_dt : btVector3(0, 0, 0); + btAlignedObjectArray constraintsList; + constraintsList.push_back(constraint); + m_nodeRigidConstraints.insert(contact.m_node->index, constraintsList); } - else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + else { - multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); - if (multibodyLinkCol) - { - btScalar vel = 0.0; - const btScalar* jac = &c.jacobianData_normal.m_jacobians[0]; - const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; - for (int j = 0; j < ndof; ++j) - { - vel += multibodyLinkCol->m_multiBody->getVelocityVector()[j] * jac[j]; - } - va = cti.m_normal * vel * m_dt; - } - } - - const btVector3 vb = c.m_node->m_v * m_dt; - const btVector3 vr = vb - va; - const btScalar dn = btDot(vr, cti.m_normal); - if (dn < SIMD_EPSILON) - { - - if (m_constraints.find(c.m_node->index) == NULL) - { - m_constraints.insert(c.m_node->index, DeformableContactConstraint(c)); - } - else - { - DeformableContactConstraint& constraints = *m_constraints[c.m_node->index]; - bool single_contact = true; - if (single_contact) - { - if (constraints.m_contact[0]->m_cti.m_offset > cti.m_offset) - { - constraints.replace(c); - } - } - else - { - constraints.append(c); - } - } + btAlignedObjectArray& constraintsList = *m_nodeRigidConstraints[contact.m_node->index]; + constraintsList.push_back(constraint); } } } } + + // todo xuchenhan@: set Deformable Face vs. Rigid constraint + + // todo xuchenhan@: set Deformable Face vs. Deformable Node } void btDeformableContactProjection::enforceConstraint(TVStack& x) { - for (int index = 0; index < m_constraints.size(); ++index) + for (int i = 0; i < x.size(); ++i) { - const DeformableContactConstraint& constraints = *m_constraints.getAtIndex(index); - size_t i = m_constraints.getKeyAtIndex(index).getUid1(); x[i].setZero(); - for (int j = 0; j < constraints.m_total_normal_dv.size(); ++j) + if (m_staticConstraints.find(i) != NULL) { - x[i] += constraints.m_total_normal_dv[j]; - x[i] += constraints.m_total_tangent_dv[j]; + // if a node is fixed, dv = 0 + continue; } + if (m_nodeRigidConstraints.find(i) != NULL) + { + btAlignedObjectArray& constraintsList = *m_nodeRigidConstraints[i]; + for (int j = 0; j < constraintsList.size(); ++j) + { + const btDeformableNodeRigidContactConstraint& constraint = constraintsList[j]; + x[i] += constraint.getDv(m_nodes->at(i)); + } + } + // todo xuchenhan@ +// if (m_faceRigidConstraints.find(i) != NULL) +// { +// +// } } } void btDeformableContactProjection::project(TVStack& x) { const int dim = 3; - for (int index = 0; index < m_constraints.size(); ++index) + for (int index = 0; index < m_projectionsDict.size(); ++index) { - const DeformableContactConstraint& constraints = *m_constraints.getAtIndex(index); - size_t i = m_constraints.getKeyAtIndex(index).getUid1(); - if (constraints.m_contact[0] == NULL) + btAlignedObjectArray& projectionDirs = *m_projectionsDict.getAtIndex(index); + size_t i = m_projectionsDict.getKeyAtIndex(index).getUid1(); + if (projectionDirs.size() >= dim) { // static node x[i].setZero(); continue; } - bool has_static = false; - for (int j = 0; j < constraints.m_static.size(); ++j) + else if (projectionDirs.size() == 2) { - has_static = has_static || constraints.m_static[j]; - } - // static friction => fully constrained - if (has_static) - { - x[i].setZero(); - } - else if (constraints.m_total_normal_dv.size() >= dim) - { - x[i].setZero(); - } - else if (constraints.m_total_normal_dv.size() == 2) - { - - btVector3 dir0 = (constraints.m_total_normal_dv[0].norm() > SIMD_EPSILON) ? constraints.m_total_normal_dv[0].normalized() : btVector3(0,0,0); - btVector3 dir1 = (constraints.m_total_normal_dv[1].norm() > SIMD_EPSILON) ? constraints.m_total_normal_dv[1].normalized() : btVector3(0,0,0); + btVector3 dir0 = projectionDirs[0]; + btVector3 dir1 = projectionDirs[1]; btVector3 free_dir = btCross(dir0, dir1); if (free_dir.norm() < SIMD_EPSILON) { @@ -313,48 +164,129 @@ void btDeformableContactProjection::project(TVStack& x) } else { - btAssert(constraints.m_total_normal_dv.size() == 1); - btVector3 dir0 = (constraints.m_total_normal_dv[0].norm() > SIMD_EPSILON) ? constraints.m_total_normal_dv[0].normalized() : btVector3(0,0,0); + btAssert(projectionDirs.size() == 1); + btVector3 dir0 = projectionDirs[0]; x[i] -= x[i].dot(dir0) * dir0; } } } -void btDeformableContactProjection::applyDynamicFriction(TVStack& f) +void btDeformableContactProjection::setProjection() { - for (int index = 0; index < m_constraints.size(); ++index) + for (int i = 0; i < m_softBodies.size(); ++i) { - const DeformableContactConstraint& constraint = *m_constraints.getAtIndex(index); - const btSoftBody::Node* node = constraint.m_node; - if (node == NULL) - continue; - size_t i = m_constraints.getKeyAtIndex(index).getUid1(); - bool has_static_constraint = false; + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + int index = psb->m_nodes[j].index; + bool hasConstraint = false; + bool existStaticConstraint = false; + btVector3 averagedNormal(0,0,0); + btAlignedObjectArray normals; + if (m_staticConstraints.find(index) != NULL) + { + existStaticConstraint = true; + hasConstraint = true; + } + + // accumulate normals + if (!existStaticConstraint && m_nodeRigidConstraints.find(index) != NULL) + { + hasConstraint = true; + btAlignedObjectArray& constraintsList = *m_nodeRigidConstraints[index]; + for (int k = 0; k < constraintsList.size(); ++k) + { + if (constraintsList[k].m_static) + { + existStaticConstraint = true; + break; + } + const btVector3& local_normal = constraintsList[k].m_normal; + // add another projection direction if it deviates from the average by more than about 15 degrees + normals.push_back(local_normal); + averagedNormal += local_normal; + } + } - // apply dynamic friction force (scaled by dt) if the node does not have static friction constraint - for (int j = 0; j < constraint.m_static.size(); ++j) - { - if (constraint.m_static[j]) + // todo: xuchenhan@ implement face +// if (!existStaticConstraint && m_faceRigidConstraints.find(index) != NULL) +// { +// } + + + // build projections + if (!hasConstraint) { - has_static_constraint = true; - break; + continue; } - } - for (int j = 0; j < constraint.m_total_tangent_dv.size(); ++j) - { - btVector3 friction_force = constraint.m_total_tangent_dv[j] * (1./node->m_im); - if (!has_static_constraint) + btAlignedObjectArray projections; + if (existStaticConstraint) { - f[i] += friction_force; + projections.push_back(btVector3(1,0,0)); + projections.push_back(btVector3(0,1,0)); + projections.push_back(btVector3(0,0,1)); } + else + { + bool averageExists = (averagedNormal.length2() > SIMD_EPSILON); + averagedNormal = averageExists ? averagedNormal.normalized() : btVector3(0,0,0); + if (averageExists) + { + projections.push_back(averagedNormal); + } + for (int k = 0; k < normals.size(); ++k) + { + const btVector3& local_normal = normals[k]; + // add another projection direction if it deviates from the average by more than about 15 degrees + if (!averageExists || btAngle(averagedNormal, local_normal) > 0.25) + { + projections.push_back(local_normal); + } + } + } + m_projectionsDict.insert(index, projections); } } } + +void btDeformableContactProjection::applyDynamicFriction(TVStack& f) +{ +// for (int index = 0; index < m_constraints.size(); ++index) +// { +// const DeformableContactConstraint& constraint = *m_constraints.getAtIndex(index); +// const btSoftBody::Node* node = constraint.m_node; +// if (node == NULL) +// continue; +// size_t i = m_constraints.getKeyAtIndex(index).getUid1(); +// bool has_static_constraint = false; +// +// // apply dynamic friction force (scaled by dt) if the node does not have static friction constraint +// for (int j = 0; j < constraint.m_static.size(); ++j) +// { +// if (constraint.m_static[j]) +// { +// has_static_constraint = true; +// break; +// } +// } +// for (int j = 0; j < constraint.m_total_tangent_dv.size(); ++j) +// { +// btVector3 friction_force = constraint.m_total_tangent_dv[j] * (1./node->m_im); +// if (!has_static_constraint) +// { +// f[i] += friction_force; +// } +// } +// } +} + void btDeformableContactProjection::reinitialize(bool nodeUpdated) { btCGProjection::reinitialize(nodeUpdated); - m_constraints.clear(); + m_staticConstraints.clear(); + m_nodeRigidConstraints.clear(); +// m_faceRigidConstraints.clear(); } diff --git a/src/BulletSoftBody/btDeformableContactProjection.h b/src/BulletSoftBody/btDeformableContactProjection.h index 774da1ae3..e62bc3245 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.h +++ b/src/BulletSoftBody/btDeformableContactProjection.h @@ -19,12 +19,20 @@ #include "btSoftBody.h" #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" +#include "btDeformableContactConstraint.h" #include "LinearMath/btHashMap.h" class btDeformableContactProjection : public btCGProjection { public: - // map from node index to constraints - btHashMap m_constraints; + // map from node index to static constraint + btHashMap m_staticConstraints; + // map from node index to node rigid constraint + btHashMap > m_nodeRigidConstraints; +// // map from node index to face rigid constraint +// btHashMap > m_faceRigidConstraints; + + // map from node index to projection directions + btHashMap > m_projectionsDict; btDeformableContactProjection(btAlignedObjectArray& softBodies, const btScalar& dt) : btCGProjection(softBodies, dt) @@ -37,6 +45,7 @@ public: // apply the constraints to the rhs virtual void project(TVStack& x); + // add to friction virtual void applyDynamicFriction(TVStack& f); @@ -46,8 +55,12 @@ public: // update the constraints virtual btScalar update(); + // Add constraints to m_constraints. In addition, the constraints that each vertex own are recorded in m_constraintsDict. virtual void setConstraints(); + // Set up projections for each vertex by adding the projection direction to + virtual void setProjection(); + virtual void reinitialize(bool nodeUpdated); }; #endif /* btDeformableContactProjection_h */ diff --git a/src/BulletSoftBody/btDeformableCorotatedForce.h b/src/BulletSoftBody/btDeformableCorotatedForce.h index 13f64ccfa..c2a26338e 100644 --- a/src/BulletSoftBody/btDeformableCorotatedForce.h +++ b/src/BulletSoftBody/btDeformableCorotatedForce.h @@ -19,7 +19,7 @@ #include "btDeformableLagrangianForce.h" #include "LinearMath/btPolarDecomposition.h" -static inline int PolarDecompose(const btMatrix3x3& m, btMatrix3x3& q, btMatrix3x3& s) +static inline int PolarDecomposition(const btMatrix3x3& m, btMatrix3x3& q, btMatrix3x3& s) { static const btPolarDecomposition polar; return polar.decompose(m, q, s); @@ -100,7 +100,7 @@ public: if (J < 1024 * SIMD_EPSILON) R.setIdentity(); else - PolarDecompose(F, R, S); // this QR is not robust, consider using implicit shift svd + PolarDecomposition(F, R, S); // this QR is not robust, consider using implicit shift svd /*https://fuchuyuan.github.io/research/svd/paper.pdf*/ P += (F-R) * 2 * m_mu; } diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp index 65ba43e04..fb69143bd 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp @@ -23,6 +23,7 @@ btScalar btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlyIteration ///this is a special step to resolve penetrations (just for contacts) solveGroupCacheFriendlySplitImpulseIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); + m_maxOverrideNumSolverIterations = 150; int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations; for (int iteration = 0; iteration < maxIterations; iteration++) { diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index cc54549a1..0eae6a26a 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -70,78 +70,82 @@ void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar t // /////////////////////////////// } +//void btDeformableMultiBodyDynamicsWorld::positionCorrection(btScalar timeStep) +//{ +// // perform position correction for all constraints +// BT_PROFILE("positionCorrection"); +// for (int index = 0; index < m_deformableBodySolver->m_objective->projection.m_constraints.size(); ++index) +// { +// DeformableContactConstraint& constraint = *m_deformableBodySolver->m_objective->projection.m_constraints.getAtIndex(index); +// for (int j = 0; j < constraint.m_contact.size(); ++j) +// { +// const btSoftBody::RContact* c = constraint.m_contact[j]; +// // skip anchor points +// if (c == NULL || c->m_node->m_im == 0) +// continue; +// const btSoftBody::sCti& cti = c->m_cti; +// btVector3 va(0, 0, 0); +// +// // grab the velocity of the rigid body +// if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) +// { +// btRigidBody* rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); +// va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c->m_c1)): btVector3(0, 0, 0); +// } +// else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) +// { +// btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); +// if (multibodyLinkCol) +// { +// const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; +// const btScalar* J_n = &c->jacobianData_normal.m_jacobians[0]; +// const btScalar* J_t1 = &c->jacobianData_t1.m_jacobians[0]; +// const btScalar* J_t2 = &c->jacobianData_t2.m_jacobians[0]; +// const btScalar* local_v = multibodyLinkCol->m_multiBody->getVelocityVector(); +// // add in the normal component of the va +// btScalar vel = 0.0; +// for (int k = 0; k < ndof; ++k) +// { +// vel += local_v[k] * J_n[k]; +// } +// va = cti.m_normal * vel; +// +// vel = 0.0; +// for (int k = 0; k < ndof; ++k) +// { +// vel += local_v[k] * J_t1[k]; +// } +// va += c->t1 * vel; +// vel = 0.0; +// for (int k = 0; k < ndof; ++k) +// { +// vel += local_v[k] * J_t2[k]; +// } +// va += c->t2 * vel; +// } +// } +// else +// { +// // The object interacting with deformable node is not supported for position correction +// btAssert(false); +// } +// +// if (cti.m_colObj->hasContactResponse()) +// { +// btScalar dp = cti.m_offset; +// +// // only perform position correction when penetrating +// if (dp < 0) +// { +// c->m_node->m_v -= dp * cti.m_normal / timeStep; +// } +// } +// } +// } +//} + void btDeformableMultiBodyDynamicsWorld::positionCorrection(btScalar timeStep) { - // perform position correction for all constraints - BT_PROFILE("positionCorrection"); - for (int index = 0; index < m_deformableBodySolver->m_objective->projection.m_constraints.size(); ++index) - { - DeformableContactConstraint& constraint = *m_deformableBodySolver->m_objective->projection.m_constraints.getAtIndex(index); - for (int j = 0; j < constraint.m_contact.size(); ++j) - { - const btSoftBody::RContact* c = constraint.m_contact[j]; - // skip anchor points - if (c == NULL || c->m_node->m_im == 0) - continue; - const btSoftBody::sCti& cti = c->m_cti; - btVector3 va(0, 0, 0); - - // grab the velocity of the rigid body - if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) - { - btRigidBody* rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); - va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c->m_c1)): btVector3(0, 0, 0); - } - else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) - { - btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); - if (multibodyLinkCol) - { - const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; - const btScalar* J_n = &c->jacobianData_normal.m_jacobians[0]; - const btScalar* J_t1 = &c->jacobianData_t1.m_jacobians[0]; - const btScalar* J_t2 = &c->jacobianData_t2.m_jacobians[0]; - const btScalar* local_v = multibodyLinkCol->m_multiBody->getVelocityVector(); - // add in the normal component of the va - btScalar vel = 0.0; - for (int k = 0; k < ndof; ++k) - { - vel += local_v[k] * J_n[k]; - } - va = cti.m_normal * vel; - - vel = 0.0; - for (int k = 0; k < ndof; ++k) - { - vel += local_v[k] * J_t1[k]; - } - va += c->t1 * vel; - vel = 0.0; - for (int k = 0; k < ndof; ++k) - { - vel += local_v[k] * J_t2[k]; - } - va += c->t2 * vel; - } - } - else - { - // The object interacting with deformable node is not supported for position correction - btAssert(false); - } - - if (cti.m_colObj->hasContactResponse()) - { - btScalar dp = cti.m_offset; - - // only perform position correction when penetrating - if (dp < 0) - { - c->m_node->m_v -= dp * cti.m_normal / timeStep; - } - } - } - } } @@ -187,7 +191,7 @@ void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep) // set up constraints among multibodies and between multibodies and deformable bodies setupConstraints(); solveMultiBodyRelatedConstraints(); - + m_deformableBodySolver->m_objective->projection.setProjection(); if (m_implicit) { // at this point dv = v_{n+1} - v_{n+1}^* @@ -321,11 +325,6 @@ void btDeformableMultiBodyDynamicsWorld::reinitialize(btScalar timeStep) m_internalTime += timeStep; m_deformableBodySolver->setImplicit(m_implicit); m_deformableBodySolver->reinitialize(m_softBodies, timeStep); -// if (m_implicit) -// { -// // todo: backup v_n velocity somewhere else -// m_deformableBodySolver->backupVelocity(); -// } btDispatcherInfo& dispatchInfo = btMultiBodyDynamicsWorld::getDispatchInfo(); dispatchInfo.m_timeStep = timeStep; dispatchInfo.m_stepCount = 0; diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index c94ed6fca..c9ab0c66f 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -20,6 +20,9 @@ subject to the following restrictions: #include "LinearMath/btSerializer.h" #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" +#include "BulletCollision/CollisionShapes/btTriangleShape.h" +#include // btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo, int node_count, const btVector3* x, const btScalar* m) : m_softBodySolver(0), m_worldInfo(worldInfo) @@ -1858,7 +1861,8 @@ void btSoftBody::predictMotion(btScalar dt) } } /* Clear contacts */ - m_rcontacts.resize(0); + m_nodeRigidContacts.resize(0); + m_faceRigidContacts.resize(0); m_scontacts.resize(0); /* Optimize dbvt's */ m_ndbvt.optimizeIncremental(1); @@ -2289,6 +2293,7 @@ bool btSoftBody::checkContact(const btCollisionObjectWrapper* colObjWrap, } return (false); } + // bool btSoftBody::checkDeformableContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, @@ -2321,6 +2326,63 @@ bool btSoftBody::checkDeformableContact(const btCollisionObjectWrapper* colObjWr return (false); } +// +// Compute barycentric coordinates (u, v, w) for +// point p with respect to triangle (a, b, c) +static void getBarycentric(const btVector3& p, btVector3& a, btVector3& b, btVector3& c, btVector3& bary) +{ + btVector3 v0 = b - a, v1 = c - a, v2 = p - a; + btScalar d00 = v0.dot(v0); + btScalar d01 = v0.dot(v1); + btScalar d11 = v1.dot(v1); + btScalar d20 = v2.dot(v0); + btScalar d21 = v2.dot(v1); + btScalar denom = d00 * d11 - d01 * d01; + bary.setY((d11 * d20 - d01 * d21) / denom); + bary.setZ((d00 * d21 - d01 * d20) / denom); + bary.setX(btScalar(1) - bary.getY() - bary.getZ()); +} + +// +bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colObjWrap, + const Face& f, + btVector3& contact_point, + btVector3& bary, + btScalar margin, + btSoftBody::sCti& cti, bool predict) const +{ + btVector3 nrm; + const btCollisionShape* shp = colObjWrap->getCollisionShape(); + const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject(); + // use the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg for collision detect + // but resolve contact at x_n + btTransform wtr = (predict) ? + (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform()) + : colObjWrap->getWorldTransform(); + + btGjkEpaSolver2::sResults results; + btTransform triangle_transform; + triangle_transform.setIdentity(); + triangle_transform.setOrigin(f.m_n[0]->m_x); + btTriangleShape triangle(btVector3(0,0,0), f.m_n[1]->m_x-f.m_n[0]->m_x, f.m_n[2]->m_x-f.m_n[0]->m_x); + btVector3 guess(0,0,0); + const btConvexShape* csh = static_cast(shp); + btGjkEpaSolver2::SignedDistance(&triangle, triangle_transform, csh, wtr, guess, results); + btScalar dst = results.distance; + contact_point = results.witnesses[0]; + getBarycentric(contact_point, f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary); + if (!predict) + { + cti.m_colObj = colObjWrap->getCollisionObject(); +// cti.m_normal = wtr.getBasis() * results.normal; + cti.m_normal = results.normal; + cti.m_offset = dst; + } + if (dst < 0) + return true; + return (false); +} + // void btSoftBody::updateNormals() { @@ -3339,7 +3401,7 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap break; case fCollision::SDF_RD: { - btSoftColliders::CollideSDF_RD docollide; + btRigidBody* prb1 = (btRigidBody*)btRigidBody::upcast(pcoWrap->getCollisionObject()); btTransform wtr = pcoWrap->getWorldTransform(); @@ -3355,13 +3417,21 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap maxs); volume = btDbvtVolume::FromMM(mins, maxs); volume.Expand(btVector3(basemargin, basemargin, basemargin)); - docollide.psb = this; - docollide.m_colObj1Wrap = pcoWrap; - docollide.m_rigidBody = prb1; + btSoftColliders::CollideSDF_RD docollideNode; + docollideNode.psb = this; + docollideNode.m_colObj1Wrap = pcoWrap; + docollideNode.m_rigidBody = prb1; + docollideNode.dynmargin = basemargin + timemargin; + docollideNode.stamargin = basemargin; + m_ndbvt.collideTV(m_ndbvt.m_root, volume, docollideNode); - docollide.dynmargin = basemargin + timemargin; - docollide.stamargin = basemargin; - m_ndbvt.collideTV(m_ndbvt.m_root, volume, docollide); + btSoftColliders::CollideSDF_RDF docollideFace; + docollideFace.psb = this; + docollideFace.m_colObj1Wrap = pcoWrap; + docollideFace.m_rigidBody = prb1; + docollideFace.dynmargin = basemargin + timemargin; + docollideFace.stamargin = basemargin; + m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace); } break; } diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index b8139c5e9..9d3402834 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -161,6 +161,7 @@ public: SDF_RS = 0x0001, ///SDF based rigid vs soft CL_RS = 0x0002, ///Cluster vs convex rigid vs soft SDF_RD = 0x0003, ///DF based rigid vs deformable + SDF_RDF = 0x0004, ///DF based rigid vs deformable faces SVSmask = 0x0030, ///Rigid versus soft mask VF_SS = 0x0010, ///Vertex vs face soft vs soft handling @@ -217,6 +218,7 @@ public: const btCollisionObject* m_colObj; /* Rigid body */ btVector3 m_normal; /* Outward normal */ btScalar m_offset; /* Offset from origin */ + btVector3 m_bary; /* Barycentric weights for faces */ }; /* sMedium */ @@ -283,6 +285,7 @@ public: btVector3 m_normal; // Normal btScalar m_ra; // Rest area btDbvtNode* m_leaf; // Leaf data + int m_index; }; /* Tetra */ struct Tetra : Feature @@ -315,6 +318,40 @@ public: btVector3 t1; btVector3 t2; }; + + class DeformableRigidContact + { + public: + sCti m_cti; // Contact infos + btMatrix3x3 m_c0; // Impulse matrix + btVector3 m_c1; // Relative anchor + btScalar m_c2; // inverse mass of node/face + btScalar m_c3; // Friction + btScalar m_c4; // Hardness + + // jacobians and unit impulse responses for multibody + btMultiBodyJacobianData jacobianData_normal; + btMultiBodyJacobianData jacobianData_t1; + btMultiBodyJacobianData jacobianData_t2; + btVector3 t1; + btVector3 t2; + }; + + class DeformableNodeRigidContact : public DeformableRigidContact + { + public: + Node* m_node; // Owner node + }; + + class DeformableFaceRigidContact : public DeformableRigidContact + { + public: + Face* m_face; // Owner face + btVector3 m_contactPoint; // Contact point + btVector3 m_bary; // Barycentric weights + btVector3 m_weights; // v_contactPoint * m_weights[i] = m_face->m_node[i]->m_v; + }; + /* SContact */ struct SContact { @@ -710,6 +747,8 @@ public: tTetraArray m_tetras; // Tetras tAnchorArray m_anchors; // Anchors tRContactArray m_rcontacts; // Rigid contacts + btAlignedObjectArray m_nodeRigidContacts; + btAlignedObjectArray m_faceRigidContacts; tSContactArray m_scontacts; // Soft contacts tJointArray m_joints; // Joints tMaterialArray m_materials; // Materials @@ -1017,6 +1056,7 @@ public: void initializeFaceTree(); btVector3 evaluateCom() const; bool checkDeformableContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const; + bool checkDeformableFaceContact(const btCollisionObjectWrapper* colObjWrap, const Face& x, btVector3& contact_point, btVector3& bary, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const; bool checkContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti) const; void updateNormals(); void updateBounds(); diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index 8ce114fa8..54cf354b5 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -993,7 +993,7 @@ struct btSoftColliders void DoNode(btSoftBody::Node& n) const { const btScalar m = n.m_im > 0 ? dynmargin : stamargin; - btSoftBody::RContact c; + btSoftBody::DeformableNodeRigidContact c; if (!n.m_battach) { @@ -1010,7 +1010,7 @@ struct btSoftColliders btSoftBody::sCti& cti = c.m_cti; c.m_node = &n; const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); - c.m_c2 = ima * psb->m_sst.sdt; + c.m_c2 = ima; c.m_c3 = fc; c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR; @@ -1021,7 +1021,7 @@ struct btSoftColliders const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic; const btVector3 ra = n.m_x - wtr.getOrigin(); - c.m_c0 = ImpulseMatrix(psb->m_sst.sdt, ima, imb, iwi, ra); + c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra); c.m_c1 = ra; if (m_rigidBody) m_rigidBody->activate(); @@ -1051,8 +1051,7 @@ struct btSoftColliders t1.getX(), t1.getY(), t1.getZ(), t2.getX(), t2.getY(), t2.getZ()); // world frame to local frame const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; - btScalar dt = psb->m_sst.sdt; - btMatrix3x3 local_impulse_matrix = Diagonal(1/dt) * (Diagonal(n.m_im) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse(); + btMatrix3x3 local_impulse_matrix = (Diagonal(n.m_im) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse(); c.m_c0 = rot.transpose() * local_impulse_matrix * rot; c.jacobianData_normal = jacobianData_normal; c.jacobianData_t1 = jacobianData_t1; @@ -1061,7 +1060,7 @@ struct btSoftColliders c.t2 = t2; } } - psb->m_rcontacts.push_back(c); + psb->m_nodeRigidContacts.push_back(c); } } } @@ -1072,6 +1071,102 @@ struct btSoftColliders btScalar dynmargin; btScalar stamargin; }; + + // + // CollideSDF_RDF + // + struct CollideSDF_RDF : btDbvt::ICollide + { + void Process(const btDbvtNode* leaf) + { + btSoftBody::Face* face = (btSoftBody::Face*)leaf->data; + DoNode(*face); + } + void DoNode(btSoftBody::Face& f) const + { + btSoftBody::Node* n0 = f.m_n[0]; + btSoftBody::Node* n1 = f.m_n[1]; + btSoftBody::Node* n2 = f.m_n[2]; + + const btScalar m = (n0->m_im > 0 && n1->m_im > 0 && n2->m_im > 0 )? dynmargin : stamargin; + btSoftBody::DeformableFaceRigidContact c; + btVector3 contact_point; + btVector3 bary; + if (psb->checkDeformableFaceContact(m_colObj1Wrap, f, contact_point, bary, m, c.m_cti, true)) + { + btScalar ima = n0->m_im + n1->m_im + n2->m_im; + const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; + const btScalar ms = ima + imb; + if (ms > 0) + { + // resolve contact at x_n + psb->checkDeformableFaceContact(m_colObj1Wrap, f, contact_point, bary, m, c.m_cti, /*predict = */ false); + btSoftBody::sCti& cti = c.m_cti; + c.m_contactPoint = contact_point; + c.m_bary = bary; + c.m_weights = btScalar(2)/(btScalar(1) + bary.length2()) * bary; + c.m_face = &f; + const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); + ima = bary.getX()*c.m_weights.getX() * n0->m_im + bary.getY()*c.m_weights.getY() * n1->m_im + bary.getZ()*c.m_weights.getZ() * n2->m_im; + c.m_c2 = ima; + c.m_c3 = fc; + c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR; + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform(); + static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0); + const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic; + const btVector3 ra = contact_point - wtr.getOrigin(); + + c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra); + c.m_c1 = ra; + if (m_rigidBody) + m_rigidBody->activate(); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + btVector3 normal = cti.m_normal; + btVector3 t1 = generateUnitOrthogonalVector(normal); + btVector3 t2 = btCross(normal, t1); + btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2; + findJacobian(multibodyLinkCol, jacobianData_normal, contact_point, normal); + findJacobian(multibodyLinkCol, jacobianData_t1, contact_point, t1); + findJacobian(multibodyLinkCol, jacobianData_t2, contact_point, t2); + + btScalar* J_n = &jacobianData_normal.m_jacobians[0]; + btScalar* J_t1 = &jacobianData_t1.m_jacobians[0]; + btScalar* J_t2 = &jacobianData_t2.m_jacobians[0]; + + btScalar* u_n = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + + btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(), + t1.getX(), t1.getY(), t1.getZ(), + t2.getX(), t2.getY(), t2.getZ()); // world frame to local frame + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + btMatrix3x3 local_impulse_matrix = (Diagonal(ima) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse(); + c.m_c0 = rot.transpose() * local_impulse_matrix * rot; + c.jacobianData_normal = jacobianData_normal; + c.jacobianData_t1 = jacobianData_t1; + c.jacobianData_t2 = jacobianData_t2; + c.t1 = t1; + c.t2 = t2; + } + } + psb->m_faceRigidContacts.push_back(c); + } + } + } + btSoftBody* psb; + const btCollisionObjectWrapper* m_colObj1Wrap; + btRigidBody* m_rigidBody; + btScalar dynmargin; + btScalar stamargin; + }; // // CollideVF_SS // From 109d9353affd0a28b63fc93f4abf222522abb153 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 11 Sep 2019 17:04:06 -0700 Subject: [PATCH 160/389] switched to deformable rigid contact from Jacobi to Gauss Seidel --- .../btDeformableBackwardEulerObjective.h | 2 +- src/BulletSoftBody/btDeformableBodySolver.cpp | 26 +- .../btDeformableContactConstraint.cpp | 47 +++- .../btDeformableContactConstraint.h | 53 ++++- .../btDeformableContactProjection.cpp | 225 +++++++++++++++--- .../btDeformableContactProjection.h | 8 +- .../btDeformableMultiBodyConstraintSolver.cpp | 1 + src/BulletSoftBody/btSoftBody.cpp | 4 +- src/BulletSoftBody/btSoftBodyInternals.h | 1 + 9 files changed, 312 insertions(+), 55 deletions(-) diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index b61f2235f..284ec6908 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -71,7 +71,7 @@ public: void setDt(btScalar dt); - // enforce constraints in CG solve + // enforce constraints in contact solve void enforceConstraint(TVStack& x) { BT_PROFILE("enforceConstraint"); diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 9be65c031..5292d7ecc 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -24,7 +24,7 @@ btDeformableBodySolver::btDeformableBodySolver() , m_cg(20) , m_maxNewtonIterations(5) , m_newtonTolerance(1e-4) -, m_lineSearch(false) +, m_lineSearch(true) { m_objective = new btDeformableBackwardEulerObjective(m_softBodySet, m_backupVelocity); } @@ -69,12 +69,14 @@ void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt) { break; } + // todo xuchenhan@: this really only needs to be calculated once m_objective->applyDynamicFriction(m_residual); if (m_lineSearch) { btScalar inner_product = computeDescentStep(m_ddv,m_residual); btScalar alpha = 0.01, beta = 0.5; // Boyd & Vandenberghe suggested alpha between 0.01 and 0.3, beta between 0.1 to 0.8 btScalar scale = 2; + // todo xuchenhan@: add damping energy to f0 and f1 btScalar f0 = m_objective->totalEnergy()+kineticEnergy(), f1, f2; backupDv(); do { @@ -239,14 +241,18 @@ btScalar btDeformableBodySolver::solveContactConstraints() m_dv[i].setZero(); } btScalar maxSquaredResidual = m_objective->projection.update(); - m_objective->enforceConstraint(m_dv); -// std::cout << "=================" << std::endl; -// for (int i = 0; i < m_dv.size(); ++i) -// { -// std::cout << m_dv[i].getX() << " " << m_dv[i].getY() << " " << m_dv[i].getZ() << std::endl; -// } - - m_objective->updateVelocity(m_dv); +// m_objective->enforceConstraint(m_dv); +// m_objective->updateVelocity(m_dv); + int counter = 0; + for (int i = 0; i < m_softBodySet.size(); ++i) + { + btSoftBody* psb = m_softBodySet[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter]; + ++counter; + } + } return maxSquaredResidual; } @@ -374,7 +380,7 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d psb->m_bUpdateRtCst = false; psb->updateConstants(); psb->m_fdbvt.clear(); - if (psb->m_cfg.collisions & btSoftBody::fCollision::SDF_RDF) + if (psb->m_cfg.collisions & btSoftBody::fCollision::SDF_RD) { psb->initializeFaceTree(); } diff --git a/src/BulletSoftBody/btDeformableContactConstraint.cpp b/src/BulletSoftBody/btDeformableContactConstraint.cpp index ce7cd257c..0dafb9c64 100644 --- a/src/BulletSoftBody/btDeformableContactConstraint.cpp +++ b/src/BulletSoftBody/btDeformableContactConstraint.cpp @@ -15,6 +15,7 @@ #include "btDeformableContactConstraint.h" +/* ================ Deformable vs. Rigid =================== */ btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c) : m_contact(&c) , btDeformableContactConstraint(c.m_cti.m_normal) @@ -91,6 +92,8 @@ btScalar btDeformableRigidContactConstraint::solveConstraint() btVector3 vb = getVb(); btVector3 vr = vb - va; const btScalar dn = btDot(vr, cti.m_normal); +// if (dn > 0) +// return 0; // dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt btScalar residualSquare = dn*dn; btVector3 impulse = m_contact->m_c0 * vr; @@ -133,7 +136,7 @@ btScalar btDeformableRigidContactConstraint::solveConstraint() } } impulse = impulse_normal + impulse_tangent; - + applyImpulse(impulse); if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) { @@ -166,6 +169,7 @@ btScalar btDeformableRigidContactConstraint::solveConstraint() return residualSquare; } +/* ================ Node vs. Rigid =================== */ btDeformableNodeRigidContactConstraint::btDeformableNodeRigidContactConstraint(const btSoftBody::DeformableNodeRigidContact& contact) : m_node(contact.m_node) , btDeformableRigidContactConstraint(contact) @@ -184,7 +188,46 @@ btVector3 btDeformableNodeRigidContactConstraint::getVb() const } -btVector3 btDeformableNodeRigidContactConstraint::getDv(btSoftBody::Node* node) const +btVector3 btDeformableNodeRigidContactConstraint::getDv(const btSoftBody::Node* node) const { return m_total_normal_dv + m_total_tangent_dv; } + +/* ================ Face vs. Rigid =================== */ +btDeformableFaceRigidContactConstraint::btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact) +: m_face(contact.m_face) +, m_solved(false) +, btDeformableRigidContactConstraint(contact) +{ +} + +btDeformableFaceRigidContactConstraint::btDeformableFaceRigidContactConstraint(const btDeformableFaceRigidContactConstraint& other) +: m_face(other.m_face) +, m_solved(false) +, btDeformableRigidContactConstraint(other) +{ +} + +btVector3 btDeformableFaceRigidContactConstraint::getVb() const +{ + const btSoftBody::DeformableFaceRigidContact* contact = getContact(); + btVector3 vb = m_face->m_n[0]->m_v * contact->m_bary[0] + m_face->m_n[1]->m_v * contact->m_bary[1] + m_face->m_n[2]->m_v * contact->m_bary[2]; + return vb; +} + + +btVector3 btDeformableFaceRigidContactConstraint::getDv(const btSoftBody::Node* node) const +{ + btVector3 face_dv = m_total_normal_dv + m_total_tangent_dv; + const btSoftBody::DeformableFaceRigidContact* contact = getContact(); + if (m_face->m_n[0] == node) + { + return face_dv * contact->m_weights[0]; + } + if (m_face->m_n[1] == node) + { + return face_dv * contact->m_weights[1]; + } + btAssert(node == m_face->m_n[2]); + return face_dv * contact->m_weights[2]; +} diff --git a/src/BulletSoftBody/btDeformableContactConstraint.h b/src/BulletSoftBody/btDeformableContactConstraint.h index 4f266f72f..b88f6e908 100644 --- a/src/BulletSoftBody/btDeformableContactConstraint.h +++ b/src/BulletSoftBody/btDeformableContactConstraint.h @@ -58,7 +58,7 @@ public: virtual btVector3 getVb() const = 0; // get the velocity change of the soft body node in the constraint - virtual btVector3 getDv(btSoftBody::Node*) const = 0; + virtual btVector3 getDv(const btSoftBody::Node*) const = 0; }; class btDeformableStaticConstraint : public btDeformableContactConstraint @@ -96,7 +96,7 @@ public: return btVector3(0,0,0); } - virtual btVector3 getDv(btSoftBody::Node* n) const + virtual btVector3 getDv(const btSoftBody::Node* n) const { return btVector3(0,0,0); } @@ -120,6 +120,8 @@ public: virtual btVector3 getVa() const; virtual btScalar solveConstraint(); + + virtual void applyImpulse(const btVector3& impulse) = 0; }; @@ -135,16 +137,59 @@ public: virtual ~btDeformableNodeRigidContactConstraint() { - } virtual btVector3 getVb() const; - virtual btVector3 getDv(btSoftBody::Node*) const; + virtual btVector3 getDv(const btSoftBody::Node*) const; const btSoftBody::DeformableNodeRigidContact* getContact() const { return static_cast(m_contact); } + + virtual void applyImpulse(const btVector3& impulse) + { + const btSoftBody::DeformableNodeRigidContact* contact = getContact(); + btVector3 dv = impulse * contact->m_c2; + contact->m_node->m_v -= dv; + } +}; + + +class btDeformableFaceRigidContactConstraint : public btDeformableRigidContactConstraint +{ +public: + const btSoftBody::Face* m_face; + bool m_solved; + btDeformableFaceRigidContactConstraint(){} + btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact); + btDeformableFaceRigidContactConstraint(const btDeformableFaceRigidContactConstraint& other); + + virtual ~btDeformableFaceRigidContactConstraint() + { + } + + virtual btVector3 getVb() const; + + virtual btVector3 getDv(const btSoftBody::Node*) const; + + const btSoftBody::DeformableFaceRigidContact* getContact() const + { + return static_cast(m_contact); + } + + virtual void applyImpulse(const btVector3& impulse) + { + const btSoftBody::DeformableFaceRigidContact* contact = getContact(); + btVector3 dv = impulse * contact->m_c2; + btSoftBody::Face* face = contact->m_face; + if (face->m_n[0]->m_im > 0) + face->m_n[0]->m_v -= dv * contact->m_weights[0]; + if (face->m_n[1]->m_im > 0) + face->m_n[1]->m_v -= dv * contact->m_weights[1]; + if (face->m_n[2]->m_im > 0) + face->m_n[2]->m_v -= dv * contact->m_weights[2]; + } }; #endif /* BT_DEFORMABLE_CONTACT_CONSTRAINT_H */ diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index 3f09f58cb..9691a2421 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -20,8 +20,7 @@ btScalar btDeformableContactProjection::update() { btScalar residualSquare = 0; - // loop through constraints to set constrained values - + // node constraints for (int index = 0; index < m_nodeRigidConstraints.size(); ++index) { @@ -34,15 +33,14 @@ btScalar btDeformableContactProjection::update() } // face constraints -// for (int index = 0; index < m_faceRigidConstraints.size(); ++index) -// { -// btAlignedObjectArray& constraints = *m_faceRigidConstraints.getAtIndex(index); -// for (int i = 0; i < constraints.size(); ++i) -// { -// btScalar localResidualSquare = constraints[i].solveConstraint(); -// residualSquare = btMax(residualSquare, localResidualSquare); -// } -// } + for (int index = 0; index < m_allFaceConstraints.size(); ++index) + { + btDeformableFaceRigidContactConstraint* constraint = m_allFaceConstraints[index]; + btScalar localResidualSquare = constraint->solveConstraint(); + residualSquare = btMax(residualSquare, localResidualSquare); + } + + // todo xuchenhan@: deformable/deformable constraints return residualSquare; } @@ -68,8 +66,6 @@ void btDeformableContactProjection::setConstraints() for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; - btMultiBodyJacobianData jacobianData_normal; - btMultiBodyJacobianData jacobianData_complementary; for (int j = 0; j < psb->m_nodeRigidContacts.size(); ++j) { const btSoftBody::DeformableNodeRigidContact& contact = psb->m_nodeRigidContacts[j]; @@ -99,38 +95,142 @@ void btDeformableContactProjection::setConstraints() } } } + + // set Deformable Face vs. Rigid constraint + for (int j = 0; j < psb->m_faceRigidContacts.size(); ++j) + { + const btSoftBody::DeformableFaceRigidContact& contact = psb->m_faceRigidContacts[j]; + // skip fixed faces + if (contact.m_c2 == 0) + { + continue; + } + btDeformableFaceRigidContactConstraint* constraint = new btDeformableFaceRigidContactConstraint(contact); + btVector3 va = constraint->getVa(); + btVector3 vb = constraint->getVb(); + const btVector3 vr = vb - va; + const btSoftBody::sCti& cti = contact.m_cti; + const btScalar dn = btDot(vr, cti.m_normal); + if (dn < SIMD_EPSILON) + { + m_allFaceConstraints.push_back(constraint); + // add face constraints to each of the nodes + for (int k = 0; k < 3; ++k) + { + btSoftBody::Node* node = contact.m_face->m_n[k]; + // static node does not need to own face/rigid constraint + if (node->m_im != 0) + { + if (m_faceRigidConstraints.find(node->index) == NULL) + { + btAlignedObjectArray constraintsList; + constraintsList.push_back(constraint); + m_faceRigidConstraints.insert(node->index, constraintsList); + } + else + { + btAlignedObjectArray& constraintsList = *m_faceRigidConstraints[node->index]; + constraintsList.push_back(constraint); + } + } + } + } + else + { + delete constraint; + } + } } - - // todo xuchenhan@: set Deformable Face vs. Rigid constraint - // todo xuchenhan@: set Deformable Face vs. Deformable Node } void btDeformableContactProjection::enforceConstraint(TVStack& x) { - for (int i = 0; i < x.size(); ++i) + // x is set to zero when passed in + + // loop through node constraints to add in contributions to dv + for (int index = 0; index < m_nodeRigidConstraints.size(); ++index) { - x[i].setZero(); - if (m_staticConstraints.find(i) != NULL) + btAlignedObjectArray& constraintsList = *m_nodeRigidConstraints.getAtIndex(index); + // i is node index + int i = m_nodeRigidConstraints.getKeyAtIndex(index).getUid1(); + int numConstraints = 1; +// int numConstraints = constraintsList.size(); +// if (m_faceRigidConstraints.find(i) != NULL) +// { +// numConstraints += m_faceRigidConstraints[i]->size(); +// } + for (int j = 0; j < constraintsList.size(); ++j) { - // if a node is fixed, dv = 0 - continue; + const btDeformableNodeRigidContactConstraint& constraint = constraintsList[j]; + x[i] += constraint.getDv(constraint.getContact()->m_node)/btScalar(numConstraints); } - if (m_nodeRigidConstraints.find(i) != NULL) + } + + // loop through face constraints to add in contributions to dv + // note that for each face constraint is owned by three nodes. Be careful here to only add the dv to the node that owns the constraint + for (int index = 0; index < m_faceRigidConstraints.size(); ++index) + { + btAlignedObjectArray& constraintsList = *m_faceRigidConstraints.getAtIndex(index); + // i is node index + int i = m_faceRigidConstraints.getKeyAtIndex(index).getUid1(); + int numConstraints = 1; +// int numConstraints = constraintsList.size(); +// if (m_nodeRigidConstraints.find(i) != NULL) +// { +// numConstraints += m_nodeRigidConstraints[i]->size(); +// } + for (int j = 0; j < constraintsList.size(); ++j) { - btAlignedObjectArray& constraintsList = *m_nodeRigidConstraints[i]; - for (int j = 0; j < constraintsList.size(); ++j) + const btDeformableFaceRigidContactConstraint* constraint = constraintsList[j]; + const btSoftBody::Face* face = constraint->m_face; + btSoftBody::Node* node; + // find the node that owns the constraint + for (int k = 0; k < 3; ++k) { - const btDeformableNodeRigidContactConstraint& constraint = constraintsList[j]; - x[i] += constraint.getDv(m_nodes->at(i)); + if (face->m_n[k]->index == i) + { + node = face->m_n[k]; + break; + } } + x[i] += constraint->getDv(node) / btScalar(numConstraints); } + } + // todo xuchenhan@: add deformable deformable constraints' contribution to dv + + // Finally, loop through static constraints to set dv of static nodes to zero + for (int index = 0; index < m_staticConstraints.size(); ++index) + { + const btDeformableStaticConstraint& constraint = *m_staticConstraints.getAtIndex(index); + int i = m_staticConstraints.getKeyAtIndex(index).getUid1(); + x[i] = constraint.getDv(constraint.m_node); + } +// +// for (int i = 0; i < x.size(); ++i) +// { +// x[i].setZero(); +// if (m_staticConstraints.find(i) != NULL) +// { +// // if a node is fixed, dv = 0 +// continue; +// } +// if (m_nodeRigidConstraints.find(i) != NULL) +// { +// btAlignedObjectArray& constraintsList = *m_nodeRigidConstraints[i]; +// for (int j = 0; j < constraintsList.size(); ++j) +// { +// const btDeformableNodeRigidContactConstraint& constraint = constraintsList[j]; +//// x[i] += constraint.getDv(m_nodes->at(i)); +// x[i] += constraint.getDv(constraint.getContact()->m_node); +// } +// } // todo xuchenhan@ // if (m_faceRigidConstraints.find(i) != NULL) // { // // } - } +// } } void btDeformableContactProjection::project(TVStack& x) @@ -202,16 +302,27 @@ void btDeformableContactProjection::setProjection() break; } const btVector3& local_normal = constraintsList[k].m_normal; - // add another projection direction if it deviates from the average by more than about 15 degrees normals.push_back(local_normal); averagedNormal += local_normal; } } - // todo: xuchenhan@ implement face -// if (!existStaticConstraint && m_faceRigidConstraints.find(index) != NULL) -// { -// } + if (!existStaticConstraint && m_faceRigidConstraints.find(index) != NULL) + { + hasConstraint = true; + btAlignedObjectArray& constraintsList = *m_faceRigidConstraints[index]; + for (int k = 0; k < constraintsList.size(); ++k) + { + if (constraintsList[k]->m_static) + { + existStaticConstraint = true; + break; + } + const btVector3& local_normal = constraintsList[k]->m_normal; + normals.push_back(local_normal); + averagedNormal += local_normal; + } + } // build projections @@ -252,6 +363,48 @@ void btDeformableContactProjection::setProjection() void btDeformableContactProjection::applyDynamicFriction(TVStack& f) { + // loop over constraints + for (int i = 0; i < f.size(); ++i) + { + if (m_projectionsDict.find(i) != NULL) + { + // doesn't need to add friction force for fully constrained vertices + btAlignedObjectArray& projectionDirs = *m_projectionsDict[i]; + if (projectionDirs.size() >= 3) + { + continue; + } + } + + if (m_nodeRigidConstraints.find(i) != NULL) + { + btAlignedObjectArray& constraintsList = *m_nodeRigidConstraints[i]; + for (int j = 0; j < constraintsList.size(); ++j) + { + const btDeformableNodeRigidContactConstraint& constraint = constraintsList[j]; + btSoftBody::Node* node = constraint.getContact()->m_node; + + // it's ok to add the friction force generated by the entire impulse here because the normal component of the residual will be projected out anyway. + f[i] += constraint.getDv(node)* (1./node->m_im); + } + } + // todo xuchenhan@ + if (m_faceRigidConstraints.find(i) != NULL) + { + btAlignedObjectArray& constraintsList = *m_faceRigidConstraints[i]; + for (int j = 0; j < constraintsList.size(); ++j) + { + const btDeformableFaceRigidContactConstraint* constraint = constraintsList[j]; + btSoftBody::Face* face = constraint->getContact()->m_face; + + // it's ok to add the friction force generated by the entire impulse here because the normal component of the residual will be projected out anyway. + // todo xuchenhan@: figure out the index for m_faceRigidConstraints +// f[i] += constraint.getDv(face->m_n[0])* (1./face->m_n[0]->m_im); +// f[i] += constraint.getDv(face->m_n[1])* (1./face->m_n[1]->m_im); +// f[i] += constraint.getDv(face->m_n[2])* (1./face->m_n[2]->m_im); + } + } + } // for (int index = 0; index < m_constraints.size(); ++index) // { // const DeformableContactConstraint& constraint = *m_constraints.getAtIndex(index); @@ -286,7 +439,13 @@ void btDeformableContactProjection::reinitialize(bool nodeUpdated) btCGProjection::reinitialize(nodeUpdated); m_staticConstraints.clear(); m_nodeRigidConstraints.clear(); -// m_faceRigidConstraints.clear(); + m_faceRigidConstraints.clear(); + m_projectionsDict.clear(); + for (int i = 0; i < m_allFaceConstraints.size(); ++i) + { + delete m_allFaceConstraints[i]; + } + m_allFaceConstraints.clear(); } diff --git a/src/BulletSoftBody/btDeformableContactProjection.h b/src/BulletSoftBody/btDeformableContactProjection.h index e62bc3245..f8e5e9bbf 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.h +++ b/src/BulletSoftBody/btDeformableContactProjection.h @@ -21,6 +21,7 @@ #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" #include "btDeformableContactConstraint.h" #include "LinearMath/btHashMap.h" +#include class btDeformableContactProjection : public btCGProjection { public: @@ -28,9 +29,10 @@ public: btHashMap m_staticConstraints; // map from node index to node rigid constraint btHashMap > m_nodeRigidConstraints; -// // map from node index to face rigid constraint -// btHashMap > m_faceRigidConstraints; - + // map from node index to face rigid constraint + btHashMap > m_faceRigidConstraints; + btAlignedObjectArray m_allFaceConstraints; + // map from node index to projection directions btHashMap > m_projectionsDict; diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp index fb69143bd..4b972217c 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp @@ -39,6 +39,7 @@ btScalar btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlyIteration printf("residual = %f at iteration #%d\n", m_leastSquaresResidual, iteration); #endif m_analyticsData.m_numSolverCalls++; + std::cout << m_leastSquaresResidual << std::endl; m_analyticsData.m_numIterationsUsed = iteration+1; m_analyticsData.m_islandId = -2; if (numBodies>0) diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index c9ab0c66f..24c6cf21a 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -2368,7 +2368,7 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO btVector3 guess(0,0,0); const btConvexShape* csh = static_cast(shp); btGjkEpaSolver2::SignedDistance(&triangle, triangle_transform, csh, wtr, guess, results); - btScalar dst = results.distance; + btScalar dst = results.distance - margin; contact_point = results.witnesses[0]; getBarycentric(contact_point, f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary); if (!predict) @@ -3431,7 +3431,7 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap docollideFace.m_rigidBody = prb1; docollideFace.dynmargin = basemargin + timemargin; docollideFace.stamargin = basemargin; - m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace); +// m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace); } break; } diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index 54cf354b5..9c0121d1b 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -1104,6 +1104,7 @@ struct btSoftColliders btSoftBody::sCti& cti = c.m_cti; c.m_contactPoint = contact_point; c.m_bary = bary; + // todo xuchenhan@: check m_c2 and m_weights c.m_weights = btScalar(2)/(btScalar(1) + bary.length2()) * bary; c.m_face = &f; const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); From 403eb62dfaec584e2706e29230adcc45b68131ce Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Sun, 15 Sep 2019 12:06:28 -0700 Subject: [PATCH 161/389] code clean up and optimization --- src/BulletSoftBody/btDeformableBodySolver.cpp | 41 +++------- src/BulletSoftBody/btDeformableBodySolver.h | 3 +- .../btDeformableContactConstraint.cpp | 4 +- .../btDeformableContactProjection.cpp | 76 +++---------------- .../btDeformableMultiBodyConstraintSolver.cpp | 2 +- .../btDeformableMultiBodyDynamicsWorld.cpp | 19 ++--- .../btDeformableNeoHookeanForce.h | 66 +++++++--------- src/BulletSoftBody/btSoftBody.cpp | 9 ++- src/BulletSoftBody/btSoftBody.h | 11 +++ src/BulletSoftBody/btSoftBodyHelpers.cpp | 2 + 10 files changed, 86 insertions(+), 147 deletions(-) diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 5292d7ecc..7342c26a6 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -22,7 +22,7 @@ btDeformableBodySolver::btDeformableBodySolver() : m_numNodes(0) , m_cg(20) -, m_maxNewtonIterations(5) +, m_maxNewtonIterations(10) , m_newtonTolerance(1e-4) , m_lineSearch(true) { @@ -82,13 +82,12 @@ void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt) do { scale *= beta; if (scale < 1e-8) { - //std::cout << "Could not find sufficient descent!" << std::endl; return; } updateEnergy(scale); f1 = m_objective->totalEnergy()+kineticEnergy(); f2 = f0 - alpha * scale * inner_product; - } while (!(f1 < f2)); // if anything here is nan then the search continues + } while (!(f1 < f2+SIMD_EPSILON)); // if anything here is nan then the search continues revertDv(); updateDv(scale); } @@ -97,7 +96,6 @@ void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt) computeStep(m_ddv, m_residual); updateDv(); } - for (int j = 0; j < m_numNodes; ++j) { m_ddv[j].setZero(); @@ -157,7 +155,8 @@ btScalar btDeformableBodySolver::computeDescentStep(TVStack& ddv, const TVStack& btScalar relative_tolerance = btMin(btScalar(0.5), std::sqrt(btMax(m_objective->computeNorm(residual), m_newtonTolerance))); m_cg.solve(*m_objective, ddv, residual, relative_tolerance, false); btScalar inner_product = m_cg.dot(residual, m_ddv); - btScalar tol = 1e-5 * m_objective->computeNorm(residual) * m_objective->computeNorm(m_ddv); + btScalar tol = 1e-3 * m_objective->computeNorm(residual) * m_objective->computeNorm(m_ddv); + btScalar res_norm = m_objective->computeNorm(residual); if (inner_product < -tol) { std::cout << "Looking backwards!" << std::endl; @@ -170,7 +169,6 @@ btScalar btDeformableBodySolver::computeDescentStep(TVStack& ddv, const TVStack& else if (std::abs(inner_product) < tol) { std::cout << "Gradient Descent!" << std::endl; - btScalar res_norm = m_objective->computeNorm(residual); btScalar scale = m_objective->computeNorm(m_ddv) / res_norm; for (int i = 0; i < m_ddv.size();++i) { @@ -236,23 +234,7 @@ void btDeformableBodySolver::setConstraints() btScalar btDeformableBodySolver::solveContactConstraints() { BT_PROFILE("setConstraint"); - for (int i = 0; i < m_dv.size();++i) - { - m_dv[i].setZero(); - } btScalar maxSquaredResidual = m_objective->projection.update(); -// m_objective->enforceConstraint(m_dv); -// m_objective->updateVelocity(m_dv); - int counter = 0; - for (int i = 0; i < m_softBodySet.size(); ++i) - { - btSoftBody* psb = m_softBodySet[i]; - for (int j = 0; j < psb->m_nodes.size(); ++j) - { - m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter]; - ++counter; - } - } return maxSquaredResidual; } @@ -304,7 +286,7 @@ void btDeformableBodySolver::backupVelocity() } } -void btDeformableBodySolver::backupVn() +void btDeformableBodySolver::setupDeformableSolve(bool implicit) { int counter = 0; for (int i = 0; i < m_softBodySet.size(); ++i) @@ -312,17 +294,12 @@ void btDeformableBodySolver::backupVn() btSoftBody* psb = m_softBodySet[i]; for (int j = 0; j < psb->m_nodes.size(); ++j) { - // Here: - // dv = 0 for nodes not in constraints - // dv = v_{n+1} - v_{n+1}^* for nodes in constraints - if (m_objective->projection.m_projectionsDict.find(psb->m_nodes[j].index)!=NULL) + if (implicit) { - m_dv[counter] += m_backupVelocity[counter] - psb->m_nodes[j].m_vn; + m_backupVelocity[counter] = psb->m_nodes[j].m_vn; } - // Now: - // dv = 0 for nodes not in constraints - // dv = v_{n+1} - v_n for nodes in constraints - m_backupVelocity[counter++] = psb->m_nodes[j].m_vn; + m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter]; + ++counter; } } } diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index e0629466a..31fe01934 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -77,13 +77,14 @@ public: void predictDeformableMotion(btSoftBody* psb, btScalar dt); void backupVelocity(); - void backupVn(); + void setupDeformableSolve(bool implicit); void revertVelocity(); void updateVelocity(); bool updateNodes(); void computeStep(TVStack& dv, const TVStack& residual); + btScalar computeDescentStep(TVStack& ddv, const TVStack& residual); virtual void predictMotion(btScalar solverdt); diff --git a/src/BulletSoftBody/btDeformableContactConstraint.cpp b/src/BulletSoftBody/btDeformableContactConstraint.cpp index 0dafb9c64..8ee2806af 100644 --- a/src/BulletSoftBody/btDeformableContactConstraint.cpp +++ b/src/BulletSoftBody/btDeformableContactConstraint.cpp @@ -92,8 +92,6 @@ btScalar btDeformableRigidContactConstraint::solveConstraint() btVector3 vb = getVb(); btVector3 vr = vb - va; const btScalar dn = btDot(vr, cti.m_normal); -// if (dn > 0) -// return 0; // dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt btScalar residualSquare = dn*dn; btVector3 impulse = m_contact->m_c0 * vr; @@ -136,8 +134,10 @@ btScalar btDeformableRigidContactConstraint::solveConstraint() } } impulse = impulse_normal + impulse_tangent; + // apply impulse to deformable nodes involved and change their velocities applyImpulse(impulse); + // apply impulse to the rigid/multibodies involved and change their velocities if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) { btRigidBody* rigidCol = 0; diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index 9691a2421..f98c73538 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -174,12 +174,6 @@ void btDeformableContactProjection::enforceConstraint(TVStack& x) btAlignedObjectArray& constraintsList = *m_faceRigidConstraints.getAtIndex(index); // i is node index int i = m_faceRigidConstraints.getKeyAtIndex(index).getUid1(); - int numConstraints = 1; -// int numConstraints = constraintsList.size(); -// if (m_nodeRigidConstraints.find(i) != NULL) -// { -// numConstraints += m_nodeRigidConstraints[i]->size(); -// } for (int j = 0; j < constraintsList.size(); ++j) { const btDeformableFaceRigidContactConstraint* constraint = constraintsList[j]; @@ -194,7 +188,7 @@ void btDeformableContactProjection::enforceConstraint(TVStack& x) break; } } - x[i] += constraint->getDv(node) / btScalar(numConstraints); + x[i] += constraint->getDv(node); } } // todo xuchenhan@: add deformable deformable constraints' contribution to dv @@ -206,31 +200,6 @@ void btDeformableContactProjection::enforceConstraint(TVStack& x) int i = m_staticConstraints.getKeyAtIndex(index).getUid1(); x[i] = constraint.getDv(constraint.m_node); } -// -// for (int i = 0; i < x.size(); ++i) -// { -// x[i].setZero(); -// if (m_staticConstraints.find(i) != NULL) -// { -// // if a node is fixed, dv = 0 -// continue; -// } -// if (m_nodeRigidConstraints.find(i) != NULL) -// { -// btAlignedObjectArray& constraintsList = *m_nodeRigidConstraints[i]; -// for (int j = 0; j < constraintsList.size(); ++j) -// { -// const btDeformableNodeRigidContactConstraint& constraint = constraintsList[j]; -//// x[i] += constraint.getDv(m_nodes->at(i)); -// x[i] += constraint.getDv(constraint.getContact()->m_node); -// } -// } - // todo xuchenhan@ -// if (m_faceRigidConstraints.find(i) != NULL) -// { -// -// } -// } } void btDeformableContactProjection::project(TVStack& x) @@ -376,6 +345,7 @@ void btDeformableContactProjection::applyDynamicFriction(TVStack& f) } } + // add friction contribution from Face vs. Node if (m_nodeRigidConstraints.find(i) != NULL) { btAlignedObjectArray& constraintsList = *m_nodeRigidConstraints[i]; @@ -388,7 +358,8 @@ void btDeformableContactProjection::applyDynamicFriction(TVStack& f) f[i] += constraint.getDv(node)* (1./node->m_im); } } - // todo xuchenhan@ + + // add friction contribution from Face vs. Rigid if (m_faceRigidConstraints.find(i) != NULL) { btAlignedObjectArray& constraintsList = *m_faceRigidConstraints[i]; @@ -398,40 +369,17 @@ void btDeformableContactProjection::applyDynamicFriction(TVStack& f) btSoftBody::Face* face = constraint->getContact()->m_face; // it's ok to add the friction force generated by the entire impulse here because the normal component of the residual will be projected out anyway. - // todo xuchenhan@: figure out the index for m_faceRigidConstraints -// f[i] += constraint.getDv(face->m_n[0])* (1./face->m_n[0]->m_im); -// f[i] += constraint.getDv(face->m_n[1])* (1./face->m_n[1]->m_im); -// f[i] += constraint.getDv(face->m_n[2])* (1./face->m_n[2]->m_im); + for (int k = 0; k < 3; ++k) + { + if (face->m_n[0]->index == i) + { + f[i] += constraint->getDv(face->m_n[k])* (1./face->m_n[k]->m_im); + break; + } + } } } } -// for (int index = 0; index < m_constraints.size(); ++index) -// { -// const DeformableContactConstraint& constraint = *m_constraints.getAtIndex(index); -// const btSoftBody::Node* node = constraint.m_node; -// if (node == NULL) -// continue; -// size_t i = m_constraints.getKeyAtIndex(index).getUid1(); -// bool has_static_constraint = false; -// -// // apply dynamic friction force (scaled by dt) if the node does not have static friction constraint -// for (int j = 0; j < constraint.m_static.size(); ++j) -// { -// if (constraint.m_static[j]) -// { -// has_static_constraint = true; -// break; -// } -// } -// for (int j = 0; j < constraint.m_total_tangent_dv.size(); ++j) -// { -// btVector3 friction_force = constraint.m_total_tangent_dv[j] * (1./node->m_im); -// if (!has_static_constraint) -// { -// f[i] += friction_force; -// } -// } -// } } void btDeformableContactProjection::reinitialize(bool nodeUpdated) diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp index 4b972217c..80a79c978 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp @@ -39,7 +39,7 @@ btScalar btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlyIteration printf("residual = %f at iteration #%d\n", m_leastSquaresResidual, iteration); #endif m_analyticsData.m_numSolverCalls++; - std::cout << m_leastSquaresResidual << std::endl; + std::cout << "Contact Residual = " << m_leastSquaresResidual << std::endl; m_analyticsData.m_numIterationsUsed = iteration+1; m_analyticsData.m_islandId = -2; if (numBodies>0) diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 0eae6a26a..5cd72f597 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -185,20 +185,21 @@ void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep) { - // save v_{n+1}^* velocity after explicit forces - m_deformableBodySolver->backupVelocity(); + if (!m_implicit) + { + // save v_{n+1}^* velocity after explicit forces + m_deformableBodySolver->backupVelocity(); + } // set up constraints among multibodies and between multibodies and deformable bodies setupConstraints(); solveMultiBodyRelatedConstraints(); m_deformableBodySolver->m_objective->projection.setProjection(); - if (m_implicit) - { - // at this point dv = v_{n+1} - v_{n+1}^* - // modify dv such that dv = v_{n+1} - v_n - // modify m_backupVelocity so that it stores v_n instead of v_{n+1}^* as needed by Newton - m_deformableBodySolver->backupVn(); - } + + // for explicit scheme, m_backupVelocity = v_{n+1}^* + // for implicit scheme, m_backupVelocity = v_n + // Here, set dv = v_{n+1} - v_n for nodes in contact + m_deformableBodySolver->setupDeformableSolve(m_implicit); // At this point, dv should be golden for nodes in contact m_deformableBodySolver->solveDeformableConstraints(timeStep); diff --git a/src/BulletSoftBody/btDeformableNeoHookeanForce.h b/src/BulletSoftBody/btDeformableNeoHookeanForce.h index f3e8c0773..37803e6e3 100644 --- a/src/BulletSoftBody/btDeformableNeoHookeanForce.h +++ b/src/BulletSoftBody/btDeformableNeoHookeanForce.h @@ -31,7 +31,7 @@ public: m_lambda_damp = damping * m_lambda; } - btDeformableNeoHookeanForce(btScalar mu, btScalar lambda, btScalar damping = 0.05): m_mu(mu), m_lambda(lambda) + btDeformableNeoHookeanForce(btScalar mu, btScalar lambda, btScalar damping = 0): m_mu(mu), m_lambda(lambda) { m_mu_damp = damping * m_mu; m_lambda_damp = damping * m_lambda; @@ -50,6 +50,8 @@ public: virtual void addScaledDampingForce(btScalar scale, TVStack& force) { + if (m_mu_damp == 0 && m_lambda_damp == 0) + return; int numNodes = getNumNodes(); btAssert(numNodes <= force.size()); btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); @@ -69,10 +71,10 @@ public: size_t id3 = node3->index; btMatrix3x3 dF = DsFromVelocity(node0, node1, node2, node3) * tetra.m_Dm_inverse; btMatrix3x3 dP; - firstPiolaDampingDifferential(tetra.m_F, dF, dP); + firstPiolaDampingDifferential(psb->m_tetraScratches[j], dF, dP); btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); - + // damping force differential btScalar scale1 = scale * tetra.m_element_measure; force[id0] -= scale1 * df_on_node0; @@ -89,25 +91,22 @@ public: for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; - for (int j = 0; j < psb->m_tetras.size(); ++j) + for (int j = 0; j < psb->m_tetraScratches.size(); ++j) { btSoftBody::Tetra& tetra = psb->m_tetras[j]; - energy += tetra.m_element_measure * elasticEnergyDensity(tetra); + btSoftBody::TetraScratch& s = psb->m_tetraScratches[j]; + energy += tetra.m_element_measure * elasticEnergyDensity(s); } } return energy; } - double elasticEnergyDensity(const btSoftBody::Tetra& t) + double elasticEnergyDensity(const btSoftBody::TetraScratch& s) { double density = 0; - btMatrix3x3 F = t.m_F; - btMatrix3x3 C = F.transpose()*F; - double J = F.determinant(); - double trace = C[0].getX() + C[1].getY() + C[2].getZ(); - density += m_mu * 0.5 * (trace - 3.); - density += m_lambda * 0.5 * (J - 1. - 0.75 * m_mu / m_lambda)* (J - 1. - 0.75 * m_mu / m_lambda); - density -= m_mu * 0.5 * log(trace+1); + density += m_mu * 0.5 * (s.m_trace - 3.); + density += m_lambda * 0.5 * (s.m_J - 1. - 0.75 * m_mu / m_lambda)* (s.m_J - 1. - 0.75 * m_mu / m_lambda); + density -= m_mu * 0.5 * log(s.m_trace+1); return density; } @@ -123,7 +122,7 @@ public: { btSoftBody::Tetra& tetra = psb->m_tetras[j]; btMatrix3x3 P; - firstPiola(tetra.m_F,P); + firstPiola(psb->m_tetraScratches[j],P); btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose(); @@ -148,6 +147,8 @@ public: virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) { + if (m_mu_damp == 0 && m_lambda_damp == 0) + return; int numNodes = getNumNodes(); btAssert(numNodes <= df.size()); btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); @@ -167,10 +168,10 @@ public: size_t id3 = node3->index; btMatrix3x3 dF = Ds(id0, id1, id2, id3, dv) * tetra.m_Dm_inverse; btMatrix3x3 dP; - firstPiolaDampingDifferential(tetra.m_F, dF, dP); + firstPiolaDampingDifferential(psb->m_tetraScratches[j], dF, dP); btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); - + // damping force differential btScalar scale1 = scale * tetra.m_element_measure; df[id0] -= scale1 * df_on_node0; @@ -202,7 +203,7 @@ public: size_t id3 = node3->index; btMatrix3x3 dF = Ds(id0, id1, id2, id3, dx) * tetra.m_Dm_inverse; btMatrix3x3 dP; - firstPiolaDifferential(tetra.m_F, dF, dP); + firstPiolaDifferential(psb->m_tetraScratches[j], dF, dP); btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); @@ -216,34 +217,25 @@ public: } } - void firstPiola(const btMatrix3x3& F, btMatrix3x3& P) + void firstPiola(const btSoftBody::TetraScratch& s, btMatrix3x3& P) { - btMatrix3x3 C = F.transpose()*F; - btScalar J = F.determinant(); - btScalar trace = C[0].getX() + C[1].getY() + C[2].getZ(); - P = F * m_mu * ( 1. - 1. / (trace + 1.)) + F.adjoint().transpose() * (m_lambda * (J - 1.) - 0.75 * m_mu); + P = s.m_F * m_mu * ( 1. - 1. / (s.m_trace + 1.)) + s.m_cofF * (m_lambda * (s.m_J - 1.) - 0.75 * m_mu); } - void firstPiolaDifferential(const btMatrix3x3& F, const btMatrix3x3& dF, btMatrix3x3& dP) + void firstPiolaDifferential(const btSoftBody::TetraScratch& s, const btMatrix3x3& dF, btMatrix3x3& dP) { - btScalar J = F.determinant(); - btMatrix3x3 C = F.transpose()*F; - btScalar trace = C[0].getX() + C[1].getY() + C[2].getZ(); - dP = dF * m_mu * ( 1. - 1. / (trace + 1.)) + F * (2*m_mu) * DotProduct(F, dF) * (1./((1.+trace)*(1.+trace))); + dP = dF * m_mu * ( 1. - 1. / (s.m_trace + 1.)) + s.m_F * (2*m_mu) * DotProduct(s.m_F, dF) * (1./((1.+s.m_trace)*(1.+s.m_trace))); - addScaledCofactorMatrixDifferential(F, dF, m_lambda*(J-1.) - 0.75*m_mu, dP); - dP += F.adjoint().transpose() * m_lambda * DotProduct(F.adjoint().transpose(), dF); + addScaledCofactorMatrixDifferential(s.m_F, dF, m_lambda*(s.m_J-1.) - 0.75*m_mu, dP); + dP += s.m_cofF * m_lambda * DotProduct(s.m_cofF, dF); } - void firstPiolaDampingDifferential(const btMatrix3x3& F, const btMatrix3x3& dF, btMatrix3x3& dP) + void firstPiolaDampingDifferential(const btSoftBody::TetraScratch& s, const btMatrix3x3& dF, btMatrix3x3& dP) { - btScalar J = F.determinant(); - btMatrix3x3 C = F.transpose()*F; - btScalar trace = C[0].getX() + C[1].getY() + C[2].getZ(); - dP = dF * m_mu_damp * ( 1. - 1. / (trace + 1.)) + F * (2*m_mu_damp) * DotProduct(F, dF) * (1./((1.+trace)*(1.+trace))); - - addScaledCofactorMatrixDifferential(F, dF, m_lambda_damp*(J-1.) - 0.75*m_mu_damp, dP); - dP += F.adjoint().transpose() * m_lambda_damp * DotProduct(F.adjoint().transpose(), dF); + dP = dF * m_mu_damp * ( 1. - 1. / (s.m_trace + 1.)) + s.m_F * (2*m_mu_damp) * DotProduct(s.m_F, dF) * (1./((1.+s.m_trace)*(1.+s.m_trace))); + + addScaledCofactorMatrixDifferential(s.m_F, dF, m_lambda_damp*(s.m_J-1.) - 0.75*m_mu_damp, dP); + dP += s.m_cofF * m_lambda_damp * DotProduct(s.m_cofF, dF); } btScalar DotProduct(const btMatrix3x3& A, const btMatrix3x3& B) diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 24c6cf21a..0c4f50206 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -2905,6 +2905,13 @@ void btSoftBody::updateDeformation() c1.getY(), c2.getY(), c3.getY(), c1.getZ(), c2.getZ(), c3.getZ()); t.m_F = Ds * t.m_Dm_inverse; + + btSoftBody::TetraScratch& s = m_tetraScratches[i]; + s.m_F = t.m_F; + s.m_J = t.m_F.determinant(); + btMatrix3x3 C = t.m_F.transpose()*t.m_F; + s.m_trace = C[0].getX() + C[1].getY() + C[2].getZ(); + s.m_cofF = t.m_F.adjoint().transpose(); } } // @@ -3431,7 +3438,7 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap docollideFace.m_rigidBody = prb1; docollideFace.dynmargin = basemargin + timemargin; docollideFace.stamargin = basemargin; -// m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace); + m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace); } break; } diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index 9d3402834..f6be6655e 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -300,6 +300,16 @@ public: btMatrix3x3 m_F; btScalar m_element_measure; }; + + /* TetraScratch */ + struct TetraScratch + { + btMatrix3x3 m_F; // deformation gradient F + btScalar m_trace; // trace of F^T * F + btScalar m_J; // det(F) + btMatrix3x3 m_cofF; // cofactor of F + }; + /* RContact */ struct RContact { @@ -745,6 +755,7 @@ public: tFaceArray m_faces; // Faces tFaceArray m_renderFaces; // Faces tTetraArray m_tetras; // Tetras + btAlignedObjectArray m_tetraScratches; tAnchorArray m_anchors; // Anchors tRContactArray m_rcontacts; // Rigid contacts btAlignedObjectArray m_nodeRigidContacts; diff --git a/src/BulletSoftBody/btSoftBodyHelpers.cpp b/src/BulletSoftBody/btSoftBodyHelpers.cpp index 1a93a3091..ed99ce943 100644 --- a/src/BulletSoftBody/btSoftBodyHelpers.cpp +++ b/src/BulletSoftBody/btSoftBodyHelpers.cpp @@ -1233,6 +1233,7 @@ if(face&&face[0]) } } psb->initializeDmInverse(); + psb->m_tetraScratches.resize(psb->m_tetras.size()); printf("Nodes: %u\r\n", psb->m_nodes.size()); printf("Links: %u\r\n", psb->m_links.size()); printf("Faces: %u\r\n", psb->m_faces.size()); @@ -1374,6 +1375,7 @@ btSoftBody* btSoftBodyHelpers::CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, psb->initializeDmInverse(); + psb->m_tetraScratches.resize(psb->m_tetras.size()); printf("Nodes: %u\r\n", psb->m_nodes.size()); printf("Links: %u\r\n", psb->m_links.size()); printf("Faces: %u\r\n", psb->m_faces.size()); From 1bfb226be8fb9eb490877f193b8f2f153a1e82bc Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 16 Sep 2019 16:03:36 -0700 Subject: [PATCH 162/389] add support for deformable vs. deformable contact --- examples/DeformableDemo/DeformableContact.cpp | 8 ++ examples/DeformableDemo/DeformableContact.h | 13 ++ .../btDeformableBackwardEulerObjective.h | 7 - src/BulletSoftBody/btDeformableBodySolver.cpp | 2 +- .../btDeformableContactConstraint.cpp | 129 +++++++++++++++++- .../btDeformableContactConstraint.h | 42 +++++- .../btDeformableContactProjection.cpp | 126 +++++++++-------- .../btDeformableContactProjection.h | 9 +- .../btDeformableMultiBodyConstraintSolver.cpp | 3 +- src/BulletSoftBody/btSoftBody.cpp | 28 +++- src/BulletSoftBody/btSoftBody.h | 17 ++- src/BulletSoftBody/btSoftBodyInternals.h | 118 ++++++++++++++++ 12 files changed, 426 insertions(+), 76 deletions(-) create mode 100644 examples/DeformableDemo/DeformableContact.cpp create mode 100644 examples/DeformableDemo/DeformableContact.h diff --git a/examples/DeformableDemo/DeformableContact.cpp b/examples/DeformableDemo/DeformableContact.cpp new file mode 100644 index 000000000..b2a0c9efa --- /dev/null +++ b/examples/DeformableDemo/DeformableContact.cpp @@ -0,0 +1,8 @@ +// +// DeformableContact.cpp +// App_BulletExampleBrowser +// +// Created by Xuchen Han on 9/16/19. +// + +#include "DeformableContact.hpp" diff --git a/examples/DeformableDemo/DeformableContact.h b/examples/DeformableDemo/DeformableContact.h new file mode 100644 index 000000000..3183bbedc --- /dev/null +++ b/examples/DeformableDemo/DeformableContact.h @@ -0,0 +1,13 @@ +// +// DeformableContact.hpp +// App_BulletExampleBrowser +// +// Created by Xuchen Han on 9/16/19. +// + +#ifndef DeformableContact_hpp +#define DeformableContact_hpp + +#include + +#endif /* DeformableContact_hpp */ diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index 284ec6908..cc6d118b7 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -71,13 +71,6 @@ public: void setDt(btScalar dt); - // enforce constraints in contact solve - void enforceConstraint(TVStack& x) - { - BT_PROFILE("enforceConstraint"); - projection.enforceConstraint(x); - } - void applyDynamicFriction(TVStack& r); // add dv to velocity diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 7342c26a6..0df93534c 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -409,7 +409,7 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d /* Clear contacts */ psb->m_nodeRigidContacts.resize(0); psb->m_faceRigidContacts.resize(0); - psb->m_scontacts.resize(0); + psb->m_faceNodeContacts.resize(0); /* Optimize dbvt's */ psb->m_ndbvt.optimizeIncremental(1); psb->m_fdbvt.optimizeIncremental(1); diff --git a/src/BulletSoftBody/btDeformableContactConstraint.cpp b/src/BulletSoftBody/btDeformableContactConstraint.cpp index 8ee2806af..17e96b634 100644 --- a/src/BulletSoftBody/btDeformableContactConstraint.cpp +++ b/src/BulletSoftBody/btDeformableContactConstraint.cpp @@ -196,14 +196,12 @@ btVector3 btDeformableNodeRigidContactConstraint::getDv(const btSoftBody::Node* /* ================ Face vs. Rigid =================== */ btDeformableFaceRigidContactConstraint::btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact) : m_face(contact.m_face) -, m_solved(false) , btDeformableRigidContactConstraint(contact) { } btDeformableFaceRigidContactConstraint::btDeformableFaceRigidContactConstraint(const btDeformableFaceRigidContactConstraint& other) : m_face(other.m_face) -, m_solved(false) , btDeformableRigidContactConstraint(other) { } @@ -231,3 +229,130 @@ btVector3 btDeformableFaceRigidContactConstraint::getDv(const btSoftBody::Node* btAssert(node == m_face->m_n[2]); return face_dv * contact->m_weights[2]; } + +/* ================ Face vs. Node =================== */ +btDeformableFaceNodeContactConstraint::btDeformableFaceNodeContactConstraint(const btSoftBody::DeformableFaceNodeContact& contact) +: m_node(contact.m_node) +, m_face(contact.m_face) +, m_contact(&contact) +, btDeformableContactConstraint(contact.m_normal) +{ + m_total_normal_dv.setZero(); + m_total_tangent_dv.setZero(); +} + +btVector3 btDeformableFaceNodeContactConstraint::getVa() const +{ + return m_node->m_v; +} + +btVector3 btDeformableFaceNodeContactConstraint::getVb() const +{ + const btSoftBody::DeformableFaceNodeContact* contact = getContact(); + btVector3 vb = m_face->m_n[0]->m_v * contact->m_bary[0] + m_face->m_n[1]->m_v * contact->m_bary[1] + m_face->m_n[2]->m_v * contact->m_bary[2]; + return vb; +} + +btVector3 btDeformableFaceNodeContactConstraint::getDv(const btSoftBody::Node* n) const +{ + btVector3 dv = m_total_normal_dv + m_total_tangent_dv; + if (n == m_node) + return dv; + const btSoftBody::DeformableFaceNodeContact* contact = getContact(); + if (m_face->m_n[0] == n) + { + return dv * contact->m_weights[0]; + } + if (m_face->m_n[1] == n) + { + return dv * contact->m_weights[1]; + } + btAssert(n == m_face->m_n[2]); + return dv * contact->m_weights[2]; +} + +btScalar btDeformableFaceNodeContactConstraint::solveConstraint() +{ + btVector3 va = getVa(); + btVector3 vb = getVb(); + btVector3 vr = vb - va; + const btScalar dn = btDot(vr, m_contact->m_normal); + // dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt + btScalar residualSquare = dn*dn; + btVector3 impulse = m_contact->m_c0 * vr; + const btVector3 impulse_normal = m_contact->m_c0 * (m_contact->m_normal * dn); + btVector3 impulse_tangent = impulse - impulse_normal; + + btVector3 old_total_tangent_dv = m_total_tangent_dv; + // m_c2 is the inverse mass of the deformable node/face + if (m_node->m_im > 0) + { + m_total_normal_dv -= impulse_normal * m_node->m_im; + m_total_tangent_dv -= impulse_tangent * m_node->m_im; + } + else + { + m_total_normal_dv -= impulse_normal * m_contact->m_imf; + m_total_tangent_dv -= impulse_tangent * m_contact->m_imf; + } + + if (m_total_normal_dv.dot(m_contact->m_normal) < 0) + { + // separating in the normal direction + m_static = false; + m_total_tangent_dv = btVector3(0,0,0); + impulse_tangent.setZero(); + } + else + { + if (m_total_normal_dv.norm() * m_contact->m_friction < m_total_tangent_dv.norm()) + { + // dynamic friction + // with dynamic friction, the impulse are still applied to the two objects colliding, however, it does not pose a constraint in the cg solve, hence the change to dv merely serves to update velocity in the contact iterations. + m_static = false; + if (m_total_tangent_dv.norm() < SIMD_EPSILON) + { + m_total_tangent_dv = btVector3(0,0,0); + } + else + { + m_total_tangent_dv = m_total_tangent_dv.normalized() * m_total_normal_dv.norm() * m_contact->m_friction; + } + impulse_tangent = -btScalar(1)/m_node->m_im * (m_total_tangent_dv - old_total_tangent_dv); + } + else + { + // static friction + m_static = true; + } + } + impulse = impulse_normal + impulse_tangent; + // apply impulse to deformable nodes involved and change their velocities + applyImpulse(impulse); + return residualSquare; +} + +void btDeformableFaceNodeContactConstraint::applyImpulse(const btVector3& impulse) +{ + const btSoftBody::DeformableFaceNodeContact* contact = getContact(); + btVector3 dva = impulse * contact->m_node->m_im; + btVector3 dvb = impulse * contact->m_imf; + if (contact->m_node->m_im > 0) + { + contact->m_node->m_v += dva; + } + + btSoftBody::Face* face = contact->m_face; + if (face->m_n[0]->m_im > 0) + { + face->m_n[0]->m_v -= dvb * contact->m_weights[0]; + } + if (face->m_n[1]->m_im > 0) + { + face->m_n[1]->m_v -= dvb * contact->m_weights[1]; + } + if (face->m_n[2]->m_im > 0) + { + face->m_n[2]->m_v -= dvb * contact->m_weights[2]; + } +} diff --git a/src/BulletSoftBody/btDeformableContactConstraint.h b/src/BulletSoftBody/btDeformableContactConstraint.h index b88f6e908..3eeef56b4 100644 --- a/src/BulletSoftBody/btDeformableContactConstraint.h +++ b/src/BulletSoftBody/btDeformableContactConstraint.h @@ -59,6 +59,9 @@ public: // get the velocity change of the soft body node in the constraint virtual btVector3 getDv(const btSoftBody::Node*) const = 0; + + // apply impulse to the soft body node and/or face involved + virtual void applyImpulse(const btVector3& impulse) = 0; }; class btDeformableStaticConstraint : public btDeformableContactConstraint @@ -100,6 +103,8 @@ public: { return btVector3(0,0,0); } + + virtual void applyImpulse(const btVector3& impulse){} }; class btDeformableRigidContactConstraint : public btDeformableContactConstraint @@ -120,8 +125,6 @@ public: virtual btVector3 getVa() const; virtual btScalar solveConstraint(); - - virtual void applyImpulse(const btVector3& impulse) = 0; }; @@ -161,7 +164,6 @@ class btDeformableFaceRigidContactConstraint : public btDeformableRigidContactCo { public: const btSoftBody::Face* m_face; - bool m_solved; btDeformableFaceRigidContactConstraint(){} btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact); btDeformableFaceRigidContactConstraint(const btDeformableFaceRigidContactConstraint& other); @@ -192,4 +194,38 @@ public: face->m_n[2]->m_v -= dv * contact->m_weights[2]; } }; + +class btDeformableFaceNodeContactConstraint : public btDeformableContactConstraint +{ +public: + btSoftBody::Node* m_node; + btSoftBody::Face* m_face; + const btSoftBody::DeformableFaceNodeContact* m_contact; + btVector3 m_total_normal_dv; + btVector3 m_total_tangent_dv; + + btDeformableFaceNodeContactConstraint(){} + + btDeformableFaceNodeContactConstraint(const btSoftBody::DeformableFaceNodeContact& contact); + + virtual ~btDeformableFaceNodeContactConstraint(){} + + virtual btScalar solveConstraint(); + + // get the velocity of the object A in the contact + virtual btVector3 getVa() const; + + // get the velocity of the object B in the contact + virtual btVector3 getVb() const; + + // get the velocity change of the soft body node in the constraint + virtual btVector3 getDv(const btSoftBody::Node*) const; + + const btSoftBody::DeformableFaceNodeContact* getContact() const + { + return static_cast(m_contact); + } + + virtual void applyImpulse(const btVector3& impulse); +}; #endif /* BT_DEFORMABLE_CONTACT_CONSTRAINT_H */ diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index f98c73538..408f73b88 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -35,7 +35,7 @@ btScalar btDeformableContactProjection::update() // face constraints for (int index = 0; index < m_allFaceConstraints.size(); ++index) { - btDeformableFaceRigidContactConstraint* constraint = m_allFaceConstraints[index]; + btDeformableContactConstraint* constraint = m_allFaceConstraints[index]; btScalar localResidualSquare = constraint->solveConstraint(); residualSquare = btMax(residualSquare, localResidualSquare); } @@ -140,66 +140,64 @@ void btDeformableContactProjection::setConstraints() delete constraint; } } - } - // todo xuchenhan@: set Deformable Face vs. Deformable Node -} - -void btDeformableContactProjection::enforceConstraint(TVStack& x) -{ - // x is set to zero when passed in - // loop through node constraints to add in contributions to dv - for (int index = 0; index < m_nodeRigidConstraints.size(); ++index) - { - btAlignedObjectArray& constraintsList = *m_nodeRigidConstraints.getAtIndex(index); - // i is node index - int i = m_nodeRigidConstraints.getKeyAtIndex(index).getUid1(); - int numConstraints = 1; -// int numConstraints = constraintsList.size(); -// if (m_faceRigidConstraints.find(i) != NULL) -// { -// numConstraints += m_faceRigidConstraints[i]->size(); -// } - for (int j = 0; j < constraintsList.size(); ++j) + // set Deformable Face vs. Deformable Node constraint + for (int j = 0; j < psb->m_faceNodeContacts.size(); ++j) { - const btDeformableNodeRigidContactConstraint& constraint = constraintsList[j]; - x[i] += constraint.getDv(constraint.getContact()->m_node)/btScalar(numConstraints); - } - } - - // loop through face constraints to add in contributions to dv - // note that for each face constraint is owned by three nodes. Be careful here to only add the dv to the node that owns the constraint - for (int index = 0; index < m_faceRigidConstraints.size(); ++index) - { - btAlignedObjectArray& constraintsList = *m_faceRigidConstraints.getAtIndex(index); - // i is node index - int i = m_faceRigidConstraints.getKeyAtIndex(index).getUid1(); - for (int j = 0; j < constraintsList.size(); ++j) - { - const btDeformableFaceRigidContactConstraint* constraint = constraintsList[j]; - const btSoftBody::Face* face = constraint->m_face; - btSoftBody::Node* node; - // find the node that owns the constraint - for (int k = 0; k < 3; ++k) + const btSoftBody::DeformableFaceNodeContact& contact = psb->m_faceNodeContacts[j]; + + btDeformableFaceNodeContactConstraint* constraint = new btDeformableFaceNodeContactConstraint(contact); + btVector3 va = constraint->getVa(); + btVector3 vb = constraint->getVb(); + const btVector3 vr = vb - va; + const btScalar dn = btDot(vr, contact.m_normal); + if (dn > -SIMD_EPSILON) { - if (face->m_n[k]->index == i) + btSoftBody::Node* node = contact.m_node; + btSoftBody::Face* face = contact.m_face; + m_allFaceConstraints.push_back(constraint); + if (node->m_im != 0) { - node = face->m_n[k]; - break; + if (m_deformableConstraints.find(node->index) == NULL) + { + btAlignedObjectArray constraintsList; + constraintsList.push_back(constraint); + m_deformableConstraints.insert(node->index, constraintsList); + } + else + { + btAlignedObjectArray& constraintsList = *m_deformableConstraints[node->index]; + constraintsList.push_back(constraint); + } + } + + // add face constraints to each of the nodes + for (int k = 0; k < 3; ++k) + { + btSoftBody::Node* node = face->m_n[k]; + // static node does not need to own face/rigid constraint + if (node->m_im != 0) + { + if (m_deformableConstraints.find(node->index) == NULL) + { + btAlignedObjectArray constraintsList; + constraintsList.push_back(constraint); + m_deformableConstraints.insert(node->index, constraintsList); + } + else + { + btAlignedObjectArray& constraintsList = *m_deformableConstraints[node->index]; + constraintsList.push_back(constraint); + } + } } } - x[i] += constraint->getDv(node); + else + { + delete constraint; + } } } - // todo xuchenhan@: add deformable deformable constraints' contribution to dv - - // Finally, loop through static constraints to set dv of static nodes to zero - for (int index = 0; index < m_staticConstraints.size(); ++index) - { - const btDeformableStaticConstraint& constraint = *m_staticConstraints.getAtIndex(index); - int i = m_staticConstraints.getKeyAtIndex(index).getUid1(); - x[i] = constraint.getDv(constraint.m_node); - } } void btDeformableContactProjection::project(TVStack& x) @@ -258,7 +256,7 @@ void btDeformableContactProjection::setProjection() hasConstraint = true; } - // accumulate normals + // accumulate normals from Deformable Node vs. Rigid constraints if (!existStaticConstraint && m_nodeRigidConstraints.find(index) != NULL) { hasConstraint = true; @@ -276,6 +274,7 @@ void btDeformableContactProjection::setProjection() } } + // accumulate normals from Deformable Face vs. Rigid constraints if (!existStaticConstraint && m_faceRigidConstraints.find(index) != NULL) { hasConstraint = true; @@ -293,6 +292,24 @@ void btDeformableContactProjection::setProjection() } } + // accumulate normals from Deformable Node vs. Deformable Face constraints + if (!existStaticConstraint && m_deformableConstraints.find(index) != NULL) + { + hasConstraint = true; + btAlignedObjectArray& constraintsList = *m_deformableConstraints[index]; + for (int k = 0; k < constraintsList.size(); ++k) + { + if (constraintsList[k]->m_static) + { + existStaticConstraint = true; + break; + } + const btVector3& local_normal = constraintsList[k]->m_normal; + normals.push_back(local_normal); + averagedNormal += local_normal; + } + } + // build projections if (!hasConstraint) @@ -388,6 +405,7 @@ void btDeformableContactProjection::reinitialize(bool nodeUpdated) m_staticConstraints.clear(); m_nodeRigidConstraints.clear(); m_faceRigidConstraints.clear(); + m_deformableConstraints.clear(); m_projectionsDict.clear(); for (int i = 0; i < m_allFaceConstraints.size(); ++i) { diff --git a/src/BulletSoftBody/btDeformableContactProjection.h b/src/BulletSoftBody/btDeformableContactProjection.h index f8e5e9bbf..57a7ecd94 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.h +++ b/src/BulletSoftBody/btDeformableContactProjection.h @@ -31,7 +31,11 @@ public: btHashMap > m_nodeRigidConstraints; // map from node index to face rigid constraint btHashMap > m_faceRigidConstraints; - btAlignedObjectArray m_allFaceConstraints; + // map from node index to deformable constraint + btHashMap > m_deformableConstraints; + + // all constraints involving face + btAlignedObjectArray m_allFaceConstraints; // map from node index to projection directions btHashMap > m_projectionsDict; @@ -51,9 +55,6 @@ public: // add to friction virtual void applyDynamicFriction(TVStack& f); - // apply constraints to x in Ax=b - virtual void enforceConstraint(TVStack& x); - // update the constraints virtual btScalar update(); diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp index 80a79c978..7371ea078 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp @@ -23,7 +23,7 @@ btScalar btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlyIteration ///this is a special step to resolve penetrations (just for contacts) solveGroupCacheFriendlySplitImpulseIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); - m_maxOverrideNumSolverIterations = 150; +// m_maxOverrideNumSolverIterations = 150; int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations; for (int iteration = 0; iteration < maxIterations; iteration++) { @@ -39,7 +39,6 @@ btScalar btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlyIteration printf("residual = %f at iteration #%d\n", m_leastSquaresResidual, iteration); #endif m_analyticsData.m_numSolverCalls++; - std::cout << "Contact Residual = " << m_leastSquaresResidual << std::endl; m_analyticsData.m_numIterationsUsed = iteration+1; m_analyticsData.m_islandId = -2; if (numBodies>0) diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 0c4f50206..6a2f005b1 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -89,6 +89,7 @@ void btSoftBody::initDefaults() m_cfg.diterations = 0; m_cfg.citerations = 4; m_cfg.collisions = fCollision::Default; + m_cfg.collisions |= fCollision::VF_DD; m_pose.m_bvolume = false; m_pose.m_bframe = false; m_pose.m_volume = 0; @@ -1861,8 +1862,7 @@ void btSoftBody::predictMotion(btScalar dt) } } /* Clear contacts */ - m_nodeRigidContacts.resize(0); - m_faceRigidContacts.resize(0); + m_rcontacts.resize(0); m_scontacts.resize(0); /* Optimize dbvt's */ m_ndbvt.optimizeIncremental(1); @@ -3484,6 +3484,30 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb) } } break; + case fCollision::VF_DD: + { + // self-collision not supported yet + if (this != psb) + { + btSoftColliders::CollideVF_DD docollide; + /* common */ + docollide.mrg = getCollisionShape()->getMargin() + + psb->getCollisionShape()->getMargin(); + /* psb0 nodes vs psb1 faces */ + docollide.psb[0] = this; + docollide.psb[1] = psb; + docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root, + docollide.psb[1]->m_fdbvt.m_root, + docollide); + /* psb1 nodes vs psb0 faces */ + docollide.psb[0] = psb; + docollide.psb[1] = this; + docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root, + docollide.psb[1]->m_fdbvt.m_root, + docollide); + } + } + break; default: { } diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index f6be6655e..67c0d3448 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -163,10 +163,11 @@ public: SDF_RD = 0x0003, ///DF based rigid vs deformable SDF_RDF = 0x0004, ///DF based rigid vs deformable faces - SVSmask = 0x0030, ///Rigid versus soft mask + SVSmask = 0x00F0, ///Rigid versus soft mask VF_SS = 0x0010, ///Vertex vs face soft vs soft handling CL_SS = 0x0020, ///Cluster vs cluster soft vs soft handling CL_SELF = 0x0040, ///Cluster soft body self collision + VF_DD = 0x0050, ///Vertex vs face soft vs soft handling /* presets */ Default = SDF_RS, END @@ -362,6 +363,19 @@ public: btVector3 m_weights; // v_contactPoint * m_weights[i] = m_face->m_node[i]->m_v; }; + struct DeformableFaceNodeContact + { + Node* m_node; // Node + Face* m_face; // Face + btVector3 m_bary; // Barycentric weights + btVector3 m_weights; // v_contactPoint * m_weights[i] = m_face->m_node[i]->m_v; + btVector3 m_normal; // Normal + btScalar m_margin; // Margin + btScalar m_friction; // Friction + btScalar m_imf; // inverse mass of the face at contact point + btScalar m_c0; // scale of the impulse matrix; + }; + /* SContact */ struct SContact { @@ -759,6 +773,7 @@ public: tAnchorArray m_anchors; // Anchors tRContactArray m_rcontacts; // Rigid contacts btAlignedObjectArray m_nodeRigidContacts; + btAlignedObjectArray m_faceNodeContacts; btAlignedObjectArray m_faceRigidContacts; tSContactArray m_scontacts; // Soft contacts tJointArray m_joints; // Joints diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index 9c0121d1b..e5b2e4016 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -501,6 +501,77 @@ static inline void ProjectOrigin(const btVector3& a, } } +// +static inline bool rayIntersectsTriangle(const btVector3& origin, const btVector3& dir, const btVector3& v0, const btVector3& v1, const btVector3& v2, btScalar& t) +{ + btScalar a, f, u, v; + + btVector3 e1 = v1 - v0; + btVector3 e2 = v2 - v0; + btVector3 h = dir.cross(e2); + a = e1.dot(h); + + if (a > -0.00001 && a < 0.00001) + return (false); + + f = btScalar(1) / a; + btVector3 s = origin - v0; + u = f * s.dot(h); + + if (u < 0.0 || u > 1.0) + return (false); + + btVector3 q = s.cross(e1); + v = f * dir.dot(q); + if (v < 0.0 || u + v > 1.0) + return (false); + // at this stage we can compute t to find out where + // the intersection point is on the line + t = f * e2.dot(q); + if (t > 0) // ray intersection + return (true); + else // this means that there is a line intersection + // but not a ray intersection + return (false); +} + +static inline bool lineIntersectsTriangle(const btVector3& rayStart, const btVector3& rayEnd, const btVector3& p1, const btVector3& p2, const btVector3& p3, btVector3& sect, btVector3& normal) +{ + btVector3 dir = rayEnd - rayStart; + btScalar dir_norm = dir.norm(); + if (dir_norm < SIMD_EPSILON) + return false; + dir.normalize(); + + btScalar t; + + bool ret = rayIntersectsTriangle(rayStart, dir, p1, p2, p3, t); + + if (ret) + { + if (t <= dir_norm) + { + sect = rayStart + dir * t; + } + else + { + ret = false; + } + } + + if (ret) + { + btVector3 n = (p3-p1).cross(p2-p1); + n.safeNormalize(); + if (n.dot(dir) < 0) + normal = n; + else + normal = -n; + } + return ret; +} + + // template static inline T BaryEval(const T& a, @@ -1217,6 +1288,53 @@ struct btSoftColliders btSoftBody* psb[2]; btScalar mrg; }; + + // + // CollideVF_DD + // + struct CollideVF_DD : btDbvt::ICollide + { + void Process(const btDbvtNode* lnode, + const btDbvtNode* lface) + { + btSoftBody::Node* node = (btSoftBody::Node*)lnode->data; + btSoftBody::Face* face = (btSoftBody::Face*)lface->data; + btVector3 o = node->m_x; + btVector3 p, normal; + const btSoftBody::Node* n[] = {face->m_n[0], face->m_n[1], face->m_n[2]}; + btVector3 dir = node->m_q - o; + btScalar l = dir.length(); + if (l < SIMD_EPSILON) + return; + btVector3 rayEnd = dir.normalized() * (l + 2*mrg); + bool intersect = lineIntersectsTriangle(btVector3(0,0,0), rayEnd, face->m_n[0]->m_x-o, face->m_n[1]->m_x-o, face->m_n[2]->m_x-o, p, normal); + + if (intersect) + { + p += o; + const btVector3 w = BaryCoord(n[0]->m_x, n[1]->m_x, n[2]->m_x, p); + const btScalar ma = node->m_im; + btScalar mb = BaryEval(n[0]->m_im, n[1]->m_im, n[2]->m_im, w); + const btScalar ms = ma + mb; + if (ms > 0) + { + btSoftBody::DeformableFaceNodeContact c; + c.m_normal = normal; + c.m_margin = mrg; + c.m_node = node; + c.m_face = face; + c.m_bary = w; + c.m_weights = btScalar(2)/(btScalar(1) + w.length2()) * w; + c.m_friction = btMax(psb[0]->m_cfg.kDF, psb[1]->m_cfg.kDF); + c.m_imf = c.m_bary[0]*c.m_weights[0] * n[0]->m_im + c.m_bary[1]*c.m_weights[1] * n[1]->m_im + c.m_bary[2]*c.m_weights[2] * n[2]->m_im; + c.m_c0 = btScalar(1)/(ma + c.m_imf); + psb[0]->m_faceNodeContacts.push_back(c); + } + } + } + btSoftBody* psb[2]; + btScalar mrg; + }; }; #endif //_BT_SOFT_BODY_INTERNALS_H From a92a8f1135eb023b263005fcbdb7d0f72a2c4d81 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 16 Sep 2019 16:04:59 -0700 Subject: [PATCH 163/389] add demo for deformable contact --- examples/DeformableDemo/DeformableContact.cpp | 257 +++++++++++++++++- examples/DeformableDemo/DeformableContact.h | 26 +- examples/DeformableDemo/GraspDeformable.cpp | 84 +----- examples/ExampleBrowser/CMakeLists.txt | 2 + examples/ExampleBrowser/ExampleEntries.cpp | 2 + 5 files changed, 284 insertions(+), 87 deletions(-) diff --git a/examples/DeformableDemo/DeformableContact.cpp b/examples/DeformableDemo/DeformableContact.cpp index b2a0c9efa..381bd130b 100644 --- a/examples/DeformableDemo/DeformableContact.cpp +++ b/examples/DeformableDemo/DeformableContact.cpp @@ -1,8 +1,251 @@ -// -// DeformableContact.cpp -// App_BulletExampleBrowser -// -// Created by Xuchen Han on 9/16/19. -// +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + 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. + */ + +#include "DeformableContact.h" +///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. +#include "btBulletDynamicsCommon.h" +#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" +#include "BulletSoftBody/btSoftBody.h" +#include "BulletSoftBody/btSoftBodyHelpers.h" +#include "BulletSoftBody/btDeformableBodySolver.h" +#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" +#include //printf debugging + +#include "../CommonInterfaces/CommonRigidBodyBase.h" +#include "../Utils/b3ResourcePath.h" + +///The DeformableContact 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). +class DeformableContact : public CommonRigidBodyBase +{ + btAlignedObjectArray m_forces; +public: + DeformableContact(struct GUIHelperInterface* helper) + : CommonRigidBodyBase(helper) + { + } + virtual ~DeformableContact() + { + } + void initPhysics(); + + void exitPhysics(); + + void resetCamera() + { + float dist = 12; + float pitch = -50; + float yaw = 120; + float targetPos[3] = {0, -3, 0}; + m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]); + } + + void stepSimulation(float deltaTime) + { + float internalTimeStep = 1. / 240.f; + m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep); + } + + virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const + { + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; + } + + virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() + { + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; + } + + virtual void renderScene() + { + CommonRigidBodyBase::renderScene(); + btDeformableMultiBodyDynamicsWorld* 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(); + + ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded) + btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver(); + sol->setDeformableSolver(deformableBodySolver); + m_solver = sol; + + m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); + btVector3 gravity = btVector3(0, -10, 0); + m_dynamicsWorld->setGravity(gravity); + getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; + + 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, -32, 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(1); + + //add the ground to the dynamics world + m_dynamicsWorld->addRigidBody(body); + } + + // create a piece of cloth + { + btScalar s = 4; + btScalar h = 0; + + btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s), + btVector3(+s, h, -s), + btVector3(-s, h, +s), + btVector3(+s, h, +s), + 20,20, + 1 + 2 + 4 + 8, true); + + psb->getCollisionShape()->setMargin(0.05); + psb->generateBendingConstraints(2); + psb->setTotalMass(1); + psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects + psb->m_cfg.kCHR = 1; // collision hardness with rigid body + psb->m_cfg.kDF = 2; + psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; + psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; + getDeformableDynamicsWorld()->addSoftBody(psb); + + btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(20,0.1, true); + getDeformableDynamicsWorld()->addForce(psb, mass_spring); + m_forces.push_back(mass_spring); + + btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); + getDeformableDynamicsWorld()->addForce(psb, gravity_force); + m_forces.push_back(gravity_force); + + + h = 2; + s = 2; + btSoftBody* psb2 = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s), + btVector3(+s, h, -s), + btVector3(-s, h, +s), + btVector3(+s, h, +s), + 10,10, + 0, true); + psb2->getCollisionShape()->setMargin(0.05); + psb2->generateBendingConstraints(2); + psb2->setTotalMass(1); + psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects + psb2->m_cfg.kCHR = 1; // collision hardness with rigid body + psb2->m_cfg.kDF = 2; + psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; + psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; + psb->translate(btVector3(3,0,0)); + getDeformableDynamicsWorld()->addSoftBody(psb2); + + btDeformableMassSpringForce* mass_spring2 = new btDeformableMassSpringForce(20,0.1, true); + getDeformableDynamicsWorld()->addForce(psb2, mass_spring2); + m_forces.push_back(mass_spring2); + + btDeformableGravityForce* gravity_force2 = new btDeformableGravityForce(gravity); + getDeformableDynamicsWorld()->addForce(psb2, gravity_force2); + m_forces.push_back(gravity_force2); + } + 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 forces + for (int j = 0; j < m_forces.size(); j++) + { + btDeformableLagrangianForce* force = m_forces[j]; + delete force; + } + m_forces.clear(); + //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* DeformableContactCreateFunc(struct CommonExampleOptions& options) +{ + return new DeformableContact(options.m_guiHelper); +} + -#include "DeformableContact.hpp" diff --git a/examples/DeformableDemo/DeformableContact.h b/examples/DeformableDemo/DeformableContact.h index 3183bbedc..1e1fe5676 100644 --- a/examples/DeformableDemo/DeformableContact.h +++ b/examples/DeformableDemo/DeformableContact.h @@ -1,13 +1,19 @@ -// -// DeformableContact.hpp -// App_BulletExampleBrowser -// -// Created by Xuchen Han on 9/16/19. -// +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + 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 DeformableContact_hpp -#define DeformableContact_hpp +#ifndef DEFORMABLE_CONTACT_H +#define DEFORMABLE_CONTACT_H -#include +class CommonExampleInterface* DeformableContactCreateFunc(struct CommonExampleOptions& options); -#endif /* DeformableContact_hpp */ +#endif //_DEFORMABLE_CONTACT_H diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index 2b9905f9a..514ee5cc5 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -103,11 +103,6 @@ public: btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)mb->getLink(link).m_userPtr; if (motor) { -// if (dofIndex == 10 || dofIndex == 11) -// { -// motor->setVelocityTarget(fingerTargetVelocities[1], 1); -// motor->setMaxAppliedImpulse(1); -// } if (dofIndex == 6) { motor->setVelocityTarget(-fingerTargetVelocities[1], 1); @@ -118,7 +113,6 @@ public: motor->setVelocityTarget(fingerTargetVelocities[1], 1); motor->setMaxAppliedImpulse(2); } -// motor->setRhsClamp(SIMD_INFINITY); motor->setMaxAppliedImpulse(1); } } @@ -127,9 +121,8 @@ public: } //use a smaller internal timestep, there are stability issues - float internalTimeStep = 1. / 250.f; + float internalTimeStep = 1. / 240.f; m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep); - btSoftBodyHelpers::writeObj("/Users/xuchenhan/Desktop/paper.obj", getDeformableDynamicsWorld()->getSoftBodyArray()[0]); } void createGrip() @@ -193,54 +186,11 @@ void GraspDeformable::initPhysics() m_solver = sol; m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); -// deformableBodySolver->setWorld(getDeformableDynamicsWorld()); btVector3 gravity = btVector3(0, -9.81, 0); m_dynamicsWorld->setGravity(gravity); getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); -// // load a gripper -// { -// btTransform rootTrans; -// rootTrans.setIdentity(); -// BulletURDFImporter u2b(m_guiHelper,0,0,50,0); -// bool forceFixedBase = false; -// bool loadOk = u2b.loadSDF("gripper/wsg50_one_motor_gripper_new.sdf", forceFixedBase); -// if (loadOk) -// { -// for (int m = 0; m < u2b.getNumModels(); m++) -// { -// u2b.activateModel(m); -// -// btMultiBody* mb = 0; -// -// MyMultiBodyCreator creation(m_guiHelper); -// -// u2b.getRootTransformInWorld(rootTrans); -// ConvertURDF2Bullet(u2b, creation, rootTrans, getDeformableDynamicsWorld(), true, u2b.getPathPrefix(), CUF_USE_SDF+CUF_RESERVED); -// mb = creation.getBulletMultiBody(); -// -// int numLinks = mb->getNumLinks(); -// for (int i = 0; i < numLinks; i++) -// { -// int mbLinkIndex = i; -// float maxMotorImpulse = 1.f; -// -// if (supportsJointMotor(mb, mbLinkIndex)) -// { -// int dof = 0; -// btScalar desiredVelocity = 0.f; -// btMultiBodyJointMotor* motor = new btMultiBodyJointMotor(mb, mbLinkIndex, dof, desiredVelocity, maxMotorImpulse); -// motor->setPositionTarget(0, 0); -// motor->setVelocityTarget(0, 1); -// mb->getLink(mbLinkIndex).m_userPtr = motor; -// getDeformableDynamicsWorld()->addMultiBodyConstraint(motor); -// motor->finalizeMultiDof(); -// } -// } -// } -// } -// } // build a gripper { bool damping = true; @@ -274,7 +224,6 @@ void GraspDeformable::initPhysics() } } - if (!damping) { mbC->setLinearDamping(0.0f); @@ -288,10 +237,9 @@ void GraspDeformable::initPhysics() btScalar q0 = 0.f * SIMD_PI / 180.f; if (numLinks > 0) mbC->setJointPosMultiDof(0, &q0); - /// addColliders(mbC, getDeformableDynamicsWorld(), baseHalfExtents, linkHalfExtents); - } + //create a ground { btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(25.), btScalar(150.))); @@ -326,13 +274,13 @@ void GraspDeformable::initPhysics() { char relative_path[1024]; // b3FileUtils::findFile("banana.vtk", relative_path, 1024); -// b3FileUtils::findFile("ball.vtk", relative_path, 1024); - b3FileUtils::findFile("paper_collision.vtk", relative_path, 1024); + b3FileUtils::findFile("ball.vtk", relative_path, 1024); +// b3FileUtils::findFile("paper_collision.vtk", relative_path, 1024); // b3FileUtils::findFile("single_tet.vtk", relative_path, 1024); -// b3FileUtils::findFile("tube.vtk", relative_path, 1024); -// b3FileUtils::findFile("torus.vtk", relative_path, 1024); -// b3FileUtils::findFile("paper_roll.vtk", relative_path, 1024); -// b3FileUtils::findFile("bread.vtk", relative_path, 1024); +// b3FileUtils::findFile("tube.vtk", relative_path, 1024); +// b3FileUtils::findFile("torus.vtk", relative_path, 1024); +// b3FileUtils::findFile("paper_roll.vtk", relative_path, 1024); +// b3FileUtils::findFile("bread.vtk", relative_path, 1024); // b3FileUtils::findFile("ditto.vtk", relative_path, 1024); // b3FileUtils::findFile("boot.vtk", relative_path, 1024); // btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(), @@ -343,28 +291,24 @@ void GraspDeformable::initPhysics() btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), relative_path); // psb->scale(btVector3(30, 30, 30)); // for banana -// psb->scale(btVector3(.25, .25, .25)); -// psb->scale(btVector3(2, 2, 2)); + psb->scale(btVector3(.05, .05, .05)); +// psb->scale(btVector3(2, 2, 2)); // psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot // psb->scale(btVector3(1, 1, 1)); // for ditto -// psb->translate(btVector3(.25, 0, 0.4)); + psb->translate(btVector3(.25, 2, 0.4)); psb->getCollisionShape()->setMargin(0.02); - psb->setTotalMass(.1); + psb->setTotalMass(.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 = 2; + psb->m_cfg.kDF = 20; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addSoftBody(psb); -// btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(.0,.04, true); -// getDeformableDynamicsWorld()->addForce(psb, mass_spring); -// m_forces.push_back(mass_spring); - btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); getDeformableDynamicsWorld()->addForce(psb, gravity_force); m_forces.push_back(gravity_force); - btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(5,10); + btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(250,500); getDeformableDynamicsWorld()->addForce(psb, neohookean); m_forces.push_back(neohookean); } diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt index 87f47f162..d3e4b3f8c 100644 --- a/examples/ExampleBrowser/CMakeLists.txt +++ b/examples/ExampleBrowser/CMakeLists.txt @@ -353,6 +353,8 @@ SET(BulletExampleBrowser_SRCS ../MultiBody/MultiBodyConstraintFeedback.cpp ../SoftDemo/SoftDemo.cpp ../SoftDemo/SoftDemo.h + ../DeformableDemo/DeformableContact.cpp + ../DeformableDemo/DeformableContact.h ../DeformableDemo/GraspDeformable.cpp ../DeformableDemo/GraspDeformable.h ../DeformableDemo/Pinch.cpp diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index 1c8fa7921..ee04ece90 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -49,6 +49,7 @@ #include "../DeformableDemo/DeformableMultibody.h" #include "../DeformableDemo/VolumetricDeformable.h" #include "../DeformableDemo/GraspDeformable.h" +#include "../DeformableDemo/DeformableContact.h" #include "../SharedMemory/PhysicsServerExampleBullet2.h" #include "../SharedMemory/PhysicsServerExample.h" #include "../SharedMemory/PhysicsClientExample.h" @@ -186,6 +187,7 @@ static ExampleEntry gDefaultExamples[] = //ExampleEntry(1, "Spheres & Plane C-API (Bullet3)", "Collision C-API using Bullet 3.x backend", CollisionTutorialBullet2CreateFunc,TUT_SPHERE_PLANE_RTB3), ExampleEntry(0, "Deformabe Body"), + ExampleEntry(1, "Deformable-Deformable Contact", "Deformable contact", DeformableContactCreateFunc), ExampleEntry(1, "Deformable-RigidBody Contact", "Deformable test", DeformableRigidCreateFunc), ExampleEntry(1, "Grasp Deformable Cube", "Grasping test", PinchCreateFunc), ExampleEntry(1, "Grasp Deformable with Motor", "Grasping test", GraspDeformableCreateFunc), From 3dcfcda19ad366e71f2c2084d1c1e5b2c72bdf88 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 16 Sep 2019 16:40:08 -0700 Subject: [PATCH 164/389] typo fix --- examples/SharedMemory/PhysicsClientC_API.cpp | 2 +- examples/SharedMemory/PhysicsClientC_API.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 2db272fa8..1963c3473 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -376,7 +376,7 @@ B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle comm return 0; } -B3_SHARED_API int b3LoadSoftBodySetCollsionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness) +B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command->m_type == CMD_LOAD_SOFT_BODY); diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 886e7a6ea..64ef41bc7 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -635,7 +635,7 @@ extern "C" B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda); B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness); B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ); - B3_SHARED_API int b3LoadSoftBodySetCollsionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness); + B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness); B3_SHARED_API int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle commandHandle, double frictionCoefficient); B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle commandHandle, int useBendingSprings); From ae42cc561e44570806722344f4759333f2189e87 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 17 Sep 2019 14:58:16 -0700 Subject: [PATCH 165/389] add damping energy in line search --- src/BulletSoftBody/btConjugateGradient.h | 8 ++- .../btDeformableBackwardEulerObjective.cpp | 24 +++---- .../btDeformableBackwardEulerObjective.h | 7 ++- src/BulletSoftBody/btDeformableBodySolver.cpp | 63 ++++++++++--------- src/BulletSoftBody/btDeformableBodySolver.h | 2 +- .../btDeformableContactProjection.cpp | 2 - .../btDeformableContactProjection.h | 11 +++- src/BulletSoftBody/btDeformableGravityForce.h | 2 +- .../btDeformableLagrangianForce.h | 23 +++++-- .../btDeformableMassSpringForce.h | 4 +- .../btDeformableMultiBodyDynamicsWorld.cpp | 2 +- .../btDeformableNeoHookeanForce.h | 39 ++++++++++-- src/BulletSoftBody/btSoftBody.cpp | 9 +++ src/BulletSoftBody/btSoftBody.h | 4 +- src/BulletSoftBody/btSoftBodyHelpers.cpp | 2 + 15 files changed, 128 insertions(+), 74 deletions(-) diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h index 0236d9941..67d04eb4b 100644 --- a/src/BulletSoftBody/btConjugateGradient.h +++ b/src/BulletSoftBody/btConjugateGradient.h @@ -50,7 +50,8 @@ public: A.precondition(r, z); A.project(z); btScalar r_dot_z = dot(z,r); - btScalar local_tolerance = btMin(relative_tolerance * std::sqrt(r_dot_z), tolerance); +// btScalar local_tolerance = btMin(relative_tolerance * std::sqrt(r_dot_z), tolerance); + btScalar local_tolerance = tolerance; if (std::sqrt(r_dot_z) <= local_tolerance) { if (verbose) { @@ -66,7 +67,7 @@ public: A.multiply(p, temp); A.project(temp); // alpha = r^T * z / (p^T * A * p) - if (dot(p,temp) < 0) + if (dot(p,temp) < SIMD_EPSILON) { if (verbose) std::cout << "Encountered negative direction in CG!"<& softBodies, const TVStack& backup_v) : m_softBodies(softBodies) -, projection(m_softBodies, m_dt) +, m_projection(softBodies) , m_backupVelocity(backup_v) , m_implicit(false) { @@ -46,8 +46,7 @@ void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated, btScalar { m_lf[i]->reinitialize(nodeUpdated); } - projection.reinitialize(nodeUpdated); - projection.setIndices(getIndices()); + m_projection.reinitialize(nodeUpdated); m_preconditioner->reinitialize(nodeUpdated); } @@ -85,13 +84,6 @@ void btDeformableBackwardEulerObjective::multiply(const TVStack& x, TVStack& b) void btDeformableBackwardEulerObjective::updateVelocity(const TVStack& dv) { -// // only the velocity of the constrained nodes needs to be updated during contact solve -// for (int i = 0; i < projection.m_constraints.size(); ++i) -// { -// int index = projection.m_constraints.getKeyAtIndex(i).getUid1(); -// m_nodes[index]->m_v = m_backupVelocity[index] + dv[index]; -// } - for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; @@ -137,7 +129,7 @@ void btDeformableBackwardEulerObjective::computeResidual(btScalar dt, TVStack &r m_lf[i]->addScaledDampingForce(dt, residual); } } - projection.project(residual); + m_projection.project(residual); } btScalar btDeformableBackwardEulerObjective::computeNorm(const TVStack& residual) const @@ -150,12 +142,12 @@ btScalar btDeformableBackwardEulerObjective::computeNorm(const TVStack& residual return std::sqrt(mag); } -btScalar btDeformableBackwardEulerObjective::totalEnergy() +btScalar btDeformableBackwardEulerObjective::totalEnergy(btScalar dt) { btScalar e = 0; for (int i = 0; i < m_lf.size(); ++i) { - e += m_lf[i]->totalElasticEnergy(); + e += m_lf[i]->totalEnergy(dt); } return e; } @@ -164,7 +156,7 @@ void btDeformableBackwardEulerObjective::applyExplicitForce(TVStack& force) { for (int i = 0; i < m_softBodies.size(); ++i) { - m_softBodies[i]->updateDeformation(); + m_softBodies[i]->advanceDeformation(); } for (int i = 0; i < m_lf.size(); ++i) @@ -191,10 +183,10 @@ void btDeformableBackwardEulerObjective::initialGuess(TVStack& dv, const TVStack //set constraints as projections void btDeformableBackwardEulerObjective::setConstraints() { - projection.setConstraints(); + m_projection.setConstraints(); } void btDeformableBackwardEulerObjective::applyDynamicFriction(TVStack& r) { - projection.applyDynamicFriction(r); + m_projection.applyDynamicFriction(r); } diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index cc6d118b7..8265d61d5 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -34,7 +34,7 @@ public: btAlignedObjectArray m_lf; btAlignedObjectArray& m_softBodies; Preconditioner* m_preconditioner; - btDeformableContactProjection projection; + btDeformableContactProjection m_projection; const TVStack& m_backupVelocity; btAlignedObjectArray m_nodes; bool m_implicit; @@ -71,6 +71,7 @@ public: void setDt(btScalar dt); + // add friction force to residual void applyDynamicFriction(TVStack& r); // add dv to velocity @@ -83,7 +84,7 @@ public: void project(TVStack& r) { BT_PROFILE("project"); - projection.project(r); + m_projection.project(r); } // perform precondition M^(-1) x = b @@ -124,7 +125,7 @@ public: m_implicit = implicit; } - btScalar totalEnergy(); + btScalar totalEnergy(btScalar dt); }; #endif /* btBackwardEulerObjective_h */ diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 0df93534c..d2add96db 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -22,11 +22,11 @@ btDeformableBodySolver::btDeformableBodySolver() : m_numNodes(0) , m_cg(20) -, m_maxNewtonIterations(10) +, m_maxNewtonIterations(3) , m_newtonTolerance(1e-4) , m_lineSearch(true) { - m_objective = new btDeformableBackwardEulerObjective(m_softBodySet, m_backupVelocity); + m_objective = new btDeformableBackwardEulerObjective(m_softBodies, m_backupVelocity); } btDeformableBodySolver::~btDeformableBodySolver() @@ -51,9 +51,9 @@ void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt) updateState(); // add the inertia term in the residual int counter = 0; - for (int k = 0; k < m_softBodySet.size(); ++k) + for (int k = 0; k < m_softBodies.size(); ++k) { - btSoftBody* psb = m_softBodySet[k]; + btSoftBody* psb = m_softBodies[k]; for (int j = 0; j < psb->m_nodes.size(); ++j) { if (psb->m_nodes[j].m_im > 0) @@ -77,7 +77,7 @@ void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt) btScalar alpha = 0.01, beta = 0.5; // Boyd & Vandenberghe suggested alpha between 0.01 and 0.3, beta between 0.1 to 0.8 btScalar scale = 2; // todo xuchenhan@: add damping energy to f0 and f1 - btScalar f0 = m_objective->totalEnergy()+kineticEnergy(), f1, f2; + btScalar f0 = m_objective->totalEnergy(solverdt)+kineticEnergy(), f1, f2; backupDv(); do { scale *= beta; @@ -85,9 +85,9 @@ void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt) return; } updateEnergy(scale); - f1 = m_objective->totalEnergy()+kineticEnergy(); + f1 = m_objective->totalEnergy(solverdt)+kineticEnergy(); f2 = f0 - alpha * scale * inner_product; - } while (!(f1 < f2+SIMD_EPSILON)); // if anything here is nan then the search continues + } while (!(f1 < f2)); // if anything here is nan then the search continues revertDv(); updateDv(scale); } @@ -108,9 +108,9 @@ void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt) btScalar btDeformableBodySolver::kineticEnergy() { btScalar ke = 0; - for (int i = 0; i < m_softBodySet.size();++i) + for (int i = 0; i < m_softBodies.size();++i) { - btSoftBody* psb = m_softBodySet[i]; + btSoftBody* psb = m_softBodies[i]; for (int j = 0; j < psb->m_nodes.size();++j) { btSoftBody::Node& node = psb->m_nodes[j]; @@ -152,11 +152,13 @@ void btDeformableBodySolver::updateEnergy(btScalar scale) btScalar btDeformableBodySolver::computeDescentStep(TVStack& ddv, const TVStack& residual) { - btScalar relative_tolerance = btMin(btScalar(0.5), std::sqrt(btMax(m_objective->computeNorm(residual), m_newtonTolerance))); +// btScalar relative_tolerance = btMin(btScalar(0.5), std::sqrt(btMax(m_objective->computeNorm(residual), m_newtonTolerance))); + btScalar relative_tolerance = 0.5; m_cg.solve(*m_objective, ddv, residual, relative_tolerance, false); btScalar inner_product = m_cg.dot(residual, m_ddv); - btScalar tol = 1e-3 * m_objective->computeNorm(residual) * m_objective->computeNorm(m_ddv); btScalar res_norm = m_objective->computeNorm(residual); + btScalar tol = 1e-5 * res_norm * m_objective->computeNorm(m_ddv); + if (inner_product < -tol) { std::cout << "Looking backwards!" << std::endl; @@ -196,13 +198,14 @@ void btDeformableBodySolver::updateDv(btScalar scale) void btDeformableBodySolver::computeStep(TVStack& ddv, const TVStack& residual) { //btScalar tolerance = std::numeric_limits::epsilon() * m_objective->computeNorm(residual); - btScalar relative_tolerance = btMin(btScalar(0.5), std::sqrt(btMax(m_objective->computeNorm(residual), m_newtonTolerance))); +// btScalar relative_tolerance = btMin(btScalar(0.5), std::sqrt(btMax(m_objective->computeNorm(residual), m_newtonTolerance))); + btScalar relative_tolerance = 0.5; m_cg.solve(*m_objective, ddv, residual, relative_tolerance, false); } void btDeformableBodySolver::reinitialize(const btAlignedObjectArray& softBodies, btScalar dt) { - m_softBodySet.copyFromArray(softBodies); + m_softBodies.copyFromArray(softBodies); bool nodeUpdated = updateNodes(); if (nodeUpdated) @@ -234,7 +237,7 @@ void btDeformableBodySolver::setConstraints() btScalar btDeformableBodySolver::solveContactConstraints() { BT_PROFILE("setConstraint"); - btScalar maxSquaredResidual = m_objective->projection.update(); + btScalar maxSquaredResidual = m_objective->m_projection.update(); return maxSquaredResidual; } @@ -242,9 +245,9 @@ btScalar btDeformableBodySolver::solveContactConstraints() void btDeformableBodySolver::updateVelocity() { int counter = 0; - for (int i = 0; i < m_softBodySet.size(); ++i) + for (int i = 0; i < m_softBodies.size(); ++i) { - btSoftBody* psb = m_softBodySet[i]; + btSoftBody* psb = m_softBodies[i]; for (int j = 0; j < psb->m_nodes.size(); ++j) { // set NaN to zero; @@ -261,9 +264,9 @@ void btDeformableBodySolver::updateVelocity() void btDeformableBodySolver::updateTempPosition() { int counter = 0; - for (int i = 0; i < m_softBodySet.size(); ++i) + for (int i = 0; i < m_softBodies.size(); ++i) { - btSoftBody* psb = m_softBodySet[i]; + btSoftBody* psb = m_softBodies[i]; for (int j = 0; j < psb->m_nodes.size(); ++j) { psb->m_nodes[j].m_q = psb->m_nodes[j].m_x + m_dt * psb->m_nodes[j].m_v; @@ -276,9 +279,9 @@ void btDeformableBodySolver::updateTempPosition() void btDeformableBodySolver::backupVelocity() { int counter = 0; - for (int i = 0; i < m_softBodySet.size(); ++i) + for (int i = 0; i < m_softBodies.size(); ++i) { - btSoftBody* psb = m_softBodySet[i]; + btSoftBody* psb = m_softBodies[i]; for (int j = 0; j < psb->m_nodes.size(); ++j) { m_backupVelocity[counter++] = psb->m_nodes[j].m_v; @@ -289,9 +292,9 @@ void btDeformableBodySolver::backupVelocity() void btDeformableBodySolver::setupDeformableSolve(bool implicit) { int counter = 0; - for (int i = 0; i < m_softBodySet.size(); ++i) + for (int i = 0; i < m_softBodies.size(); ++i) { - btSoftBody* psb = m_softBodySet[i]; + btSoftBody* psb = m_softBodies[i]; for (int j = 0; j < psb->m_nodes.size(); ++j) { if (implicit) @@ -307,9 +310,9 @@ void btDeformableBodySolver::setupDeformableSolve(bool implicit) void btDeformableBodySolver::revertVelocity() { int counter = 0; - for (int i = 0; i < m_softBodySet.size(); ++i) + for (int i = 0; i < m_softBodies.size(); ++i) { - btSoftBody* psb = m_softBodySet[i]; + btSoftBody* psb = m_softBodies[i]; for (int j = 0; j < psb->m_nodes.size(); ++j) { psb->m_nodes[j].m_v = m_backupVelocity[counter++]; @@ -320,8 +323,8 @@ void btDeformableBodySolver::revertVelocity() bool btDeformableBodySolver::updateNodes() { int numNodes = 0; - for (int i = 0; i < m_softBodySet.size(); ++i) - numNodes += m_softBodySet[i]->m_nodes.size(); + for (int i = 0; i < m_softBodies.size(); ++i) + numNodes += m_softBodies[i]->m_nodes.size(); if (numNodes != m_numNodes) { m_numNodes = numNodes; @@ -333,9 +336,9 @@ bool btDeformableBodySolver::updateNodes() void btDeformableBodySolver::predictMotion(btScalar solverdt) { - for (int i = 0; i < m_softBodySet.size(); ++i) + for (int i = 0; i < m_softBodies.size(); ++i) { - btSoftBody *psb = m_softBodySet[i]; + btSoftBody *psb = m_softBodies[i]; if (psb->isActive()) { @@ -417,9 +420,9 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d void btDeformableBodySolver::updateSoftBodies() { - for (int i = 0; i < m_softBodySet.size(); i++) + for (int i = 0; i < m_softBodies.size(); i++) { - btSoftBody *psb = (btSoftBody *)m_softBodySet[i]; + btSoftBody *psb = (btSoftBody *)m_softBodies[i]; if (psb->isActive()) { psb->updateNormals(); // normal is updated here diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index 31fe01934..ffce06937 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -37,7 +37,7 @@ protected: TVStack m_backup_dv; TVStack m_ddv; TVStack m_residual; - btAlignedObjectArray m_softBodySet; + btAlignedObjectArray m_softBodies; btAlignedObjectArray m_backupVelocity; btScalar m_dt; diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index 408f73b88..3943e695f 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -40,7 +40,6 @@ btScalar btDeformableContactProjection::update() residualSquare = btMax(residualSquare, localResidualSquare); } - // todo xuchenhan@: deformable/deformable constraints return residualSquare; } @@ -401,7 +400,6 @@ void btDeformableContactProjection::applyDynamicFriction(TVStack& f) void btDeformableContactProjection::reinitialize(bool nodeUpdated) { - btCGProjection::reinitialize(nodeUpdated); m_staticConstraints.clear(); m_nodeRigidConstraints.clear(); m_faceRigidConstraints.clear(); diff --git a/src/BulletSoftBody/btDeformableContactProjection.h b/src/BulletSoftBody/btDeformableContactProjection.h index 57a7ecd94..6c91fd584 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.h +++ b/src/BulletSoftBody/btDeformableContactProjection.h @@ -22,9 +22,14 @@ #include "btDeformableContactConstraint.h" #include "LinearMath/btHashMap.h" #include -class btDeformableContactProjection : public btCGProjection +class btDeformableContactProjection { public: + typedef btAlignedObjectArray TVStack; + typedef btAlignedObjectArray > TVArrayStack; + typedef btAlignedObjectArray > TArrayStack; + btAlignedObjectArray& m_softBodies; + // map from node index to static constraint btHashMap m_staticConstraints; // map from node index to node rigid constraint @@ -40,8 +45,8 @@ public: // map from node index to projection directions btHashMap > m_projectionsDict; - btDeformableContactProjection(btAlignedObjectArray& softBodies, const btScalar& dt) - : btCGProjection(softBodies, dt) + btDeformableContactProjection(btAlignedObjectArray& softBodies) + : m_softBodies(softBodies) { } diff --git a/src/BulletSoftBody/btDeformableGravityForce.h b/src/BulletSoftBody/btDeformableGravityForce.h index f5b4c2de9..cc935abeb 100644 --- a/src/BulletSoftBody/btDeformableGravityForce.h +++ b/src/BulletSoftBody/btDeformableGravityForce.h @@ -73,7 +73,7 @@ public: return BT_GRAVITY_FORCE; } - virtual double totalElasticEnergy() + virtual double totalEnergy(btScalar dt) { double e = 0; for (int i = 0; i(rand()) / RAND_MAX * (high - low); +} + class btDeformableLagrangianForce { public: @@ -176,7 +181,7 @@ public: psb->updateDeformation(); } counter = 0; - double f1 = totalElasticEnergy(); + double f1 = totalElasticEnergy(0); for (int i = 0; i(rand()) / RAND_MAX * (high - low); + return 0; + } + + // total Energy takes dt as input because certain energies depend on dt + virtual double totalEnergy(btScalar dt) + { + return totalElasticEnergy(dt) + totalDampingEnergy(dt); } }; #endif /* BT_DEFORMABLE_LAGRANGIAN_FORCE */ diff --git a/src/BulletSoftBody/btDeformableMassSpringForce.h b/src/BulletSoftBody/btDeformableMassSpringForce.h index 73d7efb42..2f71d1d4a 100644 --- a/src/BulletSoftBody/btDeformableMassSpringForce.h +++ b/src/BulletSoftBody/btDeformableMassSpringForce.h @@ -129,7 +129,7 @@ public: } } } - virtual double totalElasticEnergy() + virtual double totalElasticEnergy(btScalar dt) { double energy = 0; for (int i = 0; i < m_softBodies.size(); ++i) @@ -144,7 +144,7 @@ public: // elastic force btVector3 dir = (node2->m_q - node1->m_q); - energy += 0.5 * m_elasticStiffness * (dir.norm() - r) * (dir.norm() -r ); + energy += 0.5 * m_elasticStiffness * (dir.norm() - r) * (dir.norm() -r); } } return energy; diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 5cd72f597..f4191bf76 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -194,7 +194,7 @@ void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep) // set up constraints among multibodies and between multibodies and deformable bodies setupConstraints(); solveMultiBodyRelatedConstraints(); - m_deformableBodySolver->m_objective->projection.setProjection(); + m_deformableBodySolver->m_objective->m_projection.setProjection(); // for explicit scheme, m_backupVelocity = v_{n+1}^* // for implicit scheme, m_backupVelocity = v_n diff --git a/src/BulletSoftBody/btDeformableNeoHookeanForce.h b/src/BulletSoftBody/btDeformableNeoHookeanForce.h index 37803e6e3..842855644 100644 --- a/src/BulletSoftBody/btDeformableNeoHookeanForce.h +++ b/src/BulletSoftBody/btDeformableNeoHookeanForce.h @@ -26,12 +26,12 @@ public: btScalar m_mu_damp, m_lambda_damp; btDeformableNeoHookeanForce(): m_mu(1), m_lambda(1) { - btScalar damping = 0.005; + btScalar damping = 0.05; m_mu_damp = damping * m_mu; m_lambda_damp = damping * m_lambda; } - btDeformableNeoHookeanForce(btScalar mu, btScalar lambda, btScalar damping = 0): m_mu(mu), m_lambda(lambda) + btDeformableNeoHookeanForce(btScalar mu, btScalar lambda, btScalar damping = 0.05): m_mu(mu), m_lambda(lambda) { m_mu_damp = damping * m_mu; m_lambda_damp = damping * m_lambda; @@ -71,7 +71,7 @@ public: size_t id3 = node3->index; btMatrix3x3 dF = DsFromVelocity(node0, node1, node2, node3) * tetra.m_Dm_inverse; btMatrix3x3 dP; - firstPiolaDampingDifferential(psb->m_tetraScratches[j], dF, dP); + firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP); btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); @@ -85,7 +85,7 @@ public: } } - virtual double totalElasticEnergy() + virtual double totalElasticEnergy(btScalar dt) { double energy = 0; for (int i = 0; i < m_softBodies.size(); ++i) @@ -101,6 +101,35 @@ public: return energy; } + virtual double totalDampingEnergy(btScalar dt) + { + double energy = 0; + int sz = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + sz = btMax(sz, psb->m_nodes[j].index); + } + } + TVStack dampingForce; + dampingForce.resize(sz+1); + for (int i = 0; i < dampingForce.size(); ++i) + dampingForce[i].setZero(); + addScaledDampingForce(0.5, dampingForce); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + const btSoftBody::Node& node = psb->m_nodes[j]; + energy -= dampingForce[node.index].dot(node.m_v) / dt; + } + } + return energy; + } + double elasticEnergyDensity(const btSoftBody::TetraScratch& s) { double density = 0; @@ -168,7 +197,7 @@ public: size_t id3 = node3->index; btMatrix3x3 dF = Ds(id0, id1, id2, id3, dv) * tetra.m_Dm_inverse; btMatrix3x3 dP; - firstPiolaDampingDifferential(psb->m_tetraScratches[j], dF, dP); + firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP); btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 6a2f005b1..95f2c4860 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -2914,6 +2914,15 @@ void btSoftBody::updateDeformation() s.m_cofF = t.m_F.adjoint().transpose(); } } + +void btSoftBody::advanceDeformation() +{ + updateDeformation(); + for (int i = 0; i < m_tetras.size(); ++i) + { + m_tetraScratchesTn[i] = m_tetraScratches[i]; + } +} // void btSoftBody::Joint::Prepare(btScalar dt, int) { diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index 67c0d3448..1016fe9f6 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -770,6 +770,7 @@ public: tFaceArray m_renderFaces; // Faces tTetraArray m_tetras; // Tetras btAlignedObjectArray m_tetraScratches; + btAlignedObjectArray m_tetraScratchesTn; tAnchorArray m_anchors; // Anchors tRContactArray m_rcontacts; // Rigid contacts btAlignedObjectArray m_nodeRigidContacts; @@ -1100,6 +1101,7 @@ public: void setSpringStiffness(btScalar k); void initializeDmInverse(); void updateDeformation(); + void advanceDeformation(); void applyForces(); void interpolateRenderMesh(); static void PSolve_Anchors(btSoftBody* psb, btScalar kst, btScalar ti); @@ -1114,8 +1116,6 @@ public: ///fills the dataBuffer and returns the struct name (and 0 on failure) virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const; - - //virtual void serializeSingleObject(class btSerializer* serializer) const; }; #endif //_BT_SOFT_BODY_H diff --git a/src/BulletSoftBody/btSoftBodyHelpers.cpp b/src/BulletSoftBody/btSoftBodyHelpers.cpp index ed99ce943..5e58fd89e 100644 --- a/src/BulletSoftBody/btSoftBodyHelpers.cpp +++ b/src/BulletSoftBody/btSoftBodyHelpers.cpp @@ -1234,6 +1234,7 @@ if(face&&face[0]) } psb->initializeDmInverse(); psb->m_tetraScratches.resize(psb->m_tetras.size()); + psb->m_tetraScratchesTn.resize(psb->m_tetras.size()); printf("Nodes: %u\r\n", psb->m_nodes.size()); printf("Links: %u\r\n", psb->m_links.size()); printf("Faces: %u\r\n", psb->m_faces.size()); @@ -1376,6 +1377,7 @@ btSoftBody* btSoftBodyHelpers::CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, psb->initializeDmInverse(); psb->m_tetraScratches.resize(psb->m_tetras.size()); + psb->m_tetraScratchesTn.resize(psb->m_tetras.size()); printf("Nodes: %u\r\n", psb->m_nodes.size()); printf("Links: %u\r\n", psb->m_links.size()); printf("Faces: %u\r\n", psb->m_faces.size()); From d761b2cd6893b61498422fe02a357bb7e3a22129 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 17 Sep 2019 15:55:15 -0700 Subject: [PATCH 166/389] add some documentation --- src/BulletSoftBody/btCGProjection.h | 31 ----------- src/BulletSoftBody/btConjugateGradient.h | 3 +- src/BulletSoftBody/btDeformableBodySolver.cpp | 10 +--- .../btDeformableContactConstraint.cpp | 20 +++++++ .../btDeformableContactConstraint.h | 52 +++++++++---------- src/BulletSoftBody/btDeformableGravityForce.h | 1 + .../btDeformableLagrangianForce.h | 3 ++ .../btDeformableMultiBodyConstraintSolver.cpp | 9 +++- .../btDeformableMultiBodyConstraintSolver.h | 1 + .../btDeformableMultiBodyDynamicsWorld.cpp | 12 +++-- .../btDeformableMultiBodyDynamicsWorld.h | 2 +- .../btDeformableNeoHookeanForce.h | 11 ++++ src/BulletSoftBody/btSoftBodyHelpers.cpp | 5 +- src/BulletSoftBody/btSoftBodyInternals.h | 13 ++++- 14 files changed, 95 insertions(+), 78 deletions(-) diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index 20ef961fb..d047e6d3d 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -62,37 +62,6 @@ struct DeformableContactConstraint { } }; -// -// -//struct DeformableFaceContactConstraint -//{ -// const btSoftBody::Face* m_face; -// const btSoftBody::FaceRContact* m_contact; -// btVector3 m_total_normal_dv; -// btVector3 m_total_tangent_dv; -// bool m_static; -// bool m_can_be_dynamic; -// -// DeformableFaceContactConstraint(const btSoftBody::FaceRContact& rcontact) -// : m_face(rcontact.m_face), -// m_contact(&rcontact), -// m_total_normal_dv(0,0,0), -// m_total_tangent_dv(0,0,0), -// m_static(false), -// m_can_be_dynamic(true) -// { -// } -// -// void replace(const btSoftBody::FaceRContact& rcontact) -// { -// m_contact = &rcontact; -// m_face = rcontact.m_face; -// } -// -// ~DeformableFaceContactConstraint() -// { -// } -//}; class btCGProjection { diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h index 67d04eb4b..38158dc09 100644 --- a/src/BulletSoftBody/btConjugateGradient.h +++ b/src/BulletSoftBody/btConjugateGradient.h @@ -37,7 +37,7 @@ public: virtual ~btConjugateGradient(){} // return the number of iterations taken - int solve(MatrixX& A, TVStack& x, const TVStack& b, btScalar relative_tolerance, bool verbose = false) + int solve(MatrixX& A, TVStack& x, const TVStack& b, bool verbose = false) { BT_PROFILE("CGSolve"); btAssert(x.size() == b.size()); @@ -50,7 +50,6 @@ public: A.precondition(r, z); A.project(z); btScalar r_dot_z = dot(z,r); -// btScalar local_tolerance = btMin(relative_tolerance * std::sqrt(r_dot_z), tolerance); btScalar local_tolerance = tolerance; if (std::sqrt(r_dot_z) <= local_tolerance) { if (verbose) diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index d2add96db..fac85fbc1 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -76,7 +76,6 @@ void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt) btScalar inner_product = computeDescentStep(m_ddv,m_residual); btScalar alpha = 0.01, beta = 0.5; // Boyd & Vandenberghe suggested alpha between 0.01 and 0.3, beta between 0.1 to 0.8 btScalar scale = 2; - // todo xuchenhan@: add damping energy to f0 and f1 btScalar f0 = m_objective->totalEnergy(solverdt)+kineticEnergy(), f1, f2; backupDv(); do { @@ -152,9 +151,7 @@ void btDeformableBodySolver::updateEnergy(btScalar scale) btScalar btDeformableBodySolver::computeDescentStep(TVStack& ddv, const TVStack& residual) { -// btScalar relative_tolerance = btMin(btScalar(0.5), std::sqrt(btMax(m_objective->computeNorm(residual), m_newtonTolerance))); - btScalar relative_tolerance = 0.5; - m_cg.solve(*m_objective, ddv, residual, relative_tolerance, false); + m_cg.solve(*m_objective, ddv, residual, false); btScalar inner_product = m_cg.dot(residual, m_ddv); btScalar res_norm = m_objective->computeNorm(residual); btScalar tol = 1e-5 * res_norm * m_objective->computeNorm(m_ddv); @@ -197,10 +194,7 @@ void btDeformableBodySolver::updateDv(btScalar scale) void btDeformableBodySolver::computeStep(TVStack& ddv, const TVStack& residual) { - //btScalar tolerance = std::numeric_limits::epsilon() * m_objective->computeNorm(residual); -// btScalar relative_tolerance = btMin(btScalar(0.5), std::sqrt(btMax(m_objective->computeNorm(residual), m_newtonTolerance))); - btScalar relative_tolerance = 0.5; - m_cg.solve(*m_objective, ddv, residual, relative_tolerance, false); + m_cg.solve(*m_objective, ddv, residual, false); } void btDeformableBodySolver::reinitialize(const btAlignedObjectArray& softBodies, btScalar dt) diff --git a/src/BulletSoftBody/btDeformableContactConstraint.cpp b/src/BulletSoftBody/btDeformableContactConstraint.cpp index 17e96b634..ce5018f2f 100644 --- a/src/BulletSoftBody/btDeformableContactConstraint.cpp +++ b/src/BulletSoftBody/btDeformableContactConstraint.cpp @@ -193,6 +193,13 @@ btVector3 btDeformableNodeRigidContactConstraint::getDv(const btSoftBody::Node* return m_total_normal_dv + m_total_tangent_dv; } +void btDeformableNodeRigidContactConstraint::applyImpulse(const btVector3& impulse) +{ + const btSoftBody::DeformableNodeRigidContact* contact = getContact(); + btVector3 dv = impulse * contact->m_c2; + contact->m_node->m_v -= dv; +} + /* ================ Face vs. Rigid =================== */ btDeformableFaceRigidContactConstraint::btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact) : m_face(contact.m_face) @@ -230,6 +237,19 @@ btVector3 btDeformableFaceRigidContactConstraint::getDv(const btSoftBody::Node* return face_dv * contact->m_weights[2]; } +void btDeformableFaceRigidContactConstraint::applyImpulse(const btVector3& impulse) +{ + const btSoftBody::DeformableFaceRigidContact* contact = getContact(); + btVector3 dv = impulse * contact->m_c2; + btSoftBody::Face* face = contact->m_face; + if (face->m_n[0]->m_im > 0) + face->m_n[0]->m_v -= dv * contact->m_weights[0]; + if (face->m_n[1]->m_im > 0) + face->m_n[1]->m_v -= dv * contact->m_weights[1]; + if (face->m_n[2]->m_im > 0) + face->m_n[2]->m_v -= dv * contact->m_weights[2]; +} + /* ================ Face vs. Node =================== */ btDeformableFaceNodeContactConstraint::btDeformableFaceNodeContactConstraint(const btSoftBody::DeformableFaceNodeContact& contact) : m_node(contact.m_node) diff --git a/src/BulletSoftBody/btDeformableContactConstraint.h b/src/BulletSoftBody/btDeformableContactConstraint.h index 3eeef56b4..f79bc6065 100644 --- a/src/BulletSoftBody/btDeformableContactConstraint.h +++ b/src/BulletSoftBody/btDeformableContactConstraint.h @@ -17,6 +17,7 @@ #define BT_DEFORMABLE_CONTACT_CONSTRAINT_H #include "btSoftBody.h" +// btDeformableContactConstraint is an abstract class specifying the method that each type of contact constraint needs to implement class btDeformableContactConstraint { public: @@ -45,10 +46,8 @@ public: virtual ~btDeformableContactConstraint(){} - // solve the constraint with inelastic impulse and return the error, which is the square of normal component of dt scaled velocity diffrerence - // the constraint is solved by calculating the impulse between object A and B in the contact and apply the impulse. - // if the object is rigid/multibody apply the impulse to change the velocity, - // if the object is deformable node, change the according dv. + // solve the constraint with inelastic impulse and return the error, which is the square of normal component of velocity diffrerence + // the constraint is solved by calculating the impulse between object A and B in the contact and apply the impulse to both objects involved in the contact virtual btScalar solveConstraint() = 0; // get the velocity of the object A in the contact @@ -64,6 +63,8 @@ public: virtual void applyImpulse(const btVector3& impulse) = 0; }; +// +// Constraint that a certain node in the deformable objects cannot move class btDeformableStaticConstraint : public btDeformableContactConstraint { public: @@ -107,6 +108,8 @@ public: virtual void applyImpulse(const btVector3& impulse){} }; +// +// Constraint between rigid/multi body and deformable objects class btDeformableRigidContactConstraint : public btDeformableContactConstraint { public: @@ -121,17 +124,18 @@ public: { } - // object A is the rigid/multi body, and object B is the deformable node + // object A is the rigid/multi body, and object B is the deformable node/face virtual btVector3 getVa() const; virtual btScalar solveConstraint(); }; - - +// +// Constraint between rigid/multi body and deformable objects nodes class btDeformableNodeRigidContactConstraint : public btDeformableRigidContactConstraint { public: + // the deformable node in contact const btSoftBody::Node* m_node; btDeformableNodeRigidContactConstraint(){} @@ -142,24 +146,23 @@ public: { } + // get the velocity of the deformable node in contact virtual btVector3 getVb() const; + // get the velocity change of the input soft body node in the constraint virtual btVector3 getDv(const btSoftBody::Node*) const; + // cast the contact to the desired type const btSoftBody::DeformableNodeRigidContact* getContact() const { return static_cast(m_contact); } - virtual void applyImpulse(const btVector3& impulse) - { - const btSoftBody::DeformableNodeRigidContact* contact = getContact(); - btVector3 dv = impulse * contact->m_c2; - contact->m_node->m_v -= dv; - } + virtual void applyImpulse(const btVector3& impulse); }; - +// +// Constraint between rigid/multi body and deformable objects faces class btDeformableFaceRigidContactConstraint : public btDeformableRigidContactConstraint { public: @@ -172,29 +175,23 @@ public: { } + // get the velocity of the deformable face at the contact point virtual btVector3 getVb() const; + // get the velocity change of the input soft body node in the constraint virtual btVector3 getDv(const btSoftBody::Node*) const; + // cast the contact to the desired type const btSoftBody::DeformableFaceRigidContact* getContact() const { return static_cast(m_contact); } - virtual void applyImpulse(const btVector3& impulse) - { - const btSoftBody::DeformableFaceRigidContact* contact = getContact(); - btVector3 dv = impulse * contact->m_c2; - btSoftBody::Face* face = contact->m_face; - if (face->m_n[0]->m_im > 0) - face->m_n[0]->m_v -= dv * contact->m_weights[0]; - if (face->m_n[1]->m_im > 0) - face->m_n[1]->m_v -= dv * contact->m_weights[1]; - if (face->m_n[2]->m_im > 0) - face->m_n[2]->m_v -= dv * contact->m_weights[2]; - } + virtual void applyImpulse(const btVector3& impulse); }; +// +// Constraint between deformable objects faces and deformable objects nodes class btDeformableFaceNodeContactConstraint : public btDeformableContactConstraint { public: @@ -218,9 +215,10 @@ public: // get the velocity of the object B in the contact virtual btVector3 getVb() const; - // get the velocity change of the soft body node in the constraint + // get the velocity change of the input soft body node in the constraint virtual btVector3 getDv(const btSoftBody::Node*) const; + // cast the contact to the desired type const btSoftBody::DeformableFaceNodeContact* getContact() const { return static_cast(m_contact); diff --git a/src/BulletSoftBody/btDeformableGravityForce.h b/src/BulletSoftBody/btDeformableGravityForce.h index cc935abeb..d9bef8b07 100644 --- a/src/BulletSoftBody/btDeformableGravityForce.h +++ b/src/BulletSoftBody/btDeformableGravityForce.h @@ -73,6 +73,7 @@ public: return BT_GRAVITY_FORCE; } + // the gravitational potential energy virtual double totalEnergy(btScalar dt) { double e = 0; diff --git a/src/BulletSoftBody/btDeformableLagrangianForce.h b/src/BulletSoftBody/btDeformableLagrangianForce.h index 53f06e4ea..f65569451 100644 --- a/src/BulletSoftBody/btDeformableLagrangianForce.h +++ b/src/BulletSoftBody/btDeformableLagrangianForce.h @@ -77,6 +77,7 @@ public: return numNodes; } + // add a soft body to be affected by the particular lagrangian force virtual void addSoftBody(btSoftBody* psb) { m_softBodies.push_back(psb); @@ -87,6 +88,7 @@ public: m_nodes = nodes; } + // Calculate the incremental deformable generated from the input dx virtual btMatrix3x3 Ds(int id0, int id1, int id2, int id3, const TVStack& dx) { btVector3 c1 = dx[id1] - dx[id0]; @@ -98,6 +100,7 @@ public: return dF; } + // Calculate the incremental deformable generated from the current velocity virtual btMatrix3x3 DsFromVelocity(const btSoftBody::Node* n0, const btSoftBody::Node* n1, const btSoftBody::Node* n2, const btSoftBody::Node* n3) { btVector3 c1 = n1->m_v - n0->m_v; diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp index 7371ea078..f201a4d24 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp @@ -27,10 +27,17 @@ btScalar btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlyIteration int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations; for (int iteration = 0; iteration < maxIterations; iteration++) { - m_leastSquaresResidual = solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); + // rigid bodies are solved using solver body velocity, but rigid/deformable contact directly uses the velocity of the actual rigid body. So we have to do the following: Solve one iteration of the rigid/rigid contact, get the updated velocity in the solver body and update the velocity of the underlying rigid body. Then solve the rigid/deformable contact. Finally, grab the (once again) updated rigid velocity and update the velocity of the wrapping solver body + // solve rigid/rigid in solver body + m_leastSquaresResidual = solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); + // solver body velocity -> rigid body velocity solverBodyWriteBack(infoGlobal); + + // update rigid body velocity in rigid/deformable contact m_leastSquaresResidual = btMax(m_leastSquaresResidual, m_deformableSolver->solveContactConstraints()); + + // solver body velocity <- rigid body velocity writeToSolverBody(bodies, numBodies, infoGlobal); if (m_leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || (iteration >= (maxIterations - 1))) diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h index 80aafe03f..d28aa204e 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h @@ -31,6 +31,7 @@ protected: // override the iterations method to include deformable/multibody contact virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); + // write the velocity of the the solver body to the underlying rigid body void solverBodyWriteBack(const btContactSolverInfo& infoGlobal) { for (int i = 0; i < m_tmpSolverBodyPool.size(); i++) diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index f4191bf76..8b6d80814 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -55,7 +55,7 @@ void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar t beforeSolverCallbacks(timeStep); - ///solve deformable bodies constraints + ///solve contact constraints and then deformable bodies momemtum equation solveConstraints(timeStep); afterSolverCallbacks(timeStep); @@ -193,7 +193,11 @@ void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep) // set up constraints among multibodies and between multibodies and deformable bodies setupConstraints(); - solveMultiBodyRelatedConstraints(); + + // solve contact constraints + solveContactConstraints(); + + // set up the directions in which the velocity does not change in the momentum solve m_deformableBodySolver->m_objective->m_projection.setProjection(); // for explicit scheme, m_backupVelocity = v_{n+1}^* @@ -202,6 +206,7 @@ void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep) m_deformableBodySolver->setupDeformableSolve(m_implicit); // At this point, dv should be golden for nodes in contact + // proceed to solve deformable momentum equation m_deformableBodySolver->solveDeformableConstraints(timeStep); } @@ -217,7 +222,6 @@ void btDeformableMultiBodyDynamicsWorld::setupConstraints() btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0; btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0; m_solverMultiBodyIslandCallback->setup(&m_solverInfo, constraintsPtr, m_sortedConstraints.size(), sortedMultiBodyConstraints, m_sortedMultiBodyConstraints.size(), getDebugDrawer()); - m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); // build islands m_islandManager->buildIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld()); @@ -243,7 +247,7 @@ void btDeformableMultiBodyDynamicsWorld::sortConstraints() } -void btDeformableMultiBodyDynamicsWorld::solveMultiBodyRelatedConstraints() +void btDeformableMultiBodyDynamicsWorld::solveContactConstraints() { // process constraints on each island m_islandManager->processIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback); diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h index 4cd1eaebc..b9059f0c6 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h @@ -152,7 +152,7 @@ public: void solveMultiBodyConstraints(); - void solveMultiBodyRelatedConstraints(); + void solveContactConstraints(); void sortConstraints(); diff --git a/src/BulletSoftBody/btDeformableNeoHookeanForce.h b/src/BulletSoftBody/btDeformableNeoHookeanForce.h index 842855644..5957c77aa 100644 --- a/src/BulletSoftBody/btDeformableNeoHookeanForce.h +++ b/src/BulletSoftBody/btDeformableNeoHookeanForce.h @@ -18,6 +18,7 @@ subject to the following restrictions: #include "btDeformableLagrangianForce.h" +// This energy is as described in https://graphics.pixar.com/library/StableElasticity/paper.pdf class btDeformableNeoHookeanForce : public btDeformableLagrangianForce { public: @@ -48,6 +49,7 @@ public: addScaledElasticForce(scale, force); } + // The damping matrix is calculated using the time n state as described in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search virtual void addScaledDampingForce(btScalar scale, TVStack& force) { if (m_mu_damp == 0 && m_lambda_damp == 0) @@ -101,6 +103,7 @@ public: return energy; } + // The damping energy is formulated as in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search virtual double totalDampingEnergy(btScalar dt) { double energy = 0; @@ -174,6 +177,7 @@ public: } } + // The damping matrix is calculated using the time n state as described in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) { if (m_mu_damp == 0 && m_lambda_damp == 0) @@ -251,6 +255,8 @@ public: P = s.m_F * m_mu * ( 1. - 1. / (s.m_trace + 1.)) + s.m_cofF * (m_lambda * (s.m_J - 1.) - 0.75 * m_mu); } + // Let P be the first piola stress. + // This function calculates the dP = dP/dF * dF void firstPiolaDifferential(const btSoftBody::TetraScratch& s, const btMatrix3x3& dF, btMatrix3x3& dP) { dP = dF * m_mu * ( 1. - 1. / (s.m_trace + 1.)) + s.m_F * (2*m_mu) * DotProduct(s.m_F, dF) * (1./((1.+s.m_trace)*(1.+s.m_trace))); @@ -259,6 +265,8 @@ public: dP += s.m_cofF * m_lambda * DotProduct(s.m_cofF, dF); } + // Let Q be the damping stress. + // This function calculates the dP = dQ/dF * dF void firstPiolaDampingDifferential(const btSoftBody::TetraScratch& s, const btMatrix3x3& dF, btMatrix3x3& dP) { dP = dF * m_mu_damp * ( 1. - 1. / (s.m_trace + 1.)) + s.m_F * (2*m_mu_damp) * DotProduct(s.m_F, dF) * (1./((1.+s.m_trace)*(1.+s.m_trace))); @@ -277,6 +285,9 @@ public: return ans; } + // Let C(A) be the cofactor of the matrix A + // Let H = the derivative of C(A) with respect to A evaluated at F = A + // This function calculates H*dF void addScaledCofactorMatrixDifferential(const btMatrix3x3& F, const btMatrix3x3& dF, btScalar scale, btMatrix3x3& M) { M[0][0] += scale * (dF[1][1] * F[2][2] + F[1][1] * dF[2][2] - dF[2][1] * F[1][2] - F[2][1] * dF[1][2]); diff --git a/src/BulletSoftBody/btSoftBodyHelpers.cpp b/src/BulletSoftBody/btSoftBodyHelpers.cpp index 5e58fd89e..0c0bc4f64 100644 --- a/src/BulletSoftBody/btSoftBodyHelpers.cpp +++ b/src/BulletSoftBody/btSoftBodyHelpers.cpp @@ -1457,8 +1457,7 @@ void btSoftBodyHelpers::duplicateFaces(const char* filename, const btSoftBody* p fs_write.close(); } - - +// Given a simplex with vertices a,b,c,d, find the barycentric weights of p in this simplex void btSoftBodyHelpers::getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, const btVector3& p, btVector4& bary) { btVector3 vap = p - a; @@ -1513,6 +1512,8 @@ void btSoftBodyHelpers::readRenderMeshFromObj(const char* file, btSoftBody* psb) fs.close(); } +// Iterate through all render nodes to find the simulation tetrahedron that contains the render node and record the barycentric weights +// If the node is not inside any tetrahedron, assign it to the tetrahedron in which the node has the least negative barycentric weight void btSoftBodyHelpers::interpolateBarycentricWeights(btSoftBody* psb) { psb->m_renderNodesInterpolationWeights.resize(psb->m_renderNodes.size()); diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index e5b2e4016..1db6ab8ff 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -29,6 +29,8 @@ subject to the following restrictions: #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" #include //for memset #include + +// Given a multibody link, a contact point and a contact direction, fill in the jacobian data needed to calculate the velocity change given an impulse in the contact direction static void findJacobian(const btMultiBodyLinkCollider* multibodyLinkCol, btMultiBodyJacobianData& jacobianData, const btVector3& contact_point, @@ -1068,7 +1070,7 @@ struct btSoftColliders if (!n.m_battach) { - // check for collision at x_{n+1}^* + // check for collision at x_{n+1}^* as well at x_n if (psb->checkDeformableContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predict = */ true) || psb->checkDeformableContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predict = */ true)) { const btScalar ima = n.m_im; @@ -1175,11 +1177,14 @@ struct btSoftColliders btSoftBody::sCti& cti = c.m_cti; c.m_contactPoint = contact_point; c.m_bary = bary; - // todo xuchenhan@: check m_c2 and m_weights + // todo xuchenhan@: this is assuming mass of all vertices are the same. Need to modify if mass are different for distinct vertices c.m_weights = btScalar(2)/(btScalar(1) + bary.length2()) * bary; c.m_face = &f; const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); + + // the effective inverse mass of the face as in https://graphics.stanford.edu/papers/cloth-sig02/cloth.pdf ima = bary.getX()*c.m_weights.getX() * n0->m_im + bary.getY()*c.m_weights.getY() * n1->m_im + bary.getZ()*c.m_weights.getZ() * n2->m_im; + c.m_c2 = ima; c.m_c3 = fc; c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR; @@ -1190,6 +1195,7 @@ struct btSoftColliders const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic; const btVector3 ra = contact_point - wtr.getOrigin(); + // we do not scale the impulse matrix by dt c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra); c.m_c1 = ra; if (m_rigidBody) @@ -1307,6 +1313,7 @@ struct btSoftColliders if (l < SIMD_EPSILON) return; btVector3 rayEnd = dir.normalized() * (l + 2*mrg); + // register an intersection if the line segment formed by the trajectory of the node in the timestep intersects the face bool intersect = lineIntersectsTriangle(btVector3(0,0,0), rayEnd, face->m_n[0]->m_x-o, face->m_n[1]->m_x-o, face->m_n[2]->m_x-o, p, normal); if (intersect) @@ -1324,8 +1331,10 @@ struct btSoftColliders c.m_node = node; c.m_face = face; c.m_bary = w; + // todo xuchenhan@: this is assuming mass of all vertices are the same. Need to modify if mass are different for distinct vertices c.m_weights = btScalar(2)/(btScalar(1) + w.length2()) * w; c.m_friction = btMax(psb[0]->m_cfg.kDF, psb[1]->m_cfg.kDF); + // the effective inverse mass of the face as in https://graphics.stanford.edu/papers/cloth-sig02/cloth.pdf c.m_imf = c.m_bary[0]*c.m_weights[0] * n[0]->m_im + c.m_bary[1]*c.m_weights[1] * n[1]->m_im + c.m_bary[2]*c.m_weights[2] * n[2]->m_im; c.m_c0 = btScalar(1)/(ma + c.m_imf); psb[0]->m_faceNodeContacts.push_back(c); From cca220eb271630cbb914e728db0d42023721ba78 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 18 Sep 2019 16:06:09 -0700 Subject: [PATCH 167/389] add damping energy to mass spring --- examples/DeformableDemo/DeformableContact.cpp | 10 ++--- examples/DeformableDemo/DeformableRigid.cpp | 2 +- examples/DeformableDemo/GraspDeformable.cpp | 16 ++++---- .../btDeformableBackwardEulerObjective.h | 2 + .../btDeformableMassSpringForce.h | 38 +++++++++++++++++-- 5 files changed, 50 insertions(+), 18 deletions(-) diff --git a/examples/DeformableDemo/DeformableContact.cpp b/examples/DeformableDemo/DeformableContact.cpp index 381bd130b..ce12b8b12 100644 --- a/examples/DeformableDemo/DeformableContact.cpp +++ b/examples/DeformableDemo/DeformableContact.cpp @@ -133,7 +133,7 @@ void DeformableContact::initPhysics() btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform); btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia); btRigidBody* body = new btRigidBody(rbInfo); - body->setFriction(1); + body->setFriction(2); //add the ground to the dynamics world m_dynamicsWorld->addRigidBody(body); @@ -156,12 +156,12 @@ void DeformableContact::initPhysics() psb->setTotalMass(1); psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb->m_cfg.kCHR = 1; // collision hardness with rigid body - psb->m_cfg.kDF = 2; + psb->m_cfg.kDF = 1; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; getDeformableDynamicsWorld()->addSoftBody(psb); - btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(20,0.1, true); + btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(10,1, true); getDeformableDynamicsWorld()->addForce(psb, mass_spring); m_forces.push_back(mass_spring); @@ -183,13 +183,13 @@ void DeformableContact::initPhysics() psb2->setTotalMass(1); psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb2->m_cfg.kCHR = 1; // collision hardness with rigid body - psb2->m_cfg.kDF = 2; + psb2->m_cfg.kDF = 1; psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; psb->translate(btVector3(3,0,0)); getDeformableDynamicsWorld()->addSoftBody(psb2); - btDeformableMassSpringForce* mass_spring2 = new btDeformableMassSpringForce(20,0.1, true); + btDeformableMassSpringForce* mass_spring2 = new btDeformableMassSpringForce(10,1, true); getDeformableDynamicsWorld()->addForce(psb2, mass_spring2); m_forces.push_back(mass_spring2); diff --git a/examples/DeformableDemo/DeformableRigid.cpp b/examples/DeformableDemo/DeformableRigid.cpp index 850f72600..f34b2a0e8 100644 --- a/examples/DeformableDemo/DeformableRigid.cpp +++ b/examples/DeformableDemo/DeformableRigid.cpp @@ -238,7 +238,7 @@ void DeformableRigid::initPhysics() psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addSoftBody(psb); - btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2,0.1, true); + btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(30,1, true); getDeformableDynamicsWorld()->addForce(psb, mass_spring); m_forces.push_back(mass_spring); diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index 514ee5cc5..08368398d 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -274,10 +274,10 @@ void GraspDeformable::initPhysics() { char relative_path[1024]; // b3FileUtils::findFile("banana.vtk", relative_path, 1024); - b3FileUtils::findFile("ball.vtk", relative_path, 1024); +// b3FileUtils::findFile("ball.vtk", relative_path, 1024); // b3FileUtils::findFile("paper_collision.vtk", relative_path, 1024); // b3FileUtils::findFile("single_tet.vtk", relative_path, 1024); -// b3FileUtils::findFile("tube.vtk", relative_path, 1024); + b3FileUtils::findFile("tube.vtk", relative_path, 1024); // b3FileUtils::findFile("torus.vtk", relative_path, 1024); // b3FileUtils::findFile("paper_roll.vtk", relative_path, 1024); // b3FileUtils::findFile("bread.vtk", relative_path, 1024); @@ -291,12 +291,12 @@ void GraspDeformable::initPhysics() btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), relative_path); // psb->scale(btVector3(30, 30, 30)); // for banana - psb->scale(btVector3(.05, .05, .05)); +// psb->scale(btVector3(.2, .2, .2)); // psb->scale(btVector3(2, 2, 2)); -// psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot -// psb->scale(btVector3(1, 1, 1)); // for ditto - psb->translate(btVector3(.25, 2, 0.4)); - psb->getCollisionShape()->setMargin(0.02); + psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot +// psb->scale(btVector3(.1, .1, .1)); // for ditto +// psb->translate(btVector3(.25, 2, 0.4)); + psb->getCollisionShape()->setMargin(0.01); psb->setTotalMass(.01); psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb->m_cfg.kCHR = 1; // collision hardness with rigid body @@ -308,7 +308,7 @@ void GraspDeformable::initPhysics() getDeformableDynamicsWorld()->addForce(psb, gravity_force); m_forces.push_back(gravity_force); - btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(250,500); + btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(10,20, 0.01); getDeformableDynamicsWorld()->addForce(psb, neohookean); m_forces.push_back(neohookean); } diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index 8265d61d5..7699a195e 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -93,6 +93,7 @@ public: m_preconditioner->operator()(x,b); } + // reindex all the vertices virtual void updateId() { size_t node_id = 0; @@ -125,6 +126,7 @@ public: m_implicit = implicit; } + // Calculate the total potential energy in the system btScalar totalEnergy(btScalar dt); }; diff --git a/src/BulletSoftBody/btDeformableMassSpringForce.h b/src/BulletSoftBody/btDeformableMassSpringForce.h index 2f71d1d4a..f50f3389b 100644 --- a/src/BulletSoftBody/btDeformableMassSpringForce.h +++ b/src/BulletSoftBody/btDeformableMassSpringForce.h @@ -62,9 +62,9 @@ public: btVector3 scaled_force = scale * m_dampingStiffness * v_diff; if (m_momentum_conserving) { - if ((node2->m_q - node1->m_q).norm() > SIMD_EPSILON) + if ((node2->m_x - node1->m_x).norm() > SIMD_EPSILON) { - btVector3 dir = (node2->m_q - node1->m_q).normalized(); + btVector3 dir = (node2->m_x - node1->m_x).normalized(); scaled_force = scale * m_dampingStiffness * v_diff.dot(dir) * dir; } } @@ -118,9 +118,9 @@ public: btVector3 local_scaled_df = scaled_k_damp * (dv[id2] - dv[id1]); if (m_momentum_conserving) { - if ((node2->m_q - node1->m_q).norm() > SIMD_EPSILON) + if ((node2->m_x - node1->m_x).norm() > SIMD_EPSILON) { - btVector3 dir = (node2->m_q - node1->m_q).normalized(); + btVector3 dir = (node2->m_x - node1->m_x).normalized(); local_scaled_df= scaled_k_damp * (dv[id2] - dv[id1]).dot(dir) * dir; } } @@ -129,6 +129,7 @@ public: } } } + virtual double totalElasticEnergy(btScalar dt) { double energy = 0; @@ -150,6 +151,35 @@ public: return energy; } + virtual double totalDampingEnergy(btScalar dt) + { + double energy = 0; + int sz = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + sz = btMax(sz, psb->m_nodes[j].index); + } + } + TVStack dampingForce; + dampingForce.resize(sz+1); + for (int i = 0; i < dampingForce.size(); ++i) + dampingForce[i].setZero(); + addScaledDampingForce(0.5, dampingForce); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + const btSoftBody::Node& node = psb->m_nodes[j]; + energy -= dampingForce[node.index].dot(node.m_v) / dt; + } + } + return energy; + } + virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) { // implicit damping force differential From 55ebafc755ecec11c974753c57c0144a23725b36 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 19 Sep 2019 15:34:11 -0700 Subject: [PATCH 168/389] add demo to test soft body friction --- examples/DeformableDemo/PinchFriction.cpp | 382 ++++++++++++++++++ examples/DeformableDemo/PinchFriction.h | 19 + examples/ExampleBrowser/CMakeLists.txt | 2 + examples/ExampleBrowser/ExampleEntries.cpp | 2 + .../btDeformableMultiBodyDynamicsWorld.h | 7 +- src/BulletSoftBody/btSoftBodyHelpers.cpp | 70 ++++ src/BulletSoftBody/btSoftBodyHelpers.h | 3 + 7 files changed, 481 insertions(+), 4 deletions(-) create mode 100644 examples/DeformableDemo/PinchFriction.cpp create mode 100644 examples/DeformableDemo/PinchFriction.h diff --git a/examples/DeformableDemo/PinchFriction.cpp b/examples/DeformableDemo/PinchFriction.cpp new file mode 100644 index 000000000..06f8c2d5f --- /dev/null +++ b/examples/DeformableDemo/PinchFriction.cpp @@ -0,0 +1,382 @@ +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + 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. + */ +#include "PinchFriction.h" +///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. +#include "btBulletDynamicsCommon.h" +#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" +#include "BulletSoftBody/btSoftBody.h" +#include "BulletSoftBody/btSoftBodyHelpers.h" +#include "BulletSoftBody/btDeformableBodySolver.h" +#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" +#include //printf debugging + +#include "../CommonInterfaces/CommonRigidBodyBase.h" +#include "../Utils/b3ResourcePath.h" + +///The PinchFriction 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 PinchFriction : public CommonRigidBodyBase +{ + btAlignedObjectArray m_forces; +public: + PinchFriction(struct GUIHelperInterface* helper) + : CommonRigidBodyBase(helper) + { + } + virtual ~PinchFriction() + { + } + void initPhysics(); + + void exitPhysics(); + + void resetCamera() + { + float dist = 25; + float pitch = -30; + float yaw = 100; + float targetPos[3] = {0, -0, 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 = 1e6; + 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 btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const + { + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; + } + + virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() + { + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; + } + + virtual void renderScene() + { + CommonRigidBodyBase::renderScene(); + btDeformableMultiBodyDynamicsWorld* 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 dynamics2(btScalar time, btDeformableMultiBodyDynamicsWorld* world) +{ + btAlignedObjectArray& rbs = world->getNonStaticRigidBodies(); + if (rbs.size()<2) + return; + btRigidBody* rb0 = rbs[0]; + btScalar pressTime = 0.9; + btScalar liftTime = 2.5; + btScalar shiftTime = 3.5; + btScalar holdTime = 4.5*1000; + btScalar dropTime = 5.3*1000; + btTransform rbTransform; + rbTransform.setIdentity(); + btVector3 translation; + btVector3 velocity; + + btVector3 initialTranslationLeft = btVector3(0.5,3,4); + btVector3 initialTranslationRight = btVector3(0.5,3,-4); + btVector3 PinchFrictionVelocityLeft = btVector3(0,0,-.5); + btVector3 PinchFrictionVelocityRight = btVector3(0,0,.5); + btVector3 liftVelocity = btVector3(0,5,0); + btVector3 shiftVelocity = btVector3(0,0,0); + btVector3 holdVelocity = btVector3(0,0,0); + btVector3 openVelocityLeft = btVector3(0,0,4); + btVector3 openVelocityRight = btVector3(0,0,-4); + + if (time < pressTime) + { + velocity = PinchFrictionVelocityLeft; + translation = initialTranslationLeft + PinchFrictionVelocityLeft * time; + } + else if (time < liftTime) + { + velocity = liftVelocity; + translation = initialTranslationLeft + PinchFrictionVelocityLeft * pressTime + liftVelocity * (time - pressTime); + + } + else if (time < shiftTime) + { + velocity = shiftVelocity; + translation = initialTranslationLeft + PinchFrictionVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime); + } + else if (time < holdTime) + { + velocity = btVector3(0,0,0); + translation = initialTranslationLeft + PinchFrictionVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime); + } + else if (time < dropTime) + { + velocity = openVelocityLeft; + translation = initialTranslationLeft + PinchFrictionVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (time - holdTime); + } + else + { + velocity = holdVelocity; + translation = initialTranslationLeft + PinchFrictionVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (dropTime - holdTime); + } + 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]; + if (time < pressTime) + { + velocity = PinchFrictionVelocityRight; + translation = initialTranslationRight + PinchFrictionVelocityRight * time; + } + else if (time < liftTime) + { + velocity = liftVelocity; + translation = initialTranslationRight + PinchFrictionVelocityRight * pressTime + liftVelocity * (time - pressTime); + + } + else if (time < shiftTime) + { + velocity = shiftVelocity; + translation = initialTranslationRight + PinchFrictionVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime); + } + else if (time < holdTime) + { + velocity = btVector3(0,0,0); + translation = initialTranslationRight + PinchFrictionVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime); + } + else if (time < dropTime) + { + velocity = openVelocityRight; + translation = initialTranslationRight + PinchFrictionVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (time - holdTime); + } + else + { + velocity = holdVelocity; + translation = initialTranslationRight + PinchFrictionVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (dropTime - holdTime); + } + 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(20); + rb1->setFriction(20); +} + +void PinchFriction::initPhysics() +{ + m_guiHelper->setUpAxis(1); + + m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration(); + + m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); + + m_broadphase = new btDbvtBroadphase(); + btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver(); + + btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver(); + sol->setDeformableSolver(deformableBodySolver); + m_solver = sol; + + m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); + btVector3 gravity = btVector3(0, -10, 0); + m_dynamicsWorld->setGravity(gravity); + getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; + + getDeformableDynamicsWorld()->setSolverCallback(dynamics2); + 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); + + psb->scale(btVector3(1.5, 1.5, 1.5)); + psb->translate(btVector3(0, 4, 1.6)); + psb->getCollisionShape()->setMargin(0.15); + psb->setTotalMass(1); + psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects + psb->m_cfg.kCHR = 1; // collision hardness with rigid body + psb->m_cfg.kDF = 2; + btSoftBodyHelpers::generateBoundaryFaces(psb); + psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; + psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; + getDeformableDynamicsWorld()->addSoftBody(psb); + + btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); + getDeformableDynamicsWorld()->addForce(psb, gravity_force); + m_forces.push_back(gravity_force); + + btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(20,40); + getDeformableDynamicsWorld()->addForce(psb, neohookean); + m_forces.push_back(neohookean); + } + + // create a second soft block + { + btSoftBody* psb2 = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(), + TetraCube::getElements(), + 0, + TetraCube::getNodes(), + false, true, true); + + psb2->scale(btVector3(1.5, 1.5, 1.5)); + psb2->translate(btVector3(0, 4, -1.6)); + psb2->getCollisionShape()->setMargin(0.15); + psb2->setTotalMass(1); + psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects + psb2->m_cfg.kCHR = 1; // collision hardness with rigid body + psb2->m_cfg.kDF = 2; + psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; + psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; + btSoftBodyHelpers::generateBoundaryFaces(psb2); + getDeformableDynamicsWorld()->addSoftBody(psb2); + + btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); + getDeformableDynamicsWorld()->addForce(psb2, gravity_force); + m_forces.push_back(gravity_force); + + btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(20,40); + getDeformableDynamicsWorld()->addForce(psb2, neohookean); + m_forces.push_back(neohookean); + } + + // add a pair of grippers + createGrip(); + m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); +} + +void PinchFriction::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 forces + for (int j = 0; j < m_forces.size(); j++) + { + btDeformableLagrangianForce* force = m_forces[j]; + delete force; + } + m_forces.clear(); + //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* PinchFrictionCreateFunc(struct CommonExampleOptions& options) +{ + return new PinchFriction(options.m_guiHelper); +} + + diff --git a/examples/DeformableDemo/PinchFriction.h b/examples/DeformableDemo/PinchFriction.h new file mode 100644 index 000000000..b397ba342 --- /dev/null +++ b/examples/DeformableDemo/PinchFriction.h @@ -0,0 +1,19 @@ +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + 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_FRICTION_H +#define _PINCH_FRICTION_H + +class CommonExampleInterface* PinchFrictionCreateFunc(struct CommonExampleOptions& options); + +#endif //_PINCH_FRICTION_H diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt index d3e4b3f8c..0456f4f26 100644 --- a/examples/ExampleBrowser/CMakeLists.txt +++ b/examples/ExampleBrowser/CMakeLists.txt @@ -359,6 +359,8 @@ SET(BulletExampleBrowser_SRCS ../DeformableDemo/GraspDeformable.h ../DeformableDemo/Pinch.cpp ../DeformableDemo/Pinch.h + ../DeformableDemo/PinchFriction.cpp + ../DeformableDemo/PinchFriction.h ../DeformableDemo/DeformableMultibody.cpp ../DeformableDemo/DeformableMultibody.h ../DeformableDemo/DeformableRigid.cpp diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index ee04ece90..c72931891 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -46,6 +46,7 @@ #include "../RollingFrictionDemo/RollingFrictionDemo.h" #include "../DeformableDemo/DeformableRigid.h" #include "../DeformableDemo/Pinch.h" +#include "../DeformableDemo/PinchFriction.h" #include "../DeformableDemo/DeformableMultibody.h" #include "../DeformableDemo/VolumetricDeformable.h" #include "../DeformableDemo/GraspDeformable.h" @@ -188,6 +189,7 @@ static ExampleEntry gDefaultExamples[] = ExampleEntry(0, "Deformabe Body"), ExampleEntry(1, "Deformable-Deformable Contact", "Deformable contact", DeformableContactCreateFunc), + ExampleEntry(1, "Deformable-Deformable Friction Contact", "Deformable friction contact", PinchFrictionCreateFunc), ExampleEntry(1, "Deformable-RigidBody Contact", "Deformable test", DeformableRigidCreateFunc), ExampleEntry(1, "Grasp Deformable Cube", "Grasping test", PinchCreateFunc), ExampleEntry(1, "Grasp Deformable with Motor", "Grasping test", GraspDeformableCreateFunc), diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h index b9059f0c6..36f0b1218 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h @@ -13,8 +13,8 @@ 3. This notice may not be removed or altered from any source distribution. */ -#ifndef BT_DEFORMABLE_RIGID_DYNAMICS_WORLD_H -#define BT_DEFORMABLE_RIGID_DYNAMICS_WORLD_H +#ifndef BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H +#define BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H #include "btSoftMultiBodyDynamicsWorld.h" #include "btDeformableLagrangianForce.h" @@ -36,7 +36,6 @@ typedef btAlignedObjectArray btSoftBodyArray; class btDeformableMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld { typedef btAlignedObjectArray TVStack; -// using TVStack = btAlignedObjectArray; ///Solver classes that encapsulate multiple deformable bodies for solving btDeformableBodySolver* m_deformableBodySolver; btSoftBodyArray m_softBodies; @@ -162,4 +161,4 @@ public: } }; -#endif //BT_DEFORMABLE_RIGID_DYNAMICS_WORLD_H +#endif //BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H diff --git a/src/BulletSoftBody/btSoftBodyHelpers.cpp b/src/BulletSoftBody/btSoftBodyHelpers.cpp index 0c0bc4f64..c28b28848 100644 --- a/src/BulletSoftBody/btSoftBodyHelpers.cpp +++ b/src/BulletSoftBody/btSoftBodyHelpers.cpp @@ -1387,6 +1387,76 @@ btSoftBody* btSoftBodyHelpers::CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, return psb; } +void btSoftBodyHelpers::generateBoundaryFaces(btSoftBody* psb) +{ + int counter = 0; + for (int i = 0; i < psb->m_nodes.size(); ++i) + { + psb->m_nodes[i].index = counter++; + } + typedef btAlignedObjectArray Index; + btAlignedObjectArray indices; + indices.resize(psb->m_tetras.size()); + for (int i = 0; i < indices.size(); ++i) + { + Index index; + index.push_back(psb->m_tetras[i].m_n[0]->index); + index.push_back(psb->m_tetras[i].m_n[1]->index); + index.push_back(psb->m_tetras[i].m_n[2]->index); + index.push_back(psb->m_tetras[i].m_n[3]->index); + indices[i] = index; + } + + std::map, std::vector > dict; + for (int i = 0; i < indices.size(); ++i) + { + for (int j = 0; j < 4; ++j) + { + std::vector f; + if (j == 0) + { + f.push_back(indices[i][1]); + f.push_back(indices[i][0]); + f.push_back(indices[i][2]); + } + if (j == 1) + { + f.push_back(indices[i][3]); + f.push_back(indices[i][0]); + f.push_back(indices[i][1]); + } + if (j == 2) + { + f.push_back(indices[i][3]); + f.push_back(indices[i][1]); + f.push_back(indices[i][2]); + } + if (j == 3) + { + f.push_back(indices[i][2]); + f.push_back(indices[i][0]); + f.push_back(indices[i][3]); + } + std::vector f_sorted = f; + std::sort(f_sorted.begin(), f_sorted.end()); + if (dict.find(f_sorted) != dict.end()) + { + dict.erase(f_sorted); + } + else + { + dict.insert(std::make_pair(f_sorted, f)); + } + } + } + + for (auto it = dict.begin(); it != dict.end(); ++it) + { + std::vector f = it->second; + psb->appendFace(f[0], f[1], f[2]); + } +} + void btSoftBodyHelpers::writeObj(const char* filename, const btSoftBody* psb) { std::ofstream fs; diff --git a/src/BulletSoftBody/btSoftBodyHelpers.h b/src/BulletSoftBody/btSoftBodyHelpers.h index f189e7353..d5d7c3648 100644 --- a/src/BulletSoftBody/btSoftBodyHelpers.h +++ b/src/BulletSoftBody/btSoftBodyHelpers.h @@ -151,6 +151,9 @@ struct btSoftBodyHelpers static void readRenderMeshFromObj(const char* file, btSoftBody* psb); static void interpolateBarycentricWeights(btSoftBody* psb); + + static void generateBoundaryFaces(btSoftBody* psb); + static void duplicateFaces(const char* filename, const btSoftBody* psb); /// Sort the list of links to move link calculations that are dependent upon earlier /// ones as far as possible away from the calculation of those values From 0501fe1bbddbb6b20f976824ea8e3cfd2b35b71c Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 19 Sep 2019 16:38:45 -0700 Subject: [PATCH 169/389] add cloth demo to show deformable friction --- examples/DeformableDemo/ClothFriction.cpp | 251 ++++++++++++++++++ examples/DeformableDemo/ClothFriction.h | 19 ++ examples/DeformableDemo/PinchFriction.cpp | 67 +++-- examples/ExampleBrowser/CMakeLists.txt | 2 + examples/ExampleBrowser/ExampleEntries.cpp | 2 + src/BulletSoftBody/btDeformableBodySolver.cpp | 2 +- .../btDeformableMultiBodyConstraintSolver.cpp | 2 +- src/BulletSoftBody/btSoftBodyInternals.h | 10 +- 8 files changed, 333 insertions(+), 22 deletions(-) create mode 100644 examples/DeformableDemo/ClothFriction.cpp create mode 100644 examples/DeformableDemo/ClothFriction.h diff --git a/examples/DeformableDemo/ClothFriction.cpp b/examples/DeformableDemo/ClothFriction.cpp new file mode 100644 index 000000000..6626560c6 --- /dev/null +++ b/examples/DeformableDemo/ClothFriction.cpp @@ -0,0 +1,251 @@ +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + 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. + */ + +#include "ClothFriction.h" +///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. +#include "btBulletDynamicsCommon.h" +#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" +#include "BulletSoftBody/btSoftBody.h" +#include "BulletSoftBody/btSoftBodyHelpers.h" +#include "BulletSoftBody/btDeformableBodySolver.h" +#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" +#include //printf debugging + +#include "../CommonInterfaces/CommonRigidBodyBase.h" +#include "../Utils/b3ResourcePath.h" + +///The ClothFriction 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). +class ClothFriction : public CommonRigidBodyBase +{ + btAlignedObjectArray m_forces; +public: + ClothFriction(struct GUIHelperInterface* helper) + : CommonRigidBodyBase(helper) + { + } + virtual ~ClothFriction() + { + } + void initPhysics(); + + void exitPhysics(); + + void resetCamera() + { + float dist = 12; + float pitch = -50; + float yaw = 120; + float targetPos[3] = {0, -3, 0}; + m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]); + } + + void stepSimulation(float deltaTime) + { + float internalTimeStep = 1. / 240.f; + m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep); + } + + virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const + { + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; + } + + virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() + { + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; + } + + virtual void renderScene() + { + CommonRigidBodyBase::renderScene(); + btDeformableMultiBodyDynamicsWorld* 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 ClothFriction::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) + btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver(); + sol->setDeformableSolver(deformableBodySolver); + m_solver = sol; + + m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); + btVector3 gravity = btVector3(0, -10, 0); + m_dynamicsWorld->setGravity(gravity); + getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; + + 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, -32, 0)); + groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.1)); + //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(3); + + //add the ground to the dynamics world + m_dynamicsWorld->addRigidBody(body); + } + + // create a piece of cloth + { + btScalar s = 4; + btScalar h = 0; + + btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s), + btVector3(+s, h, -s), + btVector3(-s, h, +s), + btVector3(+s, h, +s), + 20,20, + 0, true); + + psb->getCollisionShape()->setMargin(0.05); + psb->generateBendingConstraints(2); + psb->setTotalMass(1); + psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects + psb->m_cfg.kCHR = 1; // collision hardness with rigid body + psb->m_cfg.kDF = 3; + psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; + psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; + getDeformableDynamicsWorld()->addSoftBody(psb); + + btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(10,1, true); + getDeformableDynamicsWorld()->addForce(psb, mass_spring); + m_forces.push_back(mass_spring); + + btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); + getDeformableDynamicsWorld()->addForce(psb, gravity_force); + m_forces.push_back(gravity_force); + + + h = 2; + s = 2; + btSoftBody* psb2 = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s), + btVector3(+s, h, -s), + btVector3(-s, h, +s), + btVector3(+s, h, +s), + 10,10, + 0, true); + psb2->getCollisionShape()->setMargin(0.05); + psb2->generateBendingConstraints(2); + psb2->setTotalMass(1); + psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects + psb2->m_cfg.kCHR = 1; // collision hardness with rigid body + psb2->m_cfg.kDF = 20; + psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; + psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; + psb->translate(btVector3(0,0,0)); + getDeformableDynamicsWorld()->addSoftBody(psb2); + + btDeformableMassSpringForce* mass_spring2 = new btDeformableMassSpringForce(10,1, true); + getDeformableDynamicsWorld()->addForce(psb2, mass_spring2); + m_forces.push_back(mass_spring2); + + btDeformableGravityForce* gravity_force2 = new btDeformableGravityForce(gravity); + getDeformableDynamicsWorld()->addForce(psb2, gravity_force2); + m_forces.push_back(gravity_force2); + } + m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); +} + +void ClothFriction::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 forces + for (int j = 0; j < m_forces.size(); j++) + { + btDeformableLagrangianForce* force = m_forces[j]; + delete force; + } + m_forces.clear(); + //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* ClothFrictionCreateFunc(struct CommonExampleOptions& options) +{ + return new ClothFriction(options.m_guiHelper); +} + + diff --git a/examples/DeformableDemo/ClothFriction.h b/examples/DeformableDemo/ClothFriction.h new file mode 100644 index 000000000..228ec659c --- /dev/null +++ b/examples/DeformableDemo/ClothFriction.h @@ -0,0 +1,19 @@ +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + 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 CLOTH_FRICTION_H +#define CLOTH_FRICTION_H + +class CommonExampleInterface* ClothFrictionCreateFunc(struct CommonExampleOptions& options); + +#endif //CLOTH_FRICTION_H diff --git a/examples/DeformableDemo/PinchFriction.cpp b/examples/DeformableDemo/PinchFriction.cpp index 06f8c2d5f..4aa2ba0d1 100644 --- a/examples/DeformableDemo/PinchFriction.cpp +++ b/examples/DeformableDemo/PinchFriction.cpp @@ -95,8 +95,8 @@ public: virtual void renderScene() { CommonRigidBodyBase::renderScene(); - btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); - +// btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); +// // for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++) // { // btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i]; @@ -115,7 +115,7 @@ void dynamics2(btScalar time, btDeformableMultiBodyDynamicsWorld* world) return; btRigidBody* rb0 = rbs[0]; btScalar pressTime = 0.9; - btScalar liftTime = 2.5; + btScalar liftTime = 10; btScalar shiftTime = 3.5; btScalar holdTime = 4.5*1000; btScalar dropTime = 5.3*1000; @@ -126,9 +126,9 @@ void dynamics2(btScalar time, btDeformableMultiBodyDynamicsWorld* world) btVector3 initialTranslationLeft = btVector3(0.5,3,4); btVector3 initialTranslationRight = btVector3(0.5,3,-4); - btVector3 PinchFrictionVelocityLeft = btVector3(0,0,-.5); - btVector3 PinchFrictionVelocityRight = btVector3(0,0,.5); - btVector3 liftVelocity = btVector3(0,5,0); + btVector3 PinchFrictionVelocityLeft = btVector3(0,0,-1); + btVector3 PinchFrictionVelocityRight = btVector3(0,0,1); + btVector3 liftVelocity = btVector3(0,1,0); btVector3 shiftVelocity = btVector3(0,0,0); btVector3 holdVelocity = btVector3(0,0,0); btVector3 openVelocityLeft = btVector3(0,0,4); @@ -209,8 +209,8 @@ void dynamics2(btScalar time, btDeformableMultiBodyDynamicsWorld* world) rb1->setAngularVelocity(btVector3(0,0,0)); rb1->setLinearVelocity(velocity); - rb0->setFriction(20); - rb1->setFriction(20); + rb0->setFriction(200); + rb1->setFriction(200); } void PinchFriction::initPhysics() @@ -260,7 +260,7 @@ void PinchFriction::initPhysics() btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform); btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia); btRigidBody* body = new btRigidBody(rbInfo); - body->setFriction(0.5); + body->setFriction(0); //add the ground to the dynamics world m_dynamicsWorld->addRigidBody(body); @@ -274,13 +274,13 @@ void PinchFriction::initPhysics() TetraCube::getNodes(), false, true, true); - psb->scale(btVector3(1.5, 1.5, 1.5)); - psb->translate(btVector3(0, 4, 1.6)); - psb->getCollisionShape()->setMargin(0.15); + psb->scale(btVector3(2, 2, 1)); + psb->translate(btVector3(0, 2.1, 2.2)); + psb->getCollisionShape()->setMargin(0.03); psb->setTotalMass(1); psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb->m_cfg.kCHR = 1; // collision hardness with rigid body - psb->m_cfg.kDF = 2; + psb->m_cfg.kDF = 20; btSoftBodyHelpers::generateBoundaryFaces(psb); psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; @@ -290,7 +290,7 @@ void PinchFriction::initPhysics() getDeformableDynamicsWorld()->addForce(psb, gravity_force); m_forces.push_back(gravity_force); - btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(20,40); + btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(4,8,.1); getDeformableDynamicsWorld()->addForce(psb, neohookean); m_forces.push_back(neohookean); } @@ -303,13 +303,13 @@ void PinchFriction::initPhysics() TetraCube::getNodes(), false, true, true); - psb2->scale(btVector3(1.5, 1.5, 1.5)); - psb2->translate(btVector3(0, 4, -1.6)); - psb2->getCollisionShape()->setMargin(0.15); + psb2->scale(btVector3(2, 2, 1)); + psb2->translate(btVector3(0, 2.1, -2.2)); + psb2->getCollisionShape()->setMargin(0.03); psb2->setTotalMass(1); psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb2->m_cfg.kCHR = 1; // collision hardness with rigid body - psb2->m_cfg.kDF = 2; + psb2->m_cfg.kDF = 20; psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; btSoftBodyHelpers::generateBoundaryFaces(psb2); @@ -319,11 +319,40 @@ void PinchFriction::initPhysics() getDeformableDynamicsWorld()->addForce(psb2, gravity_force); m_forces.push_back(gravity_force); - btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(20,40); + btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(4,8,.1); getDeformableDynamicsWorld()->addForce(psb2, neohookean); m_forces.push_back(neohookean); } + // create a third soft block + { + btSoftBody* psb3 = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(), + TetraCube::getElements(), + 0, + TetraCube::getNodes(), + false, true, true); + + psb3->scale(btVector3(2, 2, 1)); + psb3->translate(btVector3(0, 2.1, 0)); + psb3->getCollisionShape()->setMargin(0.03); + psb3->setTotalMass(1); + psb3->m_cfg.kKHR = 1; // collision hardness with kinematic objects + psb3->m_cfg.kCHR = 1; // collision hardness with rigid body + psb3->m_cfg.kDF = 20; + psb3->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; + psb3->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; + btSoftBodyHelpers::generateBoundaryFaces(psb3); + getDeformableDynamicsWorld()->addSoftBody(psb3); + + btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); + getDeformableDynamicsWorld()->addForce(psb3, gravity_force); + m_forces.push_back(gravity_force); + + btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(4,8,.1); + getDeformableDynamicsWorld()->addForce(psb3, neohookean); + m_forces.push_back(neohookean); + } + // add a pair of grippers createGrip(); m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt index 0456f4f26..b5314908e 100644 --- a/examples/ExampleBrowser/CMakeLists.txt +++ b/examples/ExampleBrowser/CMakeLists.txt @@ -361,6 +361,8 @@ SET(BulletExampleBrowser_SRCS ../DeformableDemo/Pinch.h ../DeformableDemo/PinchFriction.cpp ../DeformableDemo/PinchFriction.h + ../DeformableDemo/ClothFriction.cpp + ../DeformableDemo/ClothFriction.h ../DeformableDemo/DeformableMultibody.cpp ../DeformableDemo/DeformableMultibody.h ../DeformableDemo/DeformableRigid.cpp diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index c72931891..dc2fde954 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -45,6 +45,7 @@ #include "../DynamicControlDemo/MotorDemo.h" #include "../RollingFrictionDemo/RollingFrictionDemo.h" #include "../DeformableDemo/DeformableRigid.h" +#include "../DeformableDemo/ClothFriction.h" #include "../DeformableDemo/Pinch.h" #include "../DeformableDemo/PinchFriction.h" #include "../DeformableDemo/DeformableMultibody.h" @@ -189,6 +190,7 @@ static ExampleEntry gDefaultExamples[] = ExampleEntry(0, "Deformabe Body"), ExampleEntry(1, "Deformable-Deformable Contact", "Deformable contact", DeformableContactCreateFunc), + ExampleEntry(1, "Cloth Friction", "Cloth friction contact", ClothFrictionCreateFunc), ExampleEntry(1, "Deformable-Deformable Friction Contact", "Deformable friction contact", PinchFrictionCreateFunc), ExampleEntry(1, "Deformable-RigidBody Contact", "Deformable test", DeformableRigidCreateFunc), ExampleEntry(1, "Grasp Deformable Cube", "Grasping test", PinchCreateFunc), diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index fac85fbc1..7ee4d4bea 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -24,7 +24,7 @@ btDeformableBodySolver::btDeformableBodySolver() , m_cg(20) , m_maxNewtonIterations(3) , m_newtonTolerance(1e-4) -, m_lineSearch(true) +, m_lineSearch(false) { m_objective = new btDeformableBackwardEulerObjective(m_softBodies, m_backupVelocity); } diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp index f201a4d24..6ae6cb3df 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp @@ -23,7 +23,7 @@ btScalar btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlyIteration ///this is a special step to resolve penetrations (just for contacts) solveGroupCacheFriendlySplitImpulseIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); -// m_maxOverrideNumSolverIterations = 150; + m_maxOverrideNumSolverIterations = 150; int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations; for (int iteration = 0; iteration < maxIterations; iteration++) { diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index 1db6ab8ff..c9279b278 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -1314,7 +1314,15 @@ struct btSoftColliders return; btVector3 rayEnd = dir.normalized() * (l + 2*mrg); // register an intersection if the line segment formed by the trajectory of the node in the timestep intersects the face - bool intersect = lineIntersectsTriangle(btVector3(0,0,0), rayEnd, face->m_n[0]->m_x-o, face->m_n[1]->m_x-o, face->m_n[2]->m_x-o, p, normal); + btVector3 v0 = face->m_n[0]->m_x; + btVector3 v1 = face->m_n[1]->m_x; + btVector3 v2 = face->m_n[2]->m_x; + btVector3 vc = (v0+v1+v2)/3.; + btScalar scale = 2; + btVector3 u0 = vc + (v0-vc)*scale; + btVector3 u1 = vc + (v1-vc)*scale; + btVector3 u2 = vc + (v2-vc)*scale; + bool intersect = lineIntersectsTriangle(btVector3(0,0,0), rayEnd, u0-o, u1-o, u2-o, p, normal); if (intersect) { From ef5aa6e73bb69fd2b1e96e37641a5167453f6f36 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 19 Sep 2019 16:56:55 -0700 Subject: [PATCH 170/389] add options to toggle between whether line search is used & add more documentation --- examples/DeformableDemo/ClothFriction.cpp | 5 ++-- examples/DeformableDemo/DeformableContact.cpp | 4 +--- .../DeformableDemo/DeformableMultibody.cpp | 14 ----------- examples/DeformableDemo/DeformableRigid.cpp | 19 +-------------- examples/DeformableDemo/GraspDeformable.cpp | 4 +--- examples/DeformableDemo/Pinch.cpp | 24 +------------------ examples/DeformableDemo/PinchFriction.cpp | 4 +--- .../DeformableDemo/VolumetricDeformable.cpp | 19 +-------------- src/BulletSoftBody/btDeformableBodySolver.cpp | 5 ++++ src/BulletSoftBody/btDeformableBodySolver.h | 22 +++++++++++++++++ .../btDeformableMultiBodyDynamicsWorld.cpp | 16 +++++-------- .../btDeformableMultiBodyDynamicsWorld.h | 6 +++++ 12 files changed, 47 insertions(+), 95 deletions(-) diff --git a/examples/DeformableDemo/ClothFriction.cpp b/examples/DeformableDemo/ClothFriction.cpp index 6626560c6..cd09a17d8 100644 --- a/examples/DeformableDemo/ClothFriction.cpp +++ b/examples/DeformableDemo/ClothFriction.cpp @@ -25,9 +25,7 @@ #include "../CommonInterfaces/CommonRigidBodyBase.h" #include "../Utils/b3ResourcePath.h" -///The ClothFriction 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). +///The ClothFriction shows the use of deformable friction. class ClothFriction : public CommonRigidBodyBase { btAlignedObjectArray m_forces; @@ -197,6 +195,7 @@ void ClothFriction::initPhysics() getDeformableDynamicsWorld()->addForce(psb2, gravity_force2); m_forces.push_back(gravity_force2); } + getDeformableDynamicsWorld()->setImplicit(false); m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); } diff --git a/examples/DeformableDemo/DeformableContact.cpp b/examples/DeformableDemo/DeformableContact.cpp index ce12b8b12..68ffd26c0 100644 --- a/examples/DeformableDemo/DeformableContact.cpp +++ b/examples/DeformableDemo/DeformableContact.cpp @@ -25,9 +25,7 @@ #include "../CommonInterfaces/CommonRigidBodyBase.h" #include "../Utils/b3ResourcePath.h" -///The DeformableContact 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). +///The DeformableContact shows the contact between deformable objects class DeformableContact : public CommonRigidBodyBase { btAlignedObjectArray m_forces; diff --git a/examples/DeformableDemo/DeformableMultibody.cpp b/examples/DeformableDemo/DeformableMultibody.cpp index 5ffaefc36..a4b03f430 100644 --- a/examples/DeformableDemo/DeformableMultibody.cpp +++ b/examples/DeformableDemo/DeformableMultibody.cpp @@ -11,20 +11,6 @@ 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 "DeformableMultibody.h" ///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. #include "btBulletDynamicsCommon.h" diff --git a/examples/DeformableDemo/DeformableRigid.cpp b/examples/DeformableDemo/DeformableRigid.cpp index f34b2a0e8..920cd79a6 100644 --- a/examples/DeformableDemo/DeformableRigid.cpp +++ b/examples/DeformableDemo/DeformableRigid.cpp @@ -10,21 +10,6 @@ 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 "DeformableRigid.h" ///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. #include "btBulletDynamicsCommon.h" @@ -39,9 +24,7 @@ #include "../CommonInterfaces/CommonRigidBodyBase.h" #include "../Utils/b3ResourcePath.h" -///The DeformableRigid 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). +///The DeformableRigid shows contact between deformable objects and rigid objects. class DeformableRigid : public CommonRigidBodyBase { btAlignedObjectArray m_forces; diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index 08368398d..41f75a4cf 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -34,9 +34,7 @@ #include "../CommonInterfaces/CommonFileIOInterface.h" #include "Bullet3Common/b3FileUtils.h" -///The GraspDeformable 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). +///The GraspDeformable shows grasping a volumetric deformable objects with multibody gripper with moter constraints. static btScalar sGripperVerticalVelocity = 0.f; static btScalar sGripperClosingTargetVelocity = 0.f; static float friction = 1.; diff --git a/examples/DeformableDemo/Pinch.cpp b/examples/DeformableDemo/Pinch.cpp index 661698a06..0887453f5 100644 --- a/examples/DeformableDemo/Pinch.cpp +++ b/examples/DeformableDemo/Pinch.cpp @@ -11,20 +11,6 @@ 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" @@ -39,21 +25,13 @@ #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). +///The Pinch shows the frictional contact between kinematic rigid objects with deformable objects struct TetraCube { #include "../SoftDemo/cube.inl" }; -struct TetraBunny -{ -#include "../SoftDemo/bunny.inl" -}; - - class Pinch : public CommonRigidBodyBase { btAlignedObjectArray m_forces; diff --git a/examples/DeformableDemo/PinchFriction.cpp b/examples/DeformableDemo/PinchFriction.cpp index 4aa2ba0d1..ed69ddfd8 100644 --- a/examples/DeformableDemo/PinchFriction.cpp +++ b/examples/DeformableDemo/PinchFriction.cpp @@ -24,9 +24,7 @@ #include "../CommonInterfaces/CommonRigidBodyBase.h" #include "../Utils/b3ResourcePath.h" -///The PinchFriction 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). +///The PinchFriction shows the frictional contacts among volumetric deformable objects struct TetraCube { diff --git a/examples/DeformableDemo/VolumetricDeformable.cpp b/examples/DeformableDemo/VolumetricDeformable.cpp index cff07a175..3f663562f 100644 --- a/examples/DeformableDemo/VolumetricDeformable.cpp +++ b/examples/DeformableDemo/VolumetricDeformable.cpp @@ -11,20 +11,6 @@ 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" @@ -39,10 +25,7 @@ #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). - +///The VolumetricDeformable shows the contact between volumetric deformable objects and rigid objects. struct TetraCube { diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 7ee4d4bea..a9de66454 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -429,3 +429,8 @@ void btDeformableBodySolver::setImplicit(bool implicit) m_implicit = implicit; m_objective->setImplicit(implicit); } + +void btDeformableBodySolver::setLineSearch(bool lineSearch) +{ + m_lineSearch = lineSearch; +} diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index ffce06937..b0c458029 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -103,16 +103,38 @@ public: virtual bool checkInitialized(){return true;} + // If true, implicit time stepping scheme is used. + // Otherwise, explicit time stepping scheme is used void setImplicit(bool implicit); + // If true, newton's method with line search is used when implicit time stepping scheme is turned on + void setLineSearch(bool lineSearch); + + // set temporary position x^* = x_n + dt * v + // update the deformation gradient at position x^* void updateState(); + // set dv = dv + scale * ddv void updateDv(btScalar scale = 1); + // set temporary position x^* = x_n + dt * v^* void updateTempPosition(); + + // save the current dv to m_backup_dv; void backupDv(); + + // set dv to the backed-up value void revertDv(); + + // set dv = dv + scale * ddv + // set v^* = v_n + dv + // set temporary position x^* = x_n + dt * v^* + // update the deformation gradient at position x^* void updateEnergy(btScalar scale); + + // calculates the appropriately scaled kinetic energy in the system, which is + // 1/2 * dv^T * M * dv + // used in line search btScalar kineticEnergy(); }; diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 8b6d80814..39d2d61bb 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -69,14 +69,14 @@ void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar t // End solver-wise simulation step // /////////////////////////////// } - +// //void btDeformableMultiBodyDynamicsWorld::positionCorrection(btScalar timeStep) //{ -// // perform position correction for all constraints +// // perform position correction for all constraints // BT_PROFILE("positionCorrection"); -// for (int index = 0; index < m_deformableBodySolver->m_objective->projection.m_constraints.size(); ++index) +// for (int index = 0; index < m_deformableBodySolver->m_objective->m_projection.m_constraints.size(); ++index) // { -// DeformableContactConstraint& constraint = *m_deformableBodySolver->m_objective->projection.m_constraints.getAtIndex(index); +// DeformableContactConstraint& constraint = *m_deformableBodySolver->m_objective->m_projection.m_constraints.getAtIndex(index); // for (int j = 0; j < constraint.m_contact.size(); ++j) // { // const btSoftBody::RContact* c = constraint.m_contact[j]; @@ -144,16 +144,11 @@ void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar t // } //} -void btDeformableMultiBodyDynamicsWorld::positionCorrection(btScalar timeStep) -{ -} - - void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) { BT_PROFILE("integrateTransforms"); //m_deformableBodySolver->backupVelocity(); - //positionCorrection(timeStep); + //positionCorrection(timeStep); // looks like position correction is no longer necessary btMultiBodyDynamicsWorld::integrateTransforms(timeStep); for (int i = 0; i < m_softBodies.size(); ++i) { @@ -329,6 +324,7 @@ void btDeformableMultiBodyDynamicsWorld::reinitialize(btScalar timeStep) { m_internalTime += timeStep; m_deformableBodySolver->setImplicit(m_implicit); + m_deformableBodySolver->setLineSearch(m_lineSearch); m_deformableBodySolver->reinitialize(m_softBodies, timeStep); btDispatcherInfo& dispatchInfo = btMultiBodyDynamicsWorld::getDispatchInfo(); dispatchInfo.m_timeStep = timeStep; diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h index 36f0b1218..dc060a8e8 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h @@ -47,6 +47,7 @@ class btDeformableMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld btScalar m_internalTime; int m_contact_iterations; bool m_implicit; + bool m_lineSearch; typedef void (*btSolverCallback)(btScalar time, btDeformableMultiBodyDynamicsWorld* world); btSolverCallback m_solverCallback; @@ -159,6 +160,11 @@ public: { m_implicit = implicit; } + + void setLineSearch(bool lineSearch) + { + m_lineSearch = lineSearch; + } }; #endif //BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H From 2f9184acc98041eadb396cc153a002757d5ab257 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 19 Sep 2019 16:57:25 -0700 Subject: [PATCH 171/389] remove position correction --- .../btDeformableMultiBodyDynamicsWorld.cpp | 74 ------------------- 1 file changed, 74 deletions(-) diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 39d2d61bb..0d5067339 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -69,80 +69,6 @@ void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar t // End solver-wise simulation step // /////////////////////////////// } -// -//void btDeformableMultiBodyDynamicsWorld::positionCorrection(btScalar timeStep) -//{ -// // perform position correction for all constraints -// BT_PROFILE("positionCorrection"); -// for (int index = 0; index < m_deformableBodySolver->m_objective->m_projection.m_constraints.size(); ++index) -// { -// DeformableContactConstraint& constraint = *m_deformableBodySolver->m_objective->m_projection.m_constraints.getAtIndex(index); -// for (int j = 0; j < constraint.m_contact.size(); ++j) -// { -// const btSoftBody::RContact* c = constraint.m_contact[j]; -// // skip anchor points -// if (c == NULL || c->m_node->m_im == 0) -// continue; -// const btSoftBody::sCti& cti = c->m_cti; -// btVector3 va(0, 0, 0); -// -// // grab the velocity of the rigid body -// if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) -// { -// btRigidBody* rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); -// va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c->m_c1)): btVector3(0, 0, 0); -// } -// else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) -// { -// btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); -// if (multibodyLinkCol) -// { -// const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; -// const btScalar* J_n = &c->jacobianData_normal.m_jacobians[0]; -// const btScalar* J_t1 = &c->jacobianData_t1.m_jacobians[0]; -// const btScalar* J_t2 = &c->jacobianData_t2.m_jacobians[0]; -// const btScalar* local_v = multibodyLinkCol->m_multiBody->getVelocityVector(); -// // add in the normal component of the va -// btScalar vel = 0.0; -// for (int k = 0; k < ndof; ++k) -// { -// vel += local_v[k] * J_n[k]; -// } -// va = cti.m_normal * vel; -// -// vel = 0.0; -// for (int k = 0; k < ndof; ++k) -// { -// vel += local_v[k] * J_t1[k]; -// } -// va += c->t1 * vel; -// vel = 0.0; -// for (int k = 0; k < ndof; ++k) -// { -// vel += local_v[k] * J_t2[k]; -// } -// va += c->t2 * vel; -// } -// } -// else -// { -// // The object interacting with deformable node is not supported for position correction -// btAssert(false); -// } -// -// if (cti.m_colObj->hasContactResponse()) -// { -// btScalar dp = cti.m_offset; -// -// // only perform position correction when penetrating -// if (dp < 0) -// { -// c->m_node->m_v -= dp * cti.m_normal / timeStep; -// } -// } -// } -// } -//} void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) { From be7383cc035977d2fc5eee7ac4cf1a1cd47ea324 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 19 Sep 2019 17:09:52 -0700 Subject: [PATCH 172/389] update examples to test different time stepping schemes (namely explicit, implicit and implicit with line search)/ --- examples/DeformableDemo/DeformableContact.cpp | 13 ++++--- .../DeformableDemo/DeformableMultibody.cpp | 36 +++++++++---------- examples/DeformableDemo/DeformableRigid.cpp | 2 ++ examples/DeformableDemo/Pinch.cpp | 1 + .../DeformableDemo/VolumetricDeformable.cpp | 1 + src/BulletSoftBody/btDeformableBodySolver.cpp | 2 +- 6 files changed, 29 insertions(+), 26 deletions(-) diff --git a/examples/DeformableDemo/DeformableContact.cpp b/examples/DeformableDemo/DeformableContact.cpp index 68ffd26c0..e80cda1b1 100644 --- a/examples/DeformableDemo/DeformableContact.cpp +++ b/examples/DeformableDemo/DeformableContact.cpp @@ -26,6 +26,7 @@ #include "../Utils/b3ResourcePath.h" ///The DeformableContact shows the contact between deformable objects + class DeformableContact : public CommonRigidBodyBase { btAlignedObjectArray m_forces; @@ -149,12 +150,12 @@ void DeformableContact::initPhysics() 20,20, 1 + 2 + 4 + 8, true); - psb->getCollisionShape()->setMargin(0.05); + psb->getCollisionShape()->setMargin(0.1); psb->generateBendingConstraints(2); psb->setTotalMass(1); 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; + psb->m_cfg.kDF = 0; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; getDeformableDynamicsWorld()->addSoftBody(psb); @@ -176,15 +177,15 @@ void DeformableContact::initPhysics() btVector3(+s, h, +s), 10,10, 0, true); - psb2->getCollisionShape()->setMargin(0.05); + psb2->getCollisionShape()->setMargin(0.1); psb2->generateBendingConstraints(2); psb2->setTotalMass(1); psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb2->m_cfg.kCHR = 1; // collision hardness with rigid body - psb2->m_cfg.kDF = 1; + psb2->m_cfg.kDF = .1; psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; - psb->translate(btVector3(3,0,0)); + psb->translate(btVector3(3.5,0,0)); getDeformableDynamicsWorld()->addSoftBody(psb2); btDeformableMassSpringForce* mass_spring2 = new btDeformableMassSpringForce(10,1, true); @@ -195,6 +196,8 @@ void DeformableContact::initPhysics() getDeformableDynamicsWorld()->addForce(psb2, gravity_force2); m_forces.push_back(gravity_force2); } + getDeformableDynamicsWorld()->setImplicit(true); + getDeformableDynamicsWorld()->setLineSearch(false); m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); } diff --git a/examples/DeformableDemo/DeformableMultibody.cpp b/examples/DeformableDemo/DeformableMultibody.cpp index a4b03f430..d7f254960 100644 --- a/examples/DeformableDemo/DeformableMultibody.cpp +++ b/examples/DeformableDemo/DeformableMultibody.cpp @@ -221,7 +221,7 @@ void DeformableMultibody::initPhysics() getDeformableDynamicsWorld()->addForce(psb, gravity_force); m_forces.push_back(gravity_force); } - + getDeformableDynamicsWorld()->setImplicit(false); m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); } @@ -346,26 +346,23 @@ void DeformableMultibody::addColliders_testMultiDof(btMultiBody* pMultiBody, btM 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); - } + 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) @@ -378,7 +375,6 @@ void DeformableMultibody::addColliders_testMultiDof(btMultiBody* pMultiBody, btM 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()}; diff --git a/examples/DeformableDemo/DeformableRigid.cpp b/examples/DeformableDemo/DeformableRigid.cpp index 920cd79a6..1bd437a49 100644 --- a/examples/DeformableDemo/DeformableRigid.cpp +++ b/examples/DeformableDemo/DeformableRigid.cpp @@ -231,6 +231,8 @@ void DeformableRigid::initPhysics() // add a few rigid bodies Ctor_RbUpStack(1); } + getDeformableDynamicsWorld()->setImplicit(true); + getDeformableDynamicsWorld()->setLineSearch(false); m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); } diff --git a/examples/DeformableDemo/Pinch.cpp b/examples/DeformableDemo/Pinch.cpp index 0887453f5..7c966cc4d 100644 --- a/examples/DeformableDemo/Pinch.cpp +++ b/examples/DeformableDemo/Pinch.cpp @@ -329,6 +329,7 @@ void Pinch::initPhysics() // add a grippers createGrip(); } + getDeformableDynamicsWorld()->setImplicit(false); m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); } diff --git a/examples/DeformableDemo/VolumetricDeformable.cpp b/examples/DeformableDemo/VolumetricDeformable.cpp index 3f663562f..0c4de59b1 100644 --- a/examples/DeformableDemo/VolumetricDeformable.cpp +++ b/examples/DeformableDemo/VolumetricDeformable.cpp @@ -196,6 +196,7 @@ void VolumetricDeformable::initPhysics() //add the ground to the dynamics world m_dynamicsWorld->addRigidBody(body); } + getDeformableDynamicsWorld()->setLineSearch(false); createStaticBox(btVector3(1, 5, 5), btVector3(-5,0,0)); createStaticBox(btVector3(1, 5, 5), btVector3(5,0,0)); diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index a9de66454..0bec738dd 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -24,7 +24,7 @@ btDeformableBodySolver::btDeformableBodySolver() , m_cg(20) , m_maxNewtonIterations(3) , m_newtonTolerance(1e-4) -, m_lineSearch(false) +, m_lineSearch(true) { m_objective = new btDeformableBackwardEulerObjective(m_softBodies, m_backupVelocity); } From 416e516735dafef46a9291f021d16cf69358bb4b Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 20 Sep 2019 10:11:13 -0700 Subject: [PATCH 173/389] add naive implementation of self collision --- .../DeformableSelfCollision.cpp | 233 ++++++++++++++++++ .../DeformableDemo/DeformableSelfCollision.h | 19 ++ examples/ExampleBrowser/CMakeLists.txt | 2 + examples/ExampleBrowser/ExampleEntries.cpp | 2 + src/BulletSoftBody/btDeformableBodySolver.cpp | 2 +- .../btDeformableMultiBodyConstraintSolver.cpp | 2 +- .../btDeformableMultiBodyDynamicsWorld.cpp | 14 ++ .../btDeformableMultiBodyDynamicsWorld.h | 4 + src/BulletSoftBody/btSoftBody.cpp | 12 + src/BulletSoftBody/btSoftBodyInternals.h | 9 +- 10 files changed, 296 insertions(+), 3 deletions(-) create mode 100644 examples/DeformableDemo/DeformableSelfCollision.cpp create mode 100644 examples/DeformableDemo/DeformableSelfCollision.h diff --git a/examples/DeformableDemo/DeformableSelfCollision.cpp b/examples/DeformableDemo/DeformableSelfCollision.cpp new file mode 100644 index 000000000..eb963ae05 --- /dev/null +++ b/examples/DeformableDemo/DeformableSelfCollision.cpp @@ -0,0 +1,233 @@ +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + 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. + */ +#include "DeformableSelfCollision.h" +///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. +#include "btBulletDynamicsCommon.h" +#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" +#include "BulletSoftBody/btSoftBody.h" +#include "BulletSoftBody/btSoftBodyHelpers.h" +#include "BulletSoftBody/btDeformableBodySolver.h" +#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" +#include //printf debugging + +#include "../CommonInterfaces/CommonRigidBodyBase.h" +#include "../Utils/b3ResourcePath.h" + +///The DeformableSelfCollision shows deformable self collisions +class DeformableSelfCollision : public CommonRigidBodyBase +{ + btAlignedObjectArray m_forces; +public: + DeformableSelfCollision(struct GUIHelperInterface* helper) + : CommonRigidBodyBase(helper) + { + } + virtual ~DeformableSelfCollision() + { + } + void initPhysics(); + + void exitPhysics(); + + void resetCamera() + { + float dist = 10; + float pitch = -8; + float yaw = 100; + float targetPos[3] = {0, -10, 0}; + m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]); + } + + void stepSimulation(float deltaTime) + { + float internalTimeStep = 1. / 240.f; + m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep); + } + + virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const + { + ///just make it a btSoftRigidDynamicsWorld please + ///or we will add type checking + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; + } + + virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() + { + ///just make it a btSoftRigidDynamicsWorld please + ///or we will add type checking + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; + } + + virtual void renderScene() + { + CommonRigidBodyBase::renderScene(); + btDeformableMultiBodyDynamicsWorld* 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 DeformableSelfCollision::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) + btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver(); + sol->setDeformableSolver(deformableBodySolver); + m_solver = sol; + + m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); + // deformableBodySolver->setWorld(getDeformableDynamicsWorld()); + // m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality + btVector3 gravity = btVector3(0, -100, 0); + m_dynamicsWorld->setGravity(gravity); + getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; + + // 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, -35, 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(40); + + //add the ground to the dynamics world + m_dynamicsWorld->addRigidBody(body); + } + + // create a piece of cloth + { + const btScalar s = 2; + const btScalar h = 0; + + btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -4*s), + btVector3(+s, h, -4*s), + btVector3(-s, h, +4*s), + btVector3(+s, h, +4*s), + 10,40, + 0, true, 0.1); + + + psb->getCollisionShape()->setMargin(0.2); + psb->generateBendingConstraints(2); + psb->setTotalMass(1); + psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects + psb->m_cfg.kCHR = 1; // collision hardness with rigid body + psb->m_cfg.kDF = 0.02; + psb->rotate(btQuaternion(0,SIMD_PI / 2, 0)); + psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; + psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; + getDeformableDynamicsWorld()->addSoftBody(psb); + + btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(10,0.2, true); + getDeformableDynamicsWorld()->addForce(psb, mass_spring); + m_forces.push_back(mass_spring); + + btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); + getDeformableDynamicsWorld()->addForce(psb, gravity_force); + m_forces.push_back(gravity_force); + } + getDeformableDynamicsWorld()->setImplicit(true); + getDeformableDynamicsWorld()->setLineSearch(false); + m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); +} + +void DeformableSelfCollision::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 forces + for (int j = 0; j < m_forces.size(); j++) + { + btDeformableLagrangianForce* force = m_forces[j]; + delete force; + } + m_forces.clear(); + //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* DeformableSelfCollisionCreateFunc(struct CommonExampleOptions& options) +{ + return new DeformableSelfCollision(options.m_guiHelper); +} + + diff --git a/examples/DeformableDemo/DeformableSelfCollision.h b/examples/DeformableDemo/DeformableSelfCollision.h new file mode 100644 index 000000000..36359c0d9 --- /dev/null +++ b/examples/DeformableDemo/DeformableSelfCollision.h @@ -0,0 +1,19 @@ +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + 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_SELF_COLLISION_H +#define DEFORMABLE_SELF_COLLISION_H + +class CommonExampleInterface* DeformableSelfCollisionCreateFunc(struct CommonExampleOptions& options); + +#endif //_DEFORMABLE_SELF_COLLISION_H diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt index b5314908e..7c31c9d84 100644 --- a/examples/ExampleBrowser/CMakeLists.txt +++ b/examples/ExampleBrowser/CMakeLists.txt @@ -359,6 +359,8 @@ SET(BulletExampleBrowser_SRCS ../DeformableDemo/GraspDeformable.h ../DeformableDemo/Pinch.cpp ../DeformableDemo/Pinch.h + ../DeformableDemo/DeformableSelfCollision.cpp + ../DeformableDemo/DeformableSelfCollision.h ../DeformableDemo/PinchFriction.cpp ../DeformableDemo/PinchFriction.h ../DeformableDemo/ClothFriction.cpp diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index dc2fde954..e705fd075 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -47,6 +47,7 @@ #include "../DeformableDemo/DeformableRigid.h" #include "../DeformableDemo/ClothFriction.h" #include "../DeformableDemo/Pinch.h" +#include "../DeformableDemo/DeformableSelfCollision.h" #include "../DeformableDemo/PinchFriction.h" #include "../DeformableDemo/DeformableMultibody.h" #include "../DeformableDemo/VolumetricDeformable.h" @@ -189,6 +190,7 @@ static ExampleEntry gDefaultExamples[] = //ExampleEntry(1, "Spheres & Plane C-API (Bullet3)", "Collision C-API using Bullet 3.x backend", CollisionTutorialBullet2CreateFunc,TUT_SPHERE_PLANE_RTB3), ExampleEntry(0, "Deformabe Body"), + ExampleEntry(1, "Deformable Self Collision", "Deformable Self Collision", DeformableSelfCollisionCreateFunc), ExampleEntry(1, "Deformable-Deformable Contact", "Deformable contact", DeformableContactCreateFunc), ExampleEntry(1, "Cloth Friction", "Cloth friction contact", ClothFrictionCreateFunc), ExampleEntry(1, "Deformable-Deformable Friction Contact", "Deformable friction contact", PinchFrictionCreateFunc), diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 0bec738dd..88f885059 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -22,7 +22,7 @@ btDeformableBodySolver::btDeformableBodySolver() : m_numNodes(0) , m_cg(20) -, m_maxNewtonIterations(3) +, m_maxNewtonIterations(10) , m_newtonTolerance(1e-4) , m_lineSearch(true) { diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp index 6ae6cb3df..258d08b30 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp @@ -23,7 +23,7 @@ btScalar btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlyIteration ///this is a special step to resolve penetrations (just for contacts) solveGroupCacheFriendlySplitImpulseIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); - m_maxOverrideNumSolverIterations = 150; + m_maxOverrideNumSolverIterations = 50; int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations; for (int iteration = 0; iteration < maxIterations; iteration++) { diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 0d5067339..d761d42e9 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -51,6 +51,11 @@ void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar t ///perform collision detection btMultiBodyDynamicsWorld::performDiscreteCollisionDetection(); + if (m_selfCollision) + { + softBodySelfCollision(); + } + btMultiBodyDynamicsWorld::calculateSimulationIslands(); beforeSolverCallbacks(timeStep); @@ -70,6 +75,15 @@ void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar t // /////////////////////////////// } +void btDeformableMultiBodyDynamicsWorld::softBodySelfCollision() +{ + for (int i = 0; i < m_softBodies.size(); i++) + { + btSoftBody* psb = (btSoftBody*)m_softBodies[i]; + psb->defaultCollisionHandler(psb); + } +} + void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) { BT_PROFILE("integrateTransforms"); diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h index dc060a8e8..e66e060f2 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h @@ -48,6 +48,7 @@ class btDeformableMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld int m_contact_iterations; bool m_implicit; bool m_lineSearch; + bool m_selfCollision; typedef void (*btSolverCallback)(btScalar time, btDeformableMultiBodyDynamicsWorld* world); btSolverCallback m_solverCallback; @@ -83,6 +84,7 @@ public: m_sbi.m_gravity.setValue(0, -10, 0); m_internalTime = 0.0; m_implicit = true; + m_selfCollision = true; } void setSolverCallback(btSolverCallback cb) @@ -156,6 +158,8 @@ public: void sortConstraints(); + void softBodySelfCollision(); + void setImplicit(bool implicit) { m_implicit = implicit; diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 95f2c4860..eadc56d7c 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -3515,6 +3515,18 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb) docollide.psb[1]->m_fdbvt.m_root, docollide); } + else + { + btSoftColliders::CollideVF_DD docollide; + docollide.mrg = getCollisionShape()->getMargin() + + psb->getCollisionShape()->getMargin(); + /* psb0 nodes vs psb0 faces */ + docollide.psb[0] = this; + docollide.psb[1] = psb; + docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root, + docollide.psb[1]->m_fdbvt.m_root, + docollide); + } } break; default: diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index c9279b278..9f4d2a197 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -1255,6 +1255,12 @@ struct btSoftColliders { btSoftBody::Node* node = (btSoftBody::Node*)lnode->data; btSoftBody::Face* face = (btSoftBody::Face*)lface->data; + for (int i = 0; i < 3; ++i) + { + if (face->m_n[i] == node) + continue; + } + btVector3 o = node->m_x; btVector3 p; btScalar d = SIMD_INFINITY; @@ -1318,7 +1324,8 @@ struct btSoftColliders btVector3 v1 = face->m_n[1]->m_x; btVector3 v2 = face->m_n[2]->m_x; btVector3 vc = (v0+v1+v2)/3.; - btScalar scale = 2; + btScalar scale = 1; + // enlarge the triangle to catch collision on the edge btVector3 u0 = vc + (v0-vc)*scale; btVector3 u1 = vc + (v1-vc)*scale; btVector3 u2 = vc + (v2-vc)*scale; From 20abbc9ee7e85f32bad9233c2ae8305d7cd7f1bb Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 20 Sep 2019 13:53:34 -0700 Subject: [PATCH 174/389] add dynamic friction for deformable contact --- .../btDeformableContactProjection.cpp | 41 ++++++++++++++++++- 1 file changed, 39 insertions(+), 2 deletions(-) diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index 3943e695f..e340a3fd5 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -387,14 +387,51 @@ void btDeformableContactProjection::applyDynamicFriction(TVStack& f) // it's ok to add the friction force generated by the entire impulse here because the normal component of the residual will be projected out anyway. for (int k = 0; k < 3; ++k) { - if (face->m_n[0]->index == i) + if (face->m_n[k]->index == i) { - f[i] += constraint->getDv(face->m_n[k])* (1./face->m_n[k]->m_im); + if (face->m_n[k]->m_im != 0) + { + f[i] += constraint->getDv(face->m_n[k])* (1./face->m_n[k]->m_im); + } break; } } } } + + if (m_deformableConstraints.find(i) != NULL) + { + btAlignedObjectArray& constraintsList = *m_deformableConstraints[i]; + for (int j = 0; j < constraintsList.size(); ++j) + { + const btDeformableFaceNodeContactConstraint* constraint = constraintsList[j]; + btSoftBody::Face* face = constraint->getContact()->m_face; + btSoftBody::Node* node = constraint->getContact()->m_node; + + // it's ok to add the friction force generated by the entire impulse here because the normal component of the residual will be projected out anyway. + if (node->index == i) + { + if (node->m_im != 0) + { + f[i] += constraint->getDv(node)*(1./node->m_im); + } + } + else + { + for (int k = 0; k < 3; ++k) + { + if (face->m_n[k]->index == i) + { + if (face->m_n[k]->m_im != 0) + { + f[i] += constraint->getDv(face->m_n[k])* (1./face->m_n[k]->m_im); + } + break; + } + } + } + } + } } } From 657a7468b3bdedcf8586d8c5fae8408715470f16 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 20 Sep 2019 13:54:17 -0700 Subject: [PATCH 175/389] documentation and optimization --- .../DeformableSelfCollision.cpp | 4 +- .../DeformableDemo/VolumetricDeformable.cpp | 13 ++-- src/BulletSoftBody/btConjugateGradient.h | 2 +- src/BulletSoftBody/btDeformableBodySolver.cpp | 5 +- src/BulletSoftBody/btDeformableBodySolver.h | 75 ++++++++++++------- .../btDeformableContactProjection.h | 6 +- .../btDeformableLagrangianForce.h | 13 ++-- .../btDeformableMassSpringForce.h | 2 + .../btDeformableMultiBodyConstraintSolver.cpp | 64 ++++++++++++++++ .../btDeformableMultiBodyConstraintSolver.h | 57 +++----------- .../btDeformableNeoHookeanForce.h | 31 +++++--- 11 files changed, 162 insertions(+), 110 deletions(-) diff --git a/examples/DeformableDemo/DeformableSelfCollision.cpp b/examples/DeformableDemo/DeformableSelfCollision.cpp index eb963ae05..be09af17c 100644 --- a/examples/DeformableDemo/DeformableSelfCollision.cpp +++ b/examples/DeformableDemo/DeformableSelfCollision.cpp @@ -153,7 +153,7 @@ void DeformableSelfCollision::initPhysics() btVector3(-s, h, +4*s), btVector3(+s, h, +4*s), 10,40, - 0, true, 0.1); + 0, true, 0.01); psb->getCollisionShape()->setMargin(0.2); @@ -161,7 +161,7 @@ void DeformableSelfCollision::initPhysics() psb->setTotalMass(1); psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb->m_cfg.kCHR = 1; // collision hardness with rigid body - psb->m_cfg.kDF = 0.02; + psb->m_cfg.kDF = 0.2; psb->rotate(btQuaternion(0,SIMD_PI / 2, 0)); psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; diff --git a/examples/DeformableDemo/VolumetricDeformable.cpp b/examples/DeformableDemo/VolumetricDeformable.cpp index 0c4de59b1..c1213d520 100644 --- a/examples/DeformableDemo/VolumetricDeformable.cpp +++ b/examples/DeformableDemo/VolumetricDeformable.cpp @@ -91,7 +91,7 @@ public: void Ctor_RbUpStack(int count) { - float mass = 0.02; + float mass = 1; btCompoundShape* cylinderCompound = new btCompoundShape; btCollisionShape* cylinderShape = new btCylinderShapeX(btVector3(2, .5, .5)); @@ -166,7 +166,7 @@ void VolumetricDeformable::initPhysics() m_solver = sol; m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); - btVector3 gravity = btVector3(0, -10, 0); + btVector3 gravity = btVector3(0, -100, 0); m_dynamicsWorld->setGravity(gravity); getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); @@ -196,7 +196,6 @@ void VolumetricDeformable::initPhysics() //add the ground to the dynamics world m_dynamicsWorld->addRigidBody(body); } - getDeformableDynamicsWorld()->setLineSearch(false); createStaticBox(btVector3(1, 5, 5), btVector3(-5,0,0)); createStaticBox(btVector3(1, 5, 5), btVector3(5,0,0)); @@ -220,19 +219,17 @@ void VolumetricDeformable::initPhysics() psb->m_cfg.kDF = 0.5; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; - btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(0,0.03); - getDeformableDynamicsWorld()->addForce(psb, mass_spring); - m_forces.push_back(mass_spring); - btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); getDeformableDynamicsWorld()->addForce(psb, gravity_force); m_forces.push_back(gravity_force); - btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(.5,2.5); + btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(30,100,0.02); getDeformableDynamicsWorld()->addForce(psb, neohookean); m_forces.push_back(neohookean); } + getDeformableDynamicsWorld()->setImplicit(true); + getDeformableDynamicsWorld()->setLineSearch(false); // add a few rigid bodies Ctor_RbUpStack(4); diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h index 38158dc09..77fb3dc72 100644 --- a/src/BulletSoftBody/btConjugateGradient.h +++ b/src/BulletSoftBody/btConjugateGradient.h @@ -69,7 +69,7 @@ public: if (dot(p,temp) < SIMD_EPSILON) { if (verbose) - std::cout << "Encountered negative direction in CG!"<m_fdbvt.optimizeIncremental(1); } + void btDeformableBodySolver::updateSoftBodies() { for (int i = 0; i < m_softBodies.size(); i++) @@ -419,7 +420,7 @@ void btDeformableBodySolver::updateSoftBodies() btSoftBody *psb = (btSoftBody *)m_softBodies[i]; if (psb->isActive()) { - psb->updateNormals(); // normal is updated here + psb->updateNormals(); } } } diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index b0c458029..dc68157d5 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -29,26 +29,24 @@ class btDeformableMultiBodyDynamicsWorld; class btDeformableBodySolver : public btSoftBodySolver { -// using TVStack = btAlignedObjectArray; typedef btAlignedObjectArray TVStack; protected: - int m_numNodes; - TVStack m_dv; - TVStack m_backup_dv; - TVStack m_ddv; - TVStack m_residual; - btAlignedObjectArray m_softBodies; - - btAlignedObjectArray m_backupVelocity; - btScalar m_dt; - btScalar m_contact_iterations; - btConjugateGradient m_cg; - bool m_implicit; - int m_maxNewtonIterations; - btScalar m_newtonTolerance; - bool m_lineSearch; + int m_numNodes; // total number of deformable body nodes + TVStack m_dv; // v_{n+1} - v_n + TVStack m_backup_dv; // backed up dv + TVStack m_ddv; // incremental dv + TVStack m_residual; // rhs of the linear solve + btAlignedObjectArray m_softBodies; // all deformable bodies + TVStack m_backupVelocity; // backed up v, equals v_n for implicit, equals v_{n+1}^* for explicit + btScalar m_dt; // dt + btConjugateGradient m_cg; // CG solver + bool m_implicit; // use implicit scheme if true, explicit scheme if false + int m_maxNewtonIterations; // max number of newton iterations + btScalar m_newtonTolerance; // stop newton iterations if f(x) < m_newtonTolerance + bool m_lineSearch; // If true, use newton's method with line search under implicit scheme public: + // handles data related to objective function btDeformableBackwardEulerObjective* m_objective; btDeformableBodySolver(); @@ -60,49 +58,62 @@ public: return DEFORMABLE_SOLVER; } + // update soft body normals virtual void updateSoftBodies(); - - virtual void copyBackToSoftBodies(bool bMove = true) {} + // solve the momentum equation virtual void solveDeformableConstraints(btScalar solverdt); + // solve the contact between deformable and rigid as well as among deformables btScalar solveContactConstraints(); - - virtual void solveConstraints(btScalar dt){} - + + // resize/clear data structures void reinitialize(const btAlignedObjectArray& softBodies, btScalar dt); + // set up contact constraints void setConstraints(); + // add in elastic forces and gravity to obtain v_{n+1}^* and calls predictDeformableMotion + virtual void predictMotion(btScalar solverdt); + + // move to temporary position x_{n+1}^* = x_n + dt * v_{n+1}^* + // x_{n+1}^* is stored in m_q void predictDeformableMotion(btSoftBody* psb, btScalar dt); + // save the current velocity to m_backupVelocity void backupVelocity(); + + // set m_dv and m_backupVelocity to desired value to prepare for momentum solve void setupDeformableSolve(bool implicit); + + // set the current velocity to that backed up in m_backupVelocity void revertVelocity(); + + // set velocity to m_dv + m_backupVelocity void updateVelocity(); + // update the node count bool updateNodes(); - void computeStep(TVStack& dv, const TVStack& residual); + // calculate the change in dv resulting from the momentum solve + void computeStep(TVStack& ddv, const TVStack& residual); + // calculate the change in dv resulting from the momentum solve when line search is turned on btScalar computeDescentStep(TVStack& ddv, const TVStack& residual); - - virtual void predictMotion(btScalar solverdt); virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer) {} + // process collision between deformable and rigid virtual void processCollision(btSoftBody * softBody, const btCollisionObjectWrapper * collisionObjectWrap) { softBody->defaultCollisionHandler(collisionObjectWrap); } - + + // process collision between deformable and deformable virtual void processCollision(btSoftBody * softBody, btSoftBody * otherSoftBody) { softBody->defaultCollisionHandler(otherSoftBody); } - virtual void optimize(btAlignedObjectArray &softBodies, bool forceUpdate = false){} - - virtual bool checkInitialized(){return true;} - + // If true, implicit time stepping scheme is used. // Otherwise, explicit time stepping scheme is used void setImplicit(bool implicit); @@ -136,6 +147,12 @@ public: // 1/2 * dv^T * M * dv // used in line search btScalar kineticEnergy(); + + // unused functions + virtual void optimize(btAlignedObjectArray &softBodies, bool forceUpdate = false){} + virtual void solveConstraints(btScalar dt){} + virtual bool checkInitialized(){return true;} + virtual void copyBackToSoftBodies(bool bMove = true) {} }; #endif /* btDeformableBodySolver_h */ diff --git a/src/BulletSoftBody/btDeformableContactProjection.h b/src/BulletSoftBody/btDeformableContactProjection.h index 6c91fd584..fa5eb662b 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.h +++ b/src/BulletSoftBody/btDeformableContactProjection.h @@ -26,8 +26,6 @@ class btDeformableContactProjection { public: typedef btAlignedObjectArray TVStack; - typedef btAlignedObjectArray > TVArrayStack; - typedef btAlignedObjectArray > TArrayStack; btAlignedObjectArray& m_softBodies; // map from node index to static constraint @@ -54,10 +52,10 @@ public: { } - // apply the constraints to the rhs + // apply the constraints to the rhs of the linear solve virtual void project(TVStack& x); - // add to friction + // add friction force to the rhs of the linear solve virtual void applyDynamicFriction(TVStack& f); // update the constraints diff --git a/src/BulletSoftBody/btDeformableLagrangianForce.h b/src/BulletSoftBody/btDeformableLagrangianForce.h index f65569451..cab48837d 100644 --- a/src/BulletSoftBody/btDeformableLagrangianForce.h +++ b/src/BulletSoftBody/btDeformableLagrangianForce.h @@ -67,6 +67,7 @@ public: { } + // get number of nodes that have the force virtual int getNumNodes() { int numNodes = 0; @@ -94,10 +95,7 @@ public: btVector3 c1 = dx[id1] - dx[id0]; btVector3 c2 = dx[id2] - dx[id0]; btVector3 c3 = dx[id3] - dx[id0]; - btMatrix3x3 dF(c1.getX(), c2.getX(), c3.getX(), - c1.getY(), c2.getY(), c3.getY(), - c1.getZ(), c2.getZ(), c3.getZ()); - return dF; + return btMatrix3x3(c1,c2,c3).transpose(); } // Calculate the incremental deformable generated from the current velocity @@ -106,12 +104,10 @@ public: btVector3 c1 = n1->m_v - n0->m_v; btVector3 c2 = n2->m_v - n0->m_v; btVector3 c3 = n3->m_v - n0->m_v; - btMatrix3x3 dF(c1.getX(), c2.getX(), c3.getX(), - c1.getY(), c2.getY(), c3.getY(), - c1.getZ(), c2.getZ(), c3.getZ()); - return dF; + return btMatrix3x3(c1,c2,c3).transpose(); } + // test for addScaledElasticForce function virtual void testDerivative() { for (int i = 0; igetInvMass()) + { + btSolverBody& solverBody = siData.m_tmpSolverBodyPool[bodyId]; + solverBody.m_linearVelocity = body->getLinearVelocity() - solverBody.m_deltaLinearVelocity; + solverBody.m_angularVelocity = body->getAngularVelocity() - solverBody.m_deltaAngularVelocity; + } + } +} + +void btDeformableMultiBodyConstraintSolver::solverBodyWriteBack(const btContactSolverInfo& infoGlobal) +{ + for (int i = 0; i < m_tmpSolverBodyPool.size(); i++) + { + btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody; + if (body) + { + m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(m_tmpSolverBodyPool[i].m_linearVelocity + m_tmpSolverBodyPool[i].m_deltaLinearVelocity); + m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(m_tmpSolverBodyPool[i].m_angularVelocity+m_tmpSolverBodyPool[i].m_deltaAngularVelocity); + } + } +} diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h index d28aa204e..cac82f98b 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h @@ -22,6 +22,13 @@ class btDeformableBodySolver; +// btDeformableMultiBodyConstraintSolver extendsn btMultiBodyConstraintSolver to solve for the contact among rigid/multibody and deformable bodies. Notice that the following constraints +// 1. rigid/multibody against rigid/multibody +// 2. rigid/multibody against deforamble +// 3. deformable against deformable +// 4. deformable self collision +// 5. joint constraints +// are all coupled in this solve. ATTRIBUTE_ALIGNED16(class) btDeformableMultiBodyConstraintSolver : public btMultiBodyConstraintSolver { @@ -32,34 +39,10 @@ protected: virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); // write the velocity of the the solver body to the underlying rigid body - void solverBodyWriteBack(const btContactSolverInfo& infoGlobal) - { - for (int i = 0; i < m_tmpSolverBodyPool.size(); i++) - { - btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody; - if (body) - { - m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(m_tmpSolverBodyPool[i].m_linearVelocity + m_tmpSolverBodyPool[i].m_deltaLinearVelocity); - m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(m_tmpSolverBodyPool[i].m_angularVelocity+m_tmpSolverBodyPool[i].m_deltaAngularVelocity); - } - } - } - - void writeToSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) - { - for (int i = 0; i < numBodies; i++) - { - int bodyId = getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep); - - btRigidBody* body = btRigidBody::upcast(bodies[i]); - if (body && body->getInvMass()) - { - btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId]; - solverBody.m_linearVelocity = body->getLinearVelocity() - solverBody.m_deltaLinearVelocity; - solverBody.m_angularVelocity = body->getAngularVelocity() - solverBody.m_deltaAngularVelocity; - } - } - } + void solverBodyWriteBack(const btContactSolverInfo& infoGlobal); + + // write the velocity of the underlying rigid body to the the the solver body + void writeToSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal); public: BT_DECLARE_ALIGNED_ALLOCATOR(); @@ -69,23 +52,7 @@ public: m_deformableSolver = deformableSolver; } - virtual void solveMultiBodyGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher) - { - m_tmpMultiBodyConstraints = multiBodyConstraints; - m_tmpNumMultiBodyConstraints = numMultiBodyConstraints; - - // inherited from MultiBodyConstraintSolver - solveGroupCacheFriendlySetup(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer); - - // overriden - solveGroupCacheFriendlyIterations(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer); - - // inherited from MultiBodyConstraintSolver - solveGroupCacheFriendlyFinish(bodies, numBodies, info); - - m_tmpMultiBodyConstraints = 0; - m_tmpNumMultiBodyConstraints = 0; - } + virtual void solveMultiBodyGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher); }; #endif /* BT_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H */ diff --git a/src/BulletSoftBody/btDeformableNeoHookeanForce.h b/src/BulletSoftBody/btDeformableNeoHookeanForce.h index 5957c77aa..66affa3d3 100644 --- a/src/BulletSoftBody/btDeformableNeoHookeanForce.h +++ b/src/BulletSoftBody/btDeformableNeoHookeanForce.h @@ -17,7 +17,7 @@ subject to the following restrictions: #define BT_NEOHOOKEAN_H #include "btDeformableLagrangianForce.h" - +#include "LinearMath/btQuickprof.h" // This energy is as described in https://graphics.pixar.com/library/StableElasticity/paper.pdf class btDeformableNeoHookeanForce : public btDeformableLagrangianForce { @@ -155,8 +155,9 @@ public: btSoftBody::Tetra& tetra = psb->m_tetras[j]; btMatrix3x3 P; firstPiola(psb->m_tetraScratches[j],P); - btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); +// btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose(); + btVector3 force_on_node0 = force_on_node123 * grad_N_hat_1st_col; btSoftBody::Node* node0 = tetra.m_n[0]; btSoftBody::Node* node1 = tetra.m_n[1]; @@ -202,8 +203,9 @@ public: btMatrix3x3 dF = Ds(id0, id1, id2, id3, dv) * tetra.m_Dm_inverse; btMatrix3x3 dP; firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP); - btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); +// btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); + btVector3 df_on_node0 = df_on_node123 * grad_N_hat_1st_col; // damping force differential btScalar scale1 = scale * tetra.m_element_measure; @@ -237,8 +239,9 @@ public: btMatrix3x3 dF = Ds(id0, id1, id2, id3, dx) * tetra.m_Dm_inverse; btMatrix3x3 dP; firstPiolaDifferential(psb->m_tetraScratches[j], dF, dP); - btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); +// btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); + btVector3 df_on_node0 = df_on_node123 * grad_N_hat_1st_col; // elastic force differential btScalar scale1 = scale * tetra.m_element_measure; @@ -252,27 +255,33 @@ public: void firstPiola(const btSoftBody::TetraScratch& s, btMatrix3x3& P) { - P = s.m_F * m_mu * ( 1. - 1. / (s.m_trace + 1.)) + s.m_cofF * (m_lambda * (s.m_J - 1.) - 0.75 * m_mu); + btScalar c1 = (m_mu * ( 1. - 1. / (s.m_trace + 1.))); + btScalar c2 = (m_lambda * (s.m_J - 1.) - 0.75 * m_mu); + P = s.m_F * c1 + s.m_cofF * c2; } // Let P be the first piola stress. // This function calculates the dP = dP/dF * dF void firstPiolaDifferential(const btSoftBody::TetraScratch& s, const btMatrix3x3& dF, btMatrix3x3& dP) { - dP = dF * m_mu * ( 1. - 1. / (s.m_trace + 1.)) + s.m_F * (2*m_mu) * DotProduct(s.m_F, dF) * (1./((1.+s.m_trace)*(1.+s.m_trace))); - + btScalar c1 = m_mu * ( 1. - 1. / (s.m_trace + 1.)); + btScalar c2 = (2.*m_mu) * DotProduct(s.m_F, dF) * (1./((1.+s.m_trace)*(1.+s.m_trace))); + btScalar c3 = (m_lambda * DotProduct(s.m_cofF, dF)); + dP = dF * c1 + s.m_F * c2; addScaledCofactorMatrixDifferential(s.m_F, dF, m_lambda*(s.m_J-1.) - 0.75*m_mu, dP); - dP += s.m_cofF * m_lambda * DotProduct(s.m_cofF, dF); + dP += s.m_cofF * c3; } // Let Q be the damping stress. // This function calculates the dP = dQ/dF * dF void firstPiolaDampingDifferential(const btSoftBody::TetraScratch& s, const btMatrix3x3& dF, btMatrix3x3& dP) { - dP = dF * m_mu_damp * ( 1. - 1. / (s.m_trace + 1.)) + s.m_F * (2*m_mu_damp) * DotProduct(s.m_F, dF) * (1./((1.+s.m_trace)*(1.+s.m_trace))); - + btScalar c1 = (m_mu_damp * ( 1. - 1. / (s.m_trace + 1.))); + btScalar c2 = ((2.*m_mu_damp) * DotProduct(s.m_F, dF) *(1./((1.+s.m_trace)*(1.+s.m_trace)))); + btScalar c3 = (m_lambda_damp * DotProduct(s.m_cofF, dF)); + dP = dF * c1 + s.m_F * c2; addScaledCofactorMatrixDifferential(s.m_F, dF, m_lambda_damp*(s.m_J-1.) - 0.75*m_mu_damp, dP); - dP += s.m_cofF * m_lambda_damp * DotProduct(s.m_cofF, dF); + dP += s.m_cofF * c3; } btScalar DotProduct(const btMatrix3x3& A, const btMatrix3x3& B) From cb46440e178cbff29195f29a61d55bf559f982e2 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 25 Sep 2019 14:48:52 -0700 Subject: [PATCH 176/389] add normal cone optimization for self-collision --- .../DeformableSelfCollision.cpp | 1 + examples/DeformableDemo/PinchFriction.cpp | 12 +- .../BroadphaseCollision/btDbvt.h | 111 +++++++++++++++- src/BulletSoftBody/btDeformableBodySolver.cpp | 1 + .../btDeformableMultiBodyDynamicsWorld.cpp | 1 + src/BulletSoftBody/btSoftBody.cpp | 70 +++++++++- src/BulletSoftBody/btSoftBodyInternals.h | 123 +++++++++++++++++- 7 files changed, 303 insertions(+), 16 deletions(-) diff --git a/examples/DeformableDemo/DeformableSelfCollision.cpp b/examples/DeformableDemo/DeformableSelfCollision.cpp index be09af17c..7fc8755e9 100644 --- a/examples/DeformableDemo/DeformableSelfCollision.cpp +++ b/examples/DeformableDemo/DeformableSelfCollision.cpp @@ -153,6 +153,7 @@ void DeformableSelfCollision::initPhysics() btVector3(-s, h, +4*s), btVector3(+s, h, +4*s), 10,40, +// 2,2, 0, true, 0.01); diff --git a/examples/DeformableDemo/PinchFriction.cpp b/examples/DeformableDemo/PinchFriction.cpp index ed69ddfd8..72e864ac3 100644 --- a/examples/DeformableDemo/PinchFriction.cpp +++ b/examples/DeformableDemo/PinchFriction.cpp @@ -274,8 +274,8 @@ void PinchFriction::initPhysics() psb->scale(btVector3(2, 2, 1)); psb->translate(btVector3(0, 2.1, 2.2)); - psb->getCollisionShape()->setMargin(0.03); - psb->setTotalMass(1); + psb->getCollisionShape()->setMargin(0.1); + psb->setTotalMass(.6); psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb->m_cfg.kCHR = 1; // collision hardness with rigid body psb->m_cfg.kDF = 20; @@ -303,8 +303,8 @@ void PinchFriction::initPhysics() psb2->scale(btVector3(2, 2, 1)); psb2->translate(btVector3(0, 2.1, -2.2)); - psb2->getCollisionShape()->setMargin(0.03); - psb2->setTotalMass(1); + psb2->getCollisionShape()->setMargin(0.1); + psb2->setTotalMass(.6); psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb2->m_cfg.kCHR = 1; // collision hardness with rigid body psb2->m_cfg.kDF = 20; @@ -332,8 +332,8 @@ void PinchFriction::initPhysics() psb3->scale(btVector3(2, 2, 1)); psb3->translate(btVector3(0, 2.1, 0)); - psb3->getCollisionShape()->setMargin(0.03); - psb3->setTotalMass(1); + psb3->getCollisionShape()->setMargin(0.1); + psb3->setTotalMass(.6); psb3->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb3->m_cfg.kCHR = 1; // collision hardness with rigid body psb3->m_cfg.kDF = 20; diff --git a/src/BulletCollision/BroadphaseCollision/btDbvt.h b/src/BulletCollision/BroadphaseCollision/btDbvt.h index a316dbf20..51dbf3e58 100644 --- a/src/BulletCollision/BroadphaseCollision/btDbvt.h +++ b/src/BulletCollision/BroadphaseCollision/btDbvt.h @@ -21,7 +21,7 @@ subject to the following restrictions: #include "LinearMath/btVector3.h" #include "LinearMath/btTransform.h" #include "LinearMath/btAabbUtil2.h" - +#include // // Compile time configuration // @@ -131,6 +131,8 @@ subject to the following restrictions: /* btDbvtAabbMm */ struct btDbvtAabbMm { + DBVT_INLINE btDbvtAabbMm(){} + DBVT_INLINE btDbvtAabbMm(const btDbvtAabbMm& other): mi(other.mi), mx(other.mx){} DBVT_INLINE btVector3 Center() const { return ((mi + mx) / 2); } DBVT_INLINE btVector3 Lengths() const { return (mx - mi); } DBVT_INLINE btVector3 Extents() const { return ((mx - mi) / 2); } @@ -190,6 +192,36 @@ struct btDbvtNode }; }; +/* btDbv(normal)tNode */ +struct btDbvntNode +{ + btDbvtVolume volume; + btVector3 normal; + btScalar angle; + DBVT_INLINE bool isleaf() const { return (childs[1] == 0); } + DBVT_INLINE bool isinternal() const { return (!isleaf()); } + btDbvntNode* childs[2]; + void* data; + + btDbvntNode(const btDbvtNode* n) + : volume(n->volume) + , angle(0) + , normal(0,0,0) + , data(n->data) + { + childs[0] = 0; + childs[1] = 0; + } + + ~btDbvntNode() + { + if (childs[0]) + delete childs[0]; + if (childs[1]) + delete childs[1]; + } +}; + typedef btAlignedObjectArray btNodeStack; ///The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes (aabb tree). @@ -225,6 +257,14 @@ struct btDbvt btDbvtNode* parent; sStkCLN(const btDbvtNode* n, btDbvtNode* p) : node(n), parent(p) {} }; + + struct sStknNN + { + const btDbvntNode* a; + const btDbvntNode* b; + sStknNN() {} + sStknNN(const btDbvntNode* na, const btDbvntNode* nb) : a(na), b(nb) {} + }; // Policies/Interfaces /* ICollide */ @@ -234,6 +274,7 @@ struct btDbvt DBVT_VIRTUAL void Process(const btDbvtNode*, const btDbvtNode*) {} DBVT_VIRTUAL void Process(const btDbvtNode*) {} DBVT_VIRTUAL void Process(const btDbvtNode* n, btScalar) { Process(n); } + DBVT_VIRTUAL void Process(const btDbvntNode*, const btDbvntNode*) {} DBVT_VIRTUAL bool Descent(const btDbvtNode*) { return (true); } DBVT_VIRTUAL bool AllLeaves(const btDbvtNode*) { return (true); } }; @@ -306,6 +347,9 @@ struct btDbvt void collideTT(const btDbvtNode* root0, const btDbvtNode* root1, DBVT_IPOLICY); + DBVT_PREFIX + void selfCollideT(const btDbvntNode* root, + DBVT_IPOLICY); DBVT_PREFIX void collideTTpersistentStack(const btDbvtNode* root0, @@ -837,6 +881,71 @@ inline void btDbvt::collideTT(const btDbvtNode* root0, } } +// +DBVT_PREFIX +inline void btDbvt::selfCollideT(const btDbvntNode* root, + DBVT_IPOLICY) +{ + DBVT_CHECKTYPE + if (root) + { + int depth = 1; + int treshold = DOUBLE_STACKSIZE - 4; + btAlignedObjectArray stkStack; + stkStack.resize(DOUBLE_STACKSIZE); + stkStack[0] = sStknNN(root, root); + do + { + sStknNN p = stkStack[--depth]; + if (depth > treshold) + { + stkStack.resize(stkStack.size() * 2); + treshold = stkStack.size() - 4; + } + if (p.a == p.b) + { + if (p.a->isinternal() && p.a->angle > SIMD_PI) + { + stkStack[depth++] = sStknNN(p.a->childs[0], p.a->childs[0]); + stkStack[depth++] = sStknNN(p.a->childs[1], p.a->childs[1]); + stkStack[depth++] = sStknNN(p.a->childs[0], p.a->childs[1]); + } + } + else if (Intersect(p.a->volume, p.b->volume)) + { + if (p.a->isinternal()) + { + if (p.b->isinternal()) + { + stkStack[depth++] = sStknNN(p.a->childs[0], p.b->childs[0]); + stkStack[depth++] = sStknNN(p.a->childs[1], p.b->childs[0]); + stkStack[depth++] = sStknNN(p.a->childs[0], p.b->childs[1]); + stkStack[depth++] = sStknNN(p.a->childs[1], p.b->childs[1]); + } + else + { + stkStack[depth++] = sStknNN(p.a->childs[0], p.b); + stkStack[depth++] = sStknNN(p.a->childs[1], p.b); + } + } + else + { + if (p.b->isinternal()) + { + stkStack[depth++] = sStknNN(p.a, p.b->childs[0]); + stkStack[depth++] = sStknNN(p.a, p.b->childs[1]); + } + else + { + policy.Process(p.a, p.b); + } + } + } + } while (depth); + } +} + + DBVT_PREFIX inline void btDbvt::collideTTpersistentStack(const btDbvtNode* root0, const btDbvtNode* root1, diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 2167cb8ad..4ea724d06 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -415,6 +415,7 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d void btDeformableBodySolver::updateSoftBodies() { + BT_PROFILE("updateSoftBodies"); for (int i = 0; i < m_softBodies.size(); i++) { btSoftBody *psb = (btSoftBody *)m_softBodies[i]; diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index d761d42e9..595ed737c 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -77,6 +77,7 @@ void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar t void btDeformableMultiBodyDynamicsWorld::softBodySelfCollision() { + m_deformableBodySolver->updateSoftBodies(); for (int i = 0; i < m_softBodies.size(); i++) { btSoftBody* psb = (btSoftBody*)m_softBodies[i]; diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index eadc56d7c..0da85ff43 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -18,6 +18,7 @@ subject to the following restrictions: #include "BulletSoftBody/btSoftBodySolvers.h" #include "btSoftBodyData.h" #include "LinearMath/btSerializer.h" +#include "LinearMath/btAlignedAllocator.h" #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" @@ -3453,9 +3454,55 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap } } +static inline btDbvntNode* copyToDbvnt(const btDbvtNode* n) +{ + if (n == 0) + return 0; + btDbvntNode* root = new btDbvntNode(n); + if (n->isinternal()) + { + btDbvntNode* c0 = copyToDbvnt(n->childs[0]); + root->childs[0] = c0; + btDbvntNode* c1 = copyToDbvnt(n->childs[1]); + root->childs[1] = c1; + } + return root; +} + +static inline void calculateNormalCone(btDbvntNode* root) +{ + if (!root) + return; + if (root->isleaf()) + { + const btSoftBody::Face* face = (btSoftBody::Face*)root->data; + root->normal = face->m_normal; + root->angle = 0; + } + else + { + btVector3 n0(0,0,0), n1(0,0,0); + btScalar a0 = 0, a1 = 0; + if (root->childs[0]) + { + calculateNormalCone(root->childs[0]); + n0 = root->childs[0]->normal; + a0 = root->childs[0]->angle; + } + if (root->childs[1]) + { + calculateNormalCone(root->childs[1]); + n1 = root->childs[1]->normal; + a1 = root->childs[1]->angle; + } + root->normal = (n0+n1).safeNormalize(); + root->angle = btMax(a0,a1) + btAngle(n0, n1)*0.5; + } +} // void btSoftBody::defaultCollisionHandler(btSoftBody* psb) { + BT_PROFILE("Deformable Collision"); const int cf = m_cfg.collisions & psb->m_cfg.collisions; switch (cf & fCollision::SVSmask) { @@ -3495,7 +3542,6 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb) break; case fCollision::VF_DD: { - // self-collision not supported yet if (this != psb) { btSoftColliders::CollideVF_DD docollide; @@ -3517,15 +3563,27 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb) } else { - btSoftColliders::CollideVF_DD docollide; + btSoftColliders::CollideFF_DD docollide; docollide.mrg = getCollisionShape()->getMargin() + psb->getCollisionShape()->getMargin(); - /* psb0 nodes vs psb0 faces */ docollide.psb[0] = this; docollide.psb[1] = psb; - docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root, - docollide.psb[1]->m_fdbvt.m_root, - docollide); + /* psb0 faces vs psb0 faces */ + btDbvntNode* root = copyToDbvnt(this->m_fdbvt.m_root); + calculateNormalCone(root); + this->m_fdbvt.selfCollideT(root,docollide); + delete root; + +// btSoftColliders::CollideFF_DD docollide; +// /* common */ +// docollide.mrg = getCollisionShape()->getMargin() + +// psb->getCollisionShape()->getMargin(); +// /* psb0 nodes vs psb1 faces */ +// docollide.psb[0] = this; +// docollide.psb[1] = psb; +// docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_fdbvt.m_root, +// docollide.psb[1]->m_fdbvt.m_root, +// docollide); } } break; diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index 9f4d2a197..c494da598 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -1306,8 +1306,8 @@ struct btSoftColliders // struct CollideVF_DD : btDbvt::ICollide { - void Process(const btDbvtNode* lnode, - const btDbvtNode* lface) + void Process(const btDbvntNode* lnode, + const btDbvntNode* lface) { btSoftBody::Node* node = (btSoftBody::Node*)lnode->data; btSoftBody::Face* face = (btSoftBody::Face*)lface->data; @@ -1324,7 +1324,7 @@ struct btSoftColliders btVector3 v1 = face->m_n[1]->m_x; btVector3 v2 = face->m_n[2]->m_x; btVector3 vc = (v0+v1+v2)/3.; - btScalar scale = 1; + btScalar scale = 2; // enlarge the triangle to catch collision on the edge btVector3 u0 = vc + (v0-vc)*scale; btVector3 u1 = vc + (v1-vc)*scale; @@ -1359,6 +1359,123 @@ struct btSoftColliders btSoftBody* psb[2]; btScalar mrg; }; + + // + // CollideFF_DD + // + struct CollideFF_DD : btDbvt::ICollide + { + void Process(const btDbvntNode* lface1, + const btDbvntNode* lface2) + { + btSoftBody::Face* f = (btSoftBody::Face*)lface1->data; + btSoftBody::Face* face = (btSoftBody::Face*)lface2->data; + for (int node_id = 0; node_id < 3; ++node_id) + { + btSoftBody::Node* node = f->m_n[node_id]; + btVector3 o = node->m_x; + btVector3 p, normal; + const btSoftBody::Node* n[] = {face->m_n[0], face->m_n[1], face->m_n[2]}; + btVector3 dir = node->m_q - o; + btScalar l = dir.length(); + if (l < SIMD_EPSILON) + return; + btVector3 rayEnd = dir.normalized() * (l + 2*mrg); + // register an intersection if the line segment formed by the trajectory of the node in the timestep intersects the face + btVector3 v0 = face->m_n[0]->m_x; + btVector3 v1 = face->m_n[1]->m_x; + btVector3 v2 = face->m_n[2]->m_x; + btVector3 vc = (v0+v1+v2)/3.; + btScalar scale = 1.5; + // enlarge the triangle to catch collision on the edge + btVector3 u0 = vc + (v0-vc)*scale; + btVector3 u1 = vc + (v1-vc)*scale; + btVector3 u2 = vc + (v2-vc)*scale; + bool intersect = lineIntersectsTriangle(btVector3(0,0,0), rayEnd, u0-o, u1-o, u2-o, p, normal); + + if (intersect) + { + p += o; + const btVector3 w = BaryCoord(n[0]->m_x, n[1]->m_x, n[2]->m_x, p); + const btScalar ma = node->m_im; + btScalar mb = BaryEval(n[0]->m_im, n[1]->m_im, n[2]->m_im, w); + const btScalar ms = ma + mb; + if (ms > 0) + { + btSoftBody::DeformableFaceNodeContact c; + c.m_normal = normal; + c.m_margin = mrg; + c.m_node = node; + c.m_face = face; + c.m_bary = w; + // todo xuchenhan@: this is assuming mass of all vertices are the same. Need to modify if mass are different for distinct vertices + c.m_weights = btScalar(2)/(btScalar(1) + w.length2()) * w; + c.m_friction = btMax(psb[0]->m_cfg.kDF, psb[1]->m_cfg.kDF); + // the effective inverse mass of the face as in https://graphics.stanford.edu/papers/cloth-sig02/cloth.pdf + c.m_imf = c.m_bary[0]*c.m_weights[0] * n[0]->m_im + c.m_bary[1]*c.m_weights[1] * n[1]->m_im + c.m_bary[2]*c.m_weights[2] * n[2]->m_im; + c.m_c0 = btScalar(1)/(ma + c.m_imf); + psb[0]->m_faceNodeContacts.push_back(c); + } + } + } + } + void Process(const btDbvtNode* lface1, + const btDbvtNode* lface2) + { + btSoftBody::Face* f = (btSoftBody::Face*)lface1->data; + btSoftBody::Face* face = (btSoftBody::Face*)lface2->data; + for (int node_id = 0; node_id < 3; ++node_id) + { + btSoftBody::Node* node = f->m_n[node_id]; + btVector3 o = node->m_x; + btVector3 p, normal; + const btSoftBody::Node* n[] = {face->m_n[0], face->m_n[1], face->m_n[2]}; + btVector3 dir = node->m_q - o; + btScalar l = dir.length(); + if (l < SIMD_EPSILON) + return; + btVector3 rayEnd = dir.normalized() * (l + 2*mrg); + // register an intersection if the line segment formed by the trajectory of the node in the timestep intersects the face + btVector3 v0 = face->m_n[0]->m_x; + btVector3 v1 = face->m_n[1]->m_x; + btVector3 v2 = face->m_n[2]->m_x; + btVector3 vc = (v0+v1+v2)/3.; + btScalar scale = 1.5; + // enlarge the triangle to catch collision on the edge + btVector3 u0 = vc + (v0-vc)*scale; + btVector3 u1 = vc + (v1-vc)*scale; + btVector3 u2 = vc + (v2-vc)*scale; + bool intersect = lineIntersectsTriangle(btVector3(0,0,0), rayEnd, u0-o, u1-o, u2-o, p, normal); + + if (intersect) + { + p += o; + const btVector3 w = BaryCoord(n[0]->m_x, n[1]->m_x, n[2]->m_x, p); + const btScalar ma = node->m_im; + btScalar mb = BaryEval(n[0]->m_im, n[1]->m_im, n[2]->m_im, w); + const btScalar ms = ma + mb; + if (ms > 0) + { + btSoftBody::DeformableFaceNodeContact c; + c.m_normal = normal; + c.m_margin = mrg; + c.m_node = node; + c.m_face = face; + c.m_bary = w; + // todo xuchenhan@: this is assuming mass of all vertices are the same. Need to modify if mass are different for distinct vertices + c.m_weights = btScalar(2)/(btScalar(1) + w.length2()) * w; + c.m_friction = btMax(psb[0]->m_cfg.kDF, psb[1]->m_cfg.kDF); + // the effective inverse mass of the face as in https://graphics.stanford.edu/papers/cloth-sig02/cloth.pdf + c.m_imf = c.m_bary[0]*c.m_weights[0] * n[0]->m_im + c.m_bary[1]*c.m_weights[1] * n[1]->m_im + c.m_bary[2]*c.m_weights[2] * n[2]->m_im; + c.m_c0 = btScalar(1)/(ma + c.m_imf); + psb[0]->m_faceNodeContacts.push_back(c); + } + } + } + } + btSoftBody* psb[2]; + btScalar mrg; + }; }; #endif //_BT_SOFT_BODY_INTERNALS_H From 977bdb4e0ea876108a39c24cc0445eed13c12d66 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 27 Sep 2019 12:40:48 -0700 Subject: [PATCH 177/389] adjust parameters --- examples/DeformableDemo/DeformableContact.cpp | 2 +- src/BulletSoftBody/btSoftBodyInternals.h | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/examples/DeformableDemo/DeformableContact.cpp b/examples/DeformableDemo/DeformableContact.cpp index e80cda1b1..12a81543b 100644 --- a/examples/DeformableDemo/DeformableContact.cpp +++ b/examples/DeformableDemo/DeformableContact.cpp @@ -182,7 +182,7 @@ void DeformableContact::initPhysics() psb2->setTotalMass(1); psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb2->m_cfg.kCHR = 1; // collision hardness with rigid body - psb2->m_cfg.kDF = .1; + psb2->m_cfg.kDF = 0.1; psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; psb->translate(btVector3(3.5,0,0)); diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index c494da598..ff074eb43 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -1306,8 +1306,8 @@ struct btSoftColliders // struct CollideVF_DD : btDbvt::ICollide { - void Process(const btDbvntNode* lnode, - const btDbvntNode* lface) + void Process(const btDbvtNode* lnode, + const btDbvtNode* lface) { btSoftBody::Node* node = (btSoftBody::Node*)lnode->data; btSoftBody::Face* face = (btSoftBody::Face*)lface->data; @@ -1324,7 +1324,7 @@ struct btSoftColliders btVector3 v1 = face->m_n[1]->m_x; btVector3 v2 = face->m_n[2]->m_x; btVector3 vc = (v0+v1+v2)/3.; - btScalar scale = 2; + btScalar scale = 1.5; // enlarge the triangle to catch collision on the edge btVector3 u0 = vc + (v0-vc)*scale; btVector3 u1 = vc + (v1-vc)*scale; From cd27ffd8b03e913eb75770a240858e7c973e06b2 Mon Sep 17 00:00:00 2001 From: Chuyuan Fu Date: Tue, 3 Sep 2019 14:27:19 -0700 Subject: [PATCH 178/389] add body type info to dynamics info --- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index d983ed83c..4ae8dbbcf 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -8902,8 +8902,8 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S { SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_GET_DYNAMICS_INFO_COMPLETED; - serverCmd.m_dynamicsInfo.m_bodyType = BT_MULTI_BODY; - + serverCmd.m_dynamicsInfo.m_bodyType = BT_MULTI_BODY; + btMultiBody* mb = body->m_multiBody; if (linkIndex == -1) { @@ -9017,7 +9017,7 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S { SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_GET_DYNAMICS_INFO_COMPLETED; - serverCmd.m_dynamicsInfo.m_bodyType = BT_RIGID_BODY; + serverCmd.m_dynamicsInfo.m_bodyType = BT_RIGID_BODY; btRigidBody* rb = body->m_rigidBody; serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = rb->getFriction(); @@ -9028,8 +9028,7 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S serverCmd.m_dynamicsInfo.m_mass = rb->getMass(); } #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD - else if (body && body->m_softBody) - { + else if (body && body->m_softBody){ SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_GET_DYNAMICS_INFO_COMPLETED; serverCmd.m_dynamicsInfo.m_bodyType = BT_SOFT_BODY; From a0acfd51959e1bdbc52588914cedb12bae975f84 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Sun, 15 Sep 2019 12:06:28 -0700 Subject: [PATCH 179/389] code clean up and optimization --- src/BulletSoftBody/btDeformableBodySolver.cpp | 5 ++--- src/BulletSoftBody/btDeformableNeoHookeanForce.h | 2 +- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 4ea724d06..21739ccd3 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -22,7 +22,7 @@ btDeformableBodySolver::btDeformableBodySolver() : m_numNodes(0) , m_cg(20) -, m_maxNewtonIterations(5) +, m_maxNewtonIterations(10) , m_newtonTolerance(1e-4) , m_lineSearch(true) { @@ -86,7 +86,7 @@ void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt) updateEnergy(scale); f1 = m_objective->totalEnergy(solverdt)+kineticEnergy(); f2 = f0 - alpha * scale * inner_product; - } while (!(f1 < f2)); // if anything here is nan then the search continues + } while (!(f1 < f2+SIMD_EPSILON)); // if anything here is nan then the search continues revertDv(); updateDv(scale); } @@ -155,7 +155,6 @@ btScalar btDeformableBodySolver::computeDescentStep(TVStack& ddv, const TVStack& btScalar inner_product = m_cg.dot(residual, m_ddv); btScalar res_norm = m_objective->computeNorm(residual); btScalar tol = 1e-5 * res_norm * m_objective->computeNorm(m_ddv); - if (inner_product < -tol) { std::cout << "Looking backwards!" << std::endl; diff --git a/src/BulletSoftBody/btDeformableNeoHookeanForce.h b/src/BulletSoftBody/btDeformableNeoHookeanForce.h index 66affa3d3..c40aaf4a7 100644 --- a/src/BulletSoftBody/btDeformableNeoHookeanForce.h +++ b/src/BulletSoftBody/btDeformableNeoHookeanForce.h @@ -32,7 +32,7 @@ public: m_lambda_damp = damping * m_lambda; } - btDeformableNeoHookeanForce(btScalar mu, btScalar lambda, btScalar damping = 0.05): m_mu(mu), m_lambda(lambda) + btDeformableNeoHookeanForce(btScalar mu, btScalar lambda, btScalar damping = 0): m_mu(mu), m_lambda(lambda) { m_mu_damp = damping * m_mu; m_lambda_damp = damping * m_lambda; From ccaddfca218dd1a9a57a3ef8ca3e555d46950ef9 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 20 Sep 2019 13:54:17 -0700 Subject: [PATCH 180/389] documentation and optimization --- examples/DeformableDemo/DeformableSelfCollision.cpp | 1 - src/BulletSoftBody/btDeformableBodySolver.cpp | 2 +- 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/examples/DeformableDemo/DeformableSelfCollision.cpp b/examples/DeformableDemo/DeformableSelfCollision.cpp index 7fc8755e9..be09af17c 100644 --- a/examples/DeformableDemo/DeformableSelfCollision.cpp +++ b/examples/DeformableDemo/DeformableSelfCollision.cpp @@ -153,7 +153,6 @@ void DeformableSelfCollision::initPhysics() btVector3(-s, h, +4*s), btVector3(+s, h, +4*s), 10,40, -// 2,2, 0, true, 0.01); diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 21739ccd3..6395365fc 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -22,7 +22,7 @@ btDeformableBodySolver::btDeformableBodySolver() : m_numNodes(0) , m_cg(20) -, m_maxNewtonIterations(10) +, m_maxNewtonIterations(5) , m_newtonTolerance(1e-4) , m_lineSearch(true) { From c178905998b2cae126e2275ffb730b5869d26ae5 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 27 Sep 2019 15:13:14 -0700 Subject: [PATCH 181/389] remove siData --- .../btDeformableMultiBodyConstraintSolver.cpp | 23 +++---------------- 1 file changed, 3 insertions(+), 20 deletions(-) diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp index fc293ba78..362451c0e 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp @@ -80,31 +80,14 @@ void btDeformableMultiBodyConstraintSolver::solveMultiBodyGroup(btCollisionObjec void btDeformableMultiBodyConstraintSolver::writeToSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) { - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations); - for (int i = 0; i < numBodies; i++) { - int bodyId = siData.getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep); - + int bodyId = getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep); + btRigidBody* body = btRigidBody::upcast(bodies[i]); if (body && body->getInvMass()) { - btSolverBody& solverBody = siData.m_tmpSolverBodyPool[bodyId]; + btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId]; solverBody.m_linearVelocity = body->getLinearVelocity() - solverBody.m_deltaLinearVelocity; solverBody.m_angularVelocity = body->getAngularVelocity() - solverBody.m_deltaAngularVelocity; } From 11ad0f0dfd3eb36fe76c9244df3465a002ce7501 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 27 Sep 2019 15:30:53 -0700 Subject: [PATCH 182/389] add btMatrix3x3 constructor from vectors --- src/LinearMath/btMatrix3x3.h | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/src/LinearMath/btMatrix3x3.h b/src/LinearMath/btMatrix3x3.h index 0a08ae409..cc33a6866 100644 --- a/src/LinearMath/btMatrix3x3.h +++ b/src/LinearMath/btMatrix3x3.h @@ -125,6 +125,13 @@ public: m_el[2] = other.m_el[2]; return *this; } + + SIMD_FORCE_INLINE btMatrix3x3(const btVector3& v0, const btVector3& v1, const btVector3& v2) + { + m_el[0] = v0; + m_el[1] = v1; + m_el[2] = v2; + } #endif From 9f11ac5d4d9d8672fca12b88e8cb28150b40cabf Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 27 Sep 2019 15:34:00 -0700 Subject: [PATCH 183/389] add include --- src/BulletSoftBody/btSoftBodyHelpers.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/BulletSoftBody/btSoftBodyHelpers.cpp b/src/BulletSoftBody/btSoftBodyHelpers.cpp index c28b28848..a227ffa21 100644 --- a/src/BulletSoftBody/btSoftBodyHelpers.cpp +++ b/src/BulletSoftBody/btSoftBodyHelpers.cpp @@ -20,6 +20,7 @@ subject to the following restrictions: #include #include #include +#include #include "btSoftBodyHelpers.h" #include "LinearMath/btConvexHull.h" #include "LinearMath/btConvexHullComputer.h" From 212b990b0ed7eee3c47d4b9d5dbe0af25ef15c15 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 27 Sep 2019 15:50:25 -0700 Subject: [PATCH 184/389] remove auto and add include --- src/BulletSoftBody/btConjugateGradient.h | 1 + src/BulletSoftBody/btSoftBodyHelpers.cpp | 52 +----------------------- 2 files changed, 3 insertions(+), 50 deletions(-) diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h index 77fb3dc72..a73199f90 100644 --- a/src/BulletSoftBody/btConjugateGradient.h +++ b/src/BulletSoftBody/btConjugateGradient.h @@ -17,6 +17,7 @@ #define BT_CONJUGATE_GRADIENT_H #include #include +#include #include #include #include "LinearMath/btQuickprof.h" diff --git a/src/BulletSoftBody/btSoftBodyHelpers.cpp b/src/BulletSoftBody/btSoftBodyHelpers.cpp index a227ffa21..3aafe23d2 100644 --- a/src/BulletSoftBody/btSoftBodyHelpers.cpp +++ b/src/BulletSoftBody/btSoftBodyHelpers.cpp @@ -1326,56 +1326,8 @@ btSoftBody* btSoftBodyHelpers::CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, } } - std::map, std::vector > dict; - for (int i = 0; i < indices.size(); ++i) - { - for (int j = 0; j < 4; ++j) - { - std::vector f; - if (j == 0) - { - f.push_back(indices[i][1]); - f.push_back(indices[i][0]); - f.push_back(indices[i][2]); - } - if (j == 1) - { - f.push_back(indices[i][3]); - f.push_back(indices[i][0]); - f.push_back(indices[i][1]); - } - if (j == 2) - { - f.push_back(indices[i][3]); - f.push_back(indices[i][1]); - f.push_back(indices[i][2]); - } - if (j == 3) - { - f.push_back(indices[i][2]); - f.push_back(indices[i][0]); - f.push_back(indices[i][3]); - } - std::vector f_sorted = f; - std::sort(f_sorted.begin(), f_sorted.end()); - if (dict.find(f_sorted) != dict.end()) - { - dict.erase(f_sorted); - } - else - { - dict.insert(std::make_pair(f_sorted, f)); - } - } - } - - for (auto it = dict.begin(); it != dict.end(); ++it) - { - std::vector f = it->second; - psb->appendFace(f[0], f[1], f[2]); - } - + generateBoundaryFaces(psb); psb->initializeDmInverse(); psb->m_tetraScratches.resize(psb->m_tetras.size()); psb->m_tetraScratchesTn.resize(psb->m_tetras.size()); @@ -1451,7 +1403,7 @@ void btSoftBodyHelpers::generateBoundaryFaces(btSoftBody* psb) } } - for (auto it = dict.begin(); it != dict.end(); ++it) + for (std::map, std::vector >::iterator it = dict.begin(); it != dict.end(); ++it) { std::vector f = it->second; psb->appendFace(f[0], f[1], f[2]); From 132f7fe751094cff83465f18a2aafbc878786aea Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 27 Sep 2019 17:24:14 -0700 Subject: [PATCH 185/389] update pybullet binding --- setup.py | 1 + 1 file changed, 1 insertion(+) diff --git a/setup.py b/setup.py index 88d3e47c1..b661d632a 100644 --- a/setup.py +++ b/setup.py @@ -250,6 +250,7 @@ sources = ["examples/pybullet/pybullet.c"]\ +["src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp"]\ +["src/BulletSoftBody/btDeformableBodySolver.cpp"]\ +["src/BulletSoftBody/btDeformableContactProjection.cpp"]\ ++["src/BulletSoftBody/btDeformableContactConstraint.cpp"]\ +["src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp"]\ +["src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp"]\ +["src/BulletInverseDynamics/IDMath.cpp"]\ From 2d045de589d1e661650044cfed3aa64e40d8e21c Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Sat, 28 Sep 2019 14:39:46 -0700 Subject: [PATCH 186/389] parameter change in ClothFriction Demo --- examples/DeformableDemo/ClothFriction.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/DeformableDemo/ClothFriction.cpp b/examples/DeformableDemo/ClothFriction.cpp index cd09a17d8..ef9c8da47 100644 --- a/examples/DeformableDemo/ClothFriction.cpp +++ b/examples/DeformableDemo/ClothFriction.cpp @@ -146,7 +146,7 @@ void ClothFriction::initPhysics() btVector3(+s, h, -s), btVector3(-s, h, +s), btVector3(+s, h, +s), - 20,20, + 10,10, 0, true); psb->getCollisionShape()->setMargin(0.05); @@ -174,7 +174,7 @@ void ClothFriction::initPhysics() btVector3(+s, h, -s), btVector3(-s, h, +s), btVector3(+s, h, +s), - 10,10, + 5,5, 0, true); psb2->getCollisionShape()->setMargin(0.05); psb2->generateBendingConstraints(2); From 187019268cfa92e956c7002d4dbcf515302fc379 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Sat, 28 Sep 2019 15:10:06 -0700 Subject: [PATCH 187/389] enable deformable vs. deformable and self-collision in deformable loading --- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 4ae8dbbcf..8dabff00b 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -8087,7 +8087,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar } #endif } - } + if (psb != NULL) { #ifndef SKIP_DEFORMABLE_BODY @@ -8126,8 +8126,10 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar } // turn on the collision flag for deformable - // collision + // collision between deformable and rigid psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; + // collion between deformable and deformable and self-collision + psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; psb->setCollisionFlags(0); psb->setTotalMass(mass); #else From 1d123b6ceb963716913cc9a515a24d97ba64bfd0 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 30 Sep 2019 09:09:26 -0700 Subject: [PATCH 188/389] bump up PyBullet version to 2.5.6 --- setup.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/setup.py b/setup.py index 88d3e47c1..56cc7887f 100644 --- a/setup.py +++ b/setup.py @@ -490,7 +490,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS: setup( name='pybullet', - version='2.5.5', + version='2.5.6', description= 'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning', long_description= From b6e5609f906abeaa4c8dab98ee0df30e509552d7 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 30 Sep 2019 14:08:22 -0700 Subject: [PATCH 189/389] fix mac osx compilation --- examples/ThirdPartyLibs/glad/glad/gl.h | 4 ++++ setup.py | 4 ++-- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/examples/ThirdPartyLibs/glad/glad/gl.h b/examples/ThirdPartyLibs/glad/glad/gl.h index 3d08b2d45..0dfb4d9c8 100644 --- a/examples/ThirdPartyLibs/glad/glad/gl.h +++ b/examples/ThirdPartyLibs/glad/glad/gl.h @@ -2007,12 +2007,16 @@ typedef khronos_ssize_t GLsizeiptr; #if defined(__ENVIRONMENT_MAC_OS_X_VERSION_MIN_REQUIRED__) && (__ENVIRONMENT_MAC_OS_X_VERSION_MIN_REQUIRED__ > 1060) typedef long GLintptrARB; #else +#ifndef __gltypes_h_ typedef ptrdiff_t GLintptrARB; #endif +#endif #if defined(__ENVIRONMENT_MAC_OS_X_VERSION_MIN_REQUIRED__) && (__ENVIRONMENT_MAC_OS_X_VERSION_MIN_REQUIRED__ > 1060) typedef long GLsizeiptrARB; #else +#ifndef __gltypes_h_ typedef ptrdiff_t GLsizeiptrARB; +#endif #endif typedef int64_t GLint64EXT; typedef uint64_t GLuint64EXT; diff --git a/setup.py b/setup.py index 56cc7887f..82fd4059c 100644 --- a/setup.py +++ b/setup.py @@ -50,7 +50,7 @@ def parallelCCompile(self, newcc_args = cc_args if _platform == "darwin": if src.endswith('.cpp'): - newcc_args = cc_args + ["-stdlib=libc++"] + newcc_args = cc_args + ["-mmacosx-version-min=10.7", "-stdlib=libc++"] self._compile(obj, src, ext, newcc_args, extra_postargs, pp_opts) # convert to list, imap is evaluated on-demand @@ -417,7 +417,7 @@ elif _platform == "win32": +["examples/ThirdPartyLibs/glad/gl.c"] elif _platform == "darwin": print("darwin!") - os.environ['LDFLAGS'] = '-framework Cocoa -stdlib=libc++ -framework OpenGL' + os.environ['LDFLAGS'] = '-framework Cocoa -mmacosx-version-min=10.7 -stdlib=libc++ -framework OpenGL' CXX_FLAGS += '-DB3_NO_PYTHON_FRAMEWORK ' CXX_FLAGS += '-DHAS_SOCKLEN_T ' CXX_FLAGS += '-D_DARWIN ' From 96bf2f2ff5afdeec5626f6900949bb0e0378a29b Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 1 Oct 2019 14:47:49 -0700 Subject: [PATCH 190/389] address PR comments --- src/BulletCollision/BroadphaseCollision/btDbvt.h | 1 - src/BulletSoftBody/btDeformableBodySolver.cpp | 14 ++++++++++---- src/BulletSoftBody/btDeformableBodySolver.h | 2 +- 3 files changed, 11 insertions(+), 6 deletions(-) diff --git a/src/BulletCollision/BroadphaseCollision/btDbvt.h b/src/BulletCollision/BroadphaseCollision/btDbvt.h index 51dbf3e58..324c499e2 100644 --- a/src/BulletCollision/BroadphaseCollision/btDbvt.h +++ b/src/BulletCollision/BroadphaseCollision/btDbvt.h @@ -21,7 +21,6 @@ subject to the following restrictions: #include "LinearMath/btVector3.h" #include "LinearMath/btTransform.h" #include "LinearMath/btAabbUtil2.h" -#include // // Compile time configuration // diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 6395365fc..10d3775d3 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -149,7 +149,7 @@ void btDeformableBodySolver::updateEnergy(btScalar scale) } -btScalar btDeformableBodySolver::computeDescentStep(TVStack& ddv, const TVStack& residual) +btScalar btDeformableBodySolver::computeDescentStep(TVStack& ddv, const TVStack& residual, bool verbose) { m_cg.solve(*m_objective, ddv, residual, false); btScalar inner_product = m_cg.dot(residual, m_ddv); @@ -157,7 +157,10 @@ btScalar btDeformableBodySolver::computeDescentStep(TVStack& ddv, const TVStack& btScalar tol = 1e-5 * res_norm * m_objective->computeNorm(m_ddv); if (inner_product < -tol) { - std::cout << "Looking backwards!" << std::endl; + if (verbose) + { + std::cout << "Looking backwards!" << std::endl; + } for (int i = 0; i < m_ddv.size();++i) { m_ddv[i] = -m_ddv[i]; @@ -166,7 +169,10 @@ btScalar btDeformableBodySolver::computeDescentStep(TVStack& ddv, const TVStack& } else if (std::abs(inner_product) < tol) { - std::cout << "Gradient Descent!" << std::endl; + if (verbose) + { + std::cout << "Gradient Descent!" << std::endl; + } btScalar scale = m_objective->computeNorm(m_ddv) / res_norm; for (int i = 0; i < m_ddv.size();++i) { @@ -229,7 +235,7 @@ void btDeformableBodySolver::setConstraints() btScalar btDeformableBodySolver::solveContactConstraints() { - BT_PROFILE("setConstraint"); + BT_PROFILE("solveContactConstraints"); btScalar maxSquaredResidual = m_objective->m_projection.update(); return maxSquaredResidual; } diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index dc68157d5..bc56b3736 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -99,7 +99,7 @@ public: void computeStep(TVStack& ddv, const TVStack& residual); // calculate the change in dv resulting from the momentum solve when line search is turned on - btScalar computeDescentStep(TVStack& ddv, const TVStack& residual); + btScalar computeDescentStep(TVStack& ddv, const TVStack& residual, bool verbose=false); virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer) {} From 5a55374d85afbcd01d59d537f177af91d86637c8 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 1 Oct 2019 14:48:34 -0700 Subject: [PATCH 191/389] pass render nodes instead of simulated nodes to renderer --- .../PhysicsServerCommandProcessor.cpp | 390 +++++++++--------- 1 file changed, 202 insertions(+), 188 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 8dabff00b..78087a686 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -5055,15 +5055,24 @@ bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct S { btSoftBody* psb = bodyHandle->m_softBody; int totalBytesPerVertex = sizeof(btVector3); - int numVertices = psb->m_nodes.size(); + bool separateRenderMesh = (psb->m_renderNodes.size() != 0); + int numVertices = separateRenderMesh ? psb->m_renderNodes.size() : psb->m_nodes.size(); int maxNumVertices = bufferSizeInBytes / totalBytesPerVertex - 1; int numVerticesRemaining = numVertices - clientCmd.m_requestMeshDataArgs.m_startingVertex; int verticesCopied = btMin(maxNumVertices, numVerticesRemaining); btVector3* verticesOut = (btVector3*)bufferServerToClient; for (int i = 0; i < verticesCopied; ++i) { - const btSoftBody::Node& n = psb->m_nodes[i + clientCmd.m_requestMeshDataArgs.m_startingVertex]; - verticesOut[i] = n.m_x; + if (separateRenderMesh) + { + const btSoftBody::Node& n = psb->m_renderNodes[i + clientCmd.m_requestMeshDataArgs.m_startingVertex]; + verticesOut[i] = n.m_x; + } + else + { + const btSoftBody::Node& n = psb->m_nodes[i + clientCmd.m_requestMeshDataArgs.m_startingVertex]; + verticesOut[i] = n.m_x; + } } serverStatusOut.m_type = CMD_REQUEST_MESH_DATA_COMPLETED; @@ -7989,220 +7998,225 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar } { - btSoftBody* psb = NULL; - btScalar spring_elastic_stiffness, spring_damping_stiffness; + btSoftBody* psb = NULL; + - CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface()); - char relativeFileName[1024]; - char pathPrefix[1024]; - pathPrefix[0] = 0; - if (fileIO->findResourcePath(loadSoftBodyArgs.m_fileName, relativeFileName, 1024)) - { - b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024); - } + CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface()); + char relativeFileName[1024]; + char pathPrefix[1024]; + pathPrefix[0] = 0; + if (fileIO->findResourcePath(loadSoftBodyArgs.m_fileName, relativeFileName, 1024)) + { + b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024); + } - // add _sim.vtk postfix - char relativeSimFileName[1024]; - char sim_file_ending[9] = "_sim.vtk"; - strncpy(relativeSimFileName, relativeFileName, strlen(relativeFileName)); - strncpy(relativeSimFileName + strlen(relativeFileName)-4, sim_file_ending, sizeof(sim_file_ending)); + // add _sim.vtk postfix + char relativeSimFileName[1024]; + char sim_file_ending[9] = "_sim.vtk"; + strncpy(relativeSimFileName, relativeFileName, strlen(relativeFileName)); + strncpy(relativeSimFileName + strlen(relativeFileName)-4, sim_file_ending, sizeof(sim_file_ending)); - const std::string& error_message_prefix = ""; - std::string out_found_filename; - std::string out_found_sim_filename; - int out_type, out_sim_type; + const std::string& error_message_prefix = ""; + std::string out_found_filename; + std::string out_found_sim_filename; + int out_type, out_sim_type; - bool render_mesh_is_sim_mesh = true; + bool render_mesh_is_sim_mesh = true; - bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type); - if (out_type == UrdfGeometry::FILE_OBJ) - { + bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type); + if (out_type == UrdfGeometry::FILE_OBJ) + { bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeSimFileName, error_message_prefix, &out_found_sim_filename, &out_sim_type); - render_mesh_is_sim_mesh = !foundFile; - } + render_mesh_is_sim_mesh = !foundFile; + } - if (render_mesh_is_sim_mesh) - { - out_sim_type = out_type; - out_found_sim_filename = out_found_filename; - } - - if (out_sim_type == UrdfGeometry::FILE_OBJ) - { - std::vector shapes; - tinyobj::attrib_t attribute; - std::string err = tinyobj::LoadObj(attribute, shapes, out_found_sim_filename.c_str(), "", fileIO); - if (!shapes.empty()) - { - const tinyobj::shape_t& shape = shapes[0]; - btAlignedObjectArray vertices; - btAlignedObjectArray indices; - for (int i = 0; i < attribute.vertices.size(); i++) - { - vertices.push_back(attribute.vertices[i]); - } - for (int i = 0; i < shape.mesh.indices.size(); i++) - { - indices.push_back(shape.mesh.indices[i].vertex_index); - } - int numTris = shape.mesh.indices.size() / 3; - if (numTris > 0) - { - psb = btSoftBodyHelpers::CreateFromTriMesh(m_data->m_dynamicsWorld->getWorldInfo(), &vertices[0], &indices[0], numTris); - } - } + if (render_mesh_is_sim_mesh) + { + out_sim_type = out_type; + out_found_sim_filename = out_found_filename; + } + + if (out_sim_type == UrdfGeometry::FILE_OBJ) + { + std::vector shapes; + tinyobj::attrib_t attribute; + std::string err = tinyobj::LoadObj(attribute, shapes, out_found_sim_filename.c_str(), "", fileIO); + if (!shapes.empty()) + { + const tinyobj::shape_t& shape = shapes[0]; + btAlignedObjectArray vertices; + btAlignedObjectArray indices; + for (int i = 0; i < attribute.vertices.size(); i++) + { + vertices.push_back(attribute.vertices[i]); + } + for (int i = 0; i < shape.mesh.indices.size(); i++) + { + indices.push_back(shape.mesh.indices[i].vertex_index); + } + int numTris = shape.mesh.indices.size() / 3; + if (numTris > 0) + { + psb = btSoftBodyHelpers::CreateFromTriMesh(m_data->m_dynamicsWorld->getWorldInfo(), &vertices[0], &indices[0], numTris); + } + } #ifndef SKIP_DEFORMABLE_BODY - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE) - { - spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; - spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; - m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false)); - } + btScalar spring_elastic_stiffness, spring_damping_stiffness; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE) + { + spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; + spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; + m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false)); + } #endif - } - else if (out_sim_type == UrdfGeometry::FILE_VTK) - { + } + else if (out_sim_type == UrdfGeometry::FILE_VTK) + { #ifndef SKIP_DEFORMABLE_BODY - psb = btSoftBodyHelpers::CreateFromVtkFile(m_data->m_dynamicsWorld->getWorldInfo(), out_found_sim_filename.c_str()); - btScalar corotated_mu, corotated_lambda; - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE) - { - corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu; - corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda; - m_data->m_dynamicsWorld->addForce(psb, new btDeformableCorotatedForce(corotated_mu, corotated_lambda)); - } - btScalar neohookean_mu, neohookean_lambda; - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE) - { - neohookean_mu = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanMu; - neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda; - m_data->m_dynamicsWorld->addForce(psb, new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda)); - } - btScalar spring_elastic_stiffness, spring_damping_stiffness; - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE) - { - spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; - spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; - m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true)); - } + psb = btSoftBodyHelpers::CreateFromVtkFile(m_data->m_dynamicsWorld->getWorldInfo(), out_found_sim_filename.c_str()); + btScalar corotated_mu, corotated_lambda; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE) + { + corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu; + corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda; + m_data->m_dynamicsWorld->addForce(psb, new btDeformableCorotatedForce(corotated_mu, corotated_lambda)); + } + btScalar neohookean_mu, neohookean_lambda; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE) + { + neohookean_mu = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanMu; + neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda; + m_data->m_dynamicsWorld->addForce(psb, new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda)); + } + btScalar spring_elastic_stiffness, spring_damping_stiffness; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE) + { + spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; + spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; + m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true)); + } #endif } if (psb != NULL) { #ifndef SKIP_DEFORMABLE_BODY - if (!render_mesh_is_sim_mesh) - { - // load render mesh - btSoftBodyHelpers::readRenderMeshFromObj(out_found_filename.c_str(), psb); - btSoftBodyHelpers::interpolateBarycentricWeights(psb); - } - btVector3 gravity = m_data->m_dynamicsWorld->getGravity(); - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_GRAVITY_FORCE) - { - m_data->m_dynamicsWorld->addForce(psb, new btDeformableGravityForce(gravity)); - } - btScalar collision_hardness = 1; - psb->m_cfg.kKHR = collision_hardness; - psb->m_cfg.kCHR = collision_hardness; + if (!render_mesh_is_sim_mesh) + { + // load render mesh + btSoftBodyHelpers::readRenderMeshFromObj(out_found_filename.c_str(), psb); + btSoftBodyHelpers::interpolateBarycentricWeights(psb); + } + else + { + psb->m_renderNodes.resize(0); + } + btVector3 gravity = m_data->m_dynamicsWorld->getGravity(); + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_GRAVITY_FORCE) + { + m_data->m_dynamicsWorld->addForce(psb, new btDeformableGravityForce(gravity)); + } + btScalar collision_hardness = 1; + psb->m_cfg.kKHR = collision_hardness; + psb->m_cfg.kCHR = collision_hardness; - btScalar friction_coeff = 0; - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT) - { - friction_coeff = loadSoftBodyArgs.m_frictionCoeff; - } - psb->m_cfg.kDF = friction_coeff; - - bool use_bending_spring = true; - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS) - { - use_bending_spring = loadSoftBodyArgs.m_useBendingSprings; - } - btSoftBody::Material* pm = psb->appendMaterial(); - pm->m_flags -= btSoftBody::fMaterial::DebugDraw; - if (use_bending_spring) - { - psb->generateBendingConstraints(2,pm); - } + btScalar friction_coeff = 0; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT) + { + friction_coeff = loadSoftBodyArgs.m_frictionCoeff; + } + psb->m_cfg.kDF = friction_coeff; + + bool use_bending_spring = true; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS) + { + use_bending_spring = loadSoftBodyArgs.m_useBendingSprings; + } + btSoftBody::Material* pm = psb->appendMaterial(); + pm->m_flags -= btSoftBody::fMaterial::DebugDraw; + if (use_bending_spring) + { + psb->generateBendingConstraints(2,pm); + } - // turn on the collision flag for deformable - // collision between deformable and rigid - psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; - // collion between deformable and deformable and self-collision - psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; - psb->setCollisionFlags(0); - psb->setTotalMass(mass); + // turn on the collision flag for deformable + // collision between deformable and rigid + psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; + // collion between deformable and deformable and self-collision + psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; + psb->setCollisionFlags(0); + psb->setTotalMass(mass); #else - 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; - //turn on softbody vs softbody collision - psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS; - psb->randomizeConstraints(); - psb->setTotalMass(mass, true); + 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; + //turn on softbody vs softbody collision + psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS; + psb->randomizeConstraints(); + psb->setTotalMass(mass, true); #endif - psb->scale(btVector3(scale, scale, scale)); - psb->rotate(initialOrn); - psb->translate(initialPos); + psb->scale(btVector3(scale, scale, scale)); + psb->rotate(initialOrn); + psb->translate(initialPos); - psb->getCollisionShape()->setMargin(collisionMargin); - psb->getCollisionShape()->setUserPointer(psb); - m_data->m_dynamicsWorld->addSoftBody(psb); - m_data->m_guiHelper->createCollisionShapeGraphicsObject(psb->getCollisionShape()); - m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld); - int bodyUniqueId = m_data->m_bodyHandles.allocHandle(); - InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId); - bodyHandle->m_softBody = psb; + psb->getCollisionShape()->setMargin(collisionMargin); + psb->getCollisionShape()->setUserPointer(psb); + m_data->m_dynamicsWorld->addSoftBody(psb); + m_data->m_guiHelper->createCollisionShapeGraphicsObject(psb->getCollisionShape()); + m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld); + int bodyUniqueId = m_data->m_bodyHandles.allocHandle(); + InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId); + bodyHandle->m_softBody = psb; - b3VisualShapeData visualShape; + b3VisualShapeData visualShape; - visualShape.m_objectUniqueId = bodyUniqueId; - visualShape.m_linkIndex = -1; - visualShape.m_visualGeometryType = URDF_GEOM_MESH; - //dimensions just contains the scale - visualShape.m_dimensions[0] = scale; - visualShape.m_dimensions[1] = scale; - visualShape.m_dimensions[2] = scale; - //filename - strncpy(visualShape.m_meshAssetFileName, relativeFileName, VISUAL_SHAPE_MAX_PATH_LEN); - visualShape.m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN - 1] = 0; - //position and orientation - visualShape.m_localVisualFrame[0] = initialPos[0]; - visualShape.m_localVisualFrame[1] = initialPos[1]; - visualShape.m_localVisualFrame[2] = initialPos[2]; - visualShape.m_localVisualFrame[3] = initialOrn[0]; - visualShape.m_localVisualFrame[4] = initialOrn[1]; - visualShape.m_localVisualFrame[5] = initialOrn[2]; - visualShape.m_localVisualFrame[6] = initialOrn[3]; - //color and ids to be set by the renderer - visualShape.m_rgbaColor[0] = 0; - visualShape.m_rgbaColor[1] = 0; - visualShape.m_rgbaColor[2] = 0; - visualShape.m_rgbaColor[3] = 1; - visualShape.m_tinyRendererTextureId = -1; - visualShape.m_textureUniqueId =-1; - visualShape.m_openglTextureId = -1; + visualShape.m_objectUniqueId = bodyUniqueId; + visualShape.m_linkIndex = -1; + visualShape.m_visualGeometryType = URDF_GEOM_MESH; + //dimensions just contains the scale + visualShape.m_dimensions[0] = scale; + visualShape.m_dimensions[1] = scale; + visualShape.m_dimensions[2] = scale; + //filename + strncpy(visualShape.m_meshAssetFileName, relativeFileName, VISUAL_SHAPE_MAX_PATH_LEN); + visualShape.m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN - 1] = 0; + //position and orientation + visualShape.m_localVisualFrame[0] = initialPos[0]; + visualShape.m_localVisualFrame[1] = initialPos[1]; + visualShape.m_localVisualFrame[2] = initialPos[2]; + visualShape.m_localVisualFrame[3] = initialOrn[0]; + visualShape.m_localVisualFrame[4] = initialOrn[1]; + visualShape.m_localVisualFrame[5] = initialOrn[2]; + visualShape.m_localVisualFrame[6] = initialOrn[3]; + //color and ids to be set by the renderer + visualShape.m_rgbaColor[0] = 0; + visualShape.m_rgbaColor[1] = 0; + visualShape.m_rgbaColor[2] = 0; + visualShape.m_rgbaColor[3] = 1; + visualShape.m_tinyRendererTextureId = -1; + visualShape.m_textureUniqueId =-1; + visualShape.m_openglTextureId = -1; - m_data->m_pluginManager.getRenderInterface()->addVisualShape(&visualShape, fileIO); + m_data->m_pluginManager.getRenderInterface()->addVisualShape(&visualShape, fileIO); - serverStatusOut.m_loadSoftBodyResultArguments.m_objectUniqueId = bodyUniqueId; - serverStatusOut.m_type = CMD_LOAD_SOFT_BODY_COMPLETED; + serverStatusOut.m_loadSoftBodyResultArguments.m_objectUniqueId = bodyUniqueId; + serverStatusOut.m_type = CMD_LOAD_SOFT_BODY_COMPLETED; - int streamSizeInBytes = createBodyInfoStream(bodyUniqueId, bufferServerToClient, bufferSizeInBytes); - serverStatusOut.m_numDataStreamBytes = streamSizeInBytes; + int streamSizeInBytes = createBodyInfoStream(bodyUniqueId, bufferServerToClient, bufferSizeInBytes); + serverStatusOut.m_numDataStreamBytes = streamSizeInBytes; #ifdef ENABLE_LINK_MAPPER - if (m_data->m_urdfLinkNameMapper.size()) - { - serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size() - 1)->m_memSerializer->getCurrentBufferSize(); - } + if (m_data->m_urdfLinkNameMapper.size()) + { + serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size() - 1)->m_memSerializer->getCurrentBufferSize(); + } #endif - serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId; - InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); - strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str()); + serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId; + InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); + strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str()); b3Notification notification; notification.m_notificationType = BODY_ADDED; From 2caf4505f0e750a649202dd07e2715b6a6e54ac9 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 3 Oct 2019 09:25:54 -0700 Subject: [PATCH 192/389] pybullet: suppress debug printf (obj texture coordinate out-of-range) --- .../ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp b/examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp index 08fa521ae..f44030f21 100644 --- a/examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp +++ b/examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp @@ -111,7 +111,7 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(const tinyobj::a } else { - b3Warning("obj texture coordinate out-of-range!"); + //b3Warning("obj texture coordinate out-of-range!"); vtx2.uv[0] = 0; vtx2.uv[1] = 0; } From 3a4159c7934e22f214a2bbd9ab94047464d1b389 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 8 Oct 2019 19:31:58 -0700 Subject: [PATCH 193/389] fix slow full btMatrixX operator* (was not used) --- src/LinearMath/btMatrixX.h | 19 +++++++++---------- 1 file changed, 9 insertions(+), 10 deletions(-) diff --git a/src/LinearMath/btMatrixX.h b/src/LinearMath/btMatrixX.h index 388c57c2d..961c94dc6 100644 --- a/src/LinearMath/btMatrixX.h +++ b/src/LinearMath/btMatrixX.h @@ -338,24 +338,23 @@ struct btMatrixX btMatrixX res(rows(), other.cols()); res.setZero(); // BT_PROFILE("btMatrixX mul"); - for (int j = 0; j < res.cols(); ++j) + for (int i = 0; i < rows(); ++i) { { - for (int i = 0; i < res.rows(); ++i) + for (int j = 0; j < other.cols(); ++j) { T dotProd = 0; - // T dotProd2=0; - //int waste=0,waste2=0; - { - // bool useOtherCol = true; { - for (int v = 0; v < rows(); v++) + int r = rows(); + int c = cols(); + + for (int k = 0; k < cols(); k++) { - T w = (*this)(i, v); - if (other(v, j) != 0.f) + T w = (*this)(i, k); + if (other(k, j) != 0.f) { - dotProd += w * other(v, j); + dotProd += w * other(k, j); } } } From 31e778c913c6bd8478f32c3e50ac5b6d90928526 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 9 Oct 2019 22:26:20 -0400 Subject: [PATCH 194/389] avoid crashes in TinyRenderer --- examples/TinyRenderer/TinyRenderer.cpp | 15 ++++++++++++--- 1 file changed, 12 insertions(+), 3 deletions(-) diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp index f98362d96..2880eb254 100644 --- a/examples/TinyRenderer/TinyRenderer.cpp +++ b/examples/TinyRenderer/TinyRenderer.cpp @@ -156,8 +156,11 @@ struct Shader : public IShader float index_x = b3Max(float(0.0), b3Min(float(m_width - 1), p[0])); float index_y = b3Max(float(0.0), b3Min(float(m_height - 1), p[1])); int idx = int(index_x) + int(index_y) * m_width; // index in the shadowbuffer array - float shadow = 0.8 + 0.2 * (m_shadowBuffer->at(idx) < -depth + 0.05); // magic coeff to avoid z-fighting - + float shadow = 1.0; + if (m_shadowBuffer && idx >=0 && idx size()) + { + shadow = 0.8 + 0.2 * (m_shadowBuffer->at(idx) < -depth + 0.05); // magic coeff to avoid z-fighting + } Vec3f bn = (varying_nrm * bar).normalize(); Vec2f uv = varying_uv * bar; @@ -174,7 +177,13 @@ struct Shader : public IShader for (int i = 0; i < 3; ++i) { - color[i] = b3Min(int(m_ambient_coefficient * color[i] + shadow * (m_diffuse_coefficient * diffuse + m_specular_coefficient * specular) * color[i] * m_light_color[i]), 255); + int orgColor = 0; + float floatColor = (m_ambient_coefficient * color[i] + shadow * (m_diffuse_coefficient * diffuse + m_specular_coefficient * specular) * color[i] * m_light_color[i]); + if (floatColor==floatColor) + { + orgColor=int(floatColor); + } + color[i] = b3Min(orgColor, 255); } return false; From ec91a0ffa40555aba556c40bea295f3f09064ad2 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 4 Oct 2019 11:00:22 -0700 Subject: [PATCH 195/389] configure damping coefficients for neohookean models --- examples/SharedMemory/PhysicsClientC_API.cpp | 3 ++- examples/SharedMemory/PhysicsClientC_API.h | 2 +- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 7 ++++--- examples/SharedMemory/SharedMemoryCommands.h | 1 + 4 files changed, 8 insertions(+), 5 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 1963c3473..608a577b2 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -348,12 +348,13 @@ B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle co return 0; } -B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda) +B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda, double NeoHookeanDamping) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command->m_type == CMD_LOAD_SOFT_BODY); command->m_loadSoftBodyArguments.m_NeoHookeanMu = NeoHookeanMu; command->m_loadSoftBodyArguments.m_NeoHookeanLambda = NeoHookeanLambda; + command->m_loadSoftBodyArguments.m_NeoHookeanDamping = NeoHookeanDamping; command->m_updateFlags |= LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE; return 0; } diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 64ef41bc7..3ef510afc 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -632,7 +632,7 @@ extern "C" B3_SHARED_API int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ); B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW); B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda); - B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda); + B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda, double NeoHookeanDamping = 0); B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness); B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ); B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 78087a686..8fa68afca 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -8019,7 +8019,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar const std::string& error_message_prefix = ""; std::string out_found_filename; std::string out_found_sim_filename; - int out_type, out_sim_type; + int out_type(0), out_sim_type(0); bool render_mesh_is_sim_mesh = true; @@ -8081,12 +8081,13 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda; m_data->m_dynamicsWorld->addForce(psb, new btDeformableCorotatedForce(corotated_mu, corotated_lambda)); } - btScalar neohookean_mu, neohookean_lambda; + btScalar neohookean_mu, neohookean_lambda, neohookean_damping; if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE) { neohookean_mu = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanMu; neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda; - m_data->m_dynamicsWorld->addForce(psb, new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda)); + neohookean_damping = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanDamping; + m_data->m_dynamicsWorld->addForce(psb, new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda, neohookean_damping)); } btScalar spring_elastic_stiffness, spring_damping_stiffness; if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE) diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 74e79537a..7fd317aa4 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -528,6 +528,7 @@ struct LoadSoftBodyArgs double m_frictionCoeff; double m_NeoHookeanMu; double m_NeoHookeanLambda; + double m_NeoHookeanDamping; }; struct b3LoadSoftBodyResultArgs From d0e4bbf04d4a63d741b82451fc61a2668da4088f Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 4 Oct 2019 11:21:34 -0700 Subject: [PATCH 196/389] fix gravity set up --- examples/SharedMemory/PhysicsClientC_API.h | 2 +- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 5 +---- src/BulletSoftBody/btSoftBody.cpp | 8 ++++---- 3 files changed, 6 insertions(+), 9 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 3ef510afc..39da0f455 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -632,7 +632,7 @@ extern "C" B3_SHARED_API int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ); B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW); B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda); - B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda, double NeoHookeanDamping = 0); + B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda, double NeoHookeanDamping); B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness); B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ); B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 8fa68afca..2d8bc9bd3 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -8113,10 +8113,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar psb->m_renderNodes.resize(0); } btVector3 gravity = m_data->m_dynamicsWorld->getGravity(); - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_GRAVITY_FORCE) - { - m_data->m_dynamicsWorld->addForce(psb, new btDeformableGravityForce(gravity)); - } + m_data->m_dynamicsWorld->addForce(psb, new btDeformableGravityForce(gravity)); btScalar collision_hardness = 1; psb->m_cfg.kKHR = collision_hardness; psb->m_cfg.kCHR = collision_hardness; diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 0da85ff43..6f46b63b7 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -2306,10 +2306,10 @@ bool btSoftBody::checkDeformableContact(const btCollisionObjectWrapper* colObjWr const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject(); // use the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg for collision detect // but resolve contact at x_n - btTransform wtr = (predict) ? - (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform()) - : colObjWrap->getWorldTransform(); - //const btTransform& wtr = colObjWrap->getWorldTransform(); + //btTransform wtr = (predict) ? + //(colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform()) + //: colObjWrap->getWorldTransform(); + const btTransform& wtr = colObjWrap->getWorldTransform(); btScalar dst = m_worldInfo->m_sparsesdf.Evaluate( wtr.invXform(x), From 4220c7f94c20698098f71dfd073b9c3e47f2bb25 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 4 Oct 2019 17:53:30 -0700 Subject: [PATCH 197/389] tune CG tolerance --- src/BulletSoftBody/btConjugateGradient.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h index a73199f90..c1e41a0fd 100644 --- a/src/BulletSoftBody/btConjugateGradient.h +++ b/src/BulletSoftBody/btConjugateGradient.h @@ -32,7 +32,7 @@ public: btConjugateGradient(const int max_it_in) : max_iterations(max_it_in) { - tolerance = 1024 * std::numeric_limits::epsilon(); + tolerance = 1e-5; } virtual ~btConjugateGradient(){} @@ -52,7 +52,7 @@ public: A.project(z); btScalar r_dot_z = dot(z,r); btScalar local_tolerance = tolerance; - if (std::sqrt(r_dot_z) <= local_tolerance) { + if (r_dot_z <= local_tolerance) { if (verbose) { std::cout << "Iteration = 0" << std::endl; @@ -86,7 +86,7 @@ public: A.precondition(r, z); r_dot_z = r_dot_z_new; r_dot_z_new = dot(r,z); - if (std::sqrt(r_dot_z_new) < local_tolerance) { + if (r_dot_z_new < local_tolerance) { if (verbose) { std::cout << "ConjugateGradient iterations " << k << std::endl; From e13578fee3f8f638c8722be684ccce5a06560834 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 4 Oct 2019 17:53:53 -0700 Subject: [PATCH 198/389] add option to turn self-collision on/off --- examples/SharedMemory/PhysicsClientC_API.cpp | 9 +++++ examples/SharedMemory/PhysicsClientC_API.h | 1 + .../PhysicsServerCommandProcessor.cpp | 6 ++++ examples/SharedMemory/SharedMemoryCommands.h | 2 ++ src/BulletSoftBody/btSoftBody.cpp | 33 +++++++++++++------ src/BulletSoftBody/btSoftBody.h | 3 ++ 6 files changed, 44 insertions(+), 10 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 608a577b2..914e47037 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -386,6 +386,15 @@ B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle return 0; } +B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, bool useSelfCollision) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; + b3Assert(command->m_type == CMD_LOAD_SOFT_BODY); + command->m_loadSoftBodyArguments.m_useSelfCollision = useSelfCollision; + command->m_updateFlags |= LOAD_SOFT_BODY_SET_SELF_COLLISION; + return 0; +} + B3_SHARED_API int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle commandHandle, double frictionCoefficient) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 39da0f455..52569807b 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -636,6 +636,7 @@ extern "C" B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness); B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ); B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness); + B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, bool useSelfCollision); B3_SHARED_API int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle commandHandle, double frictionCoefficient); B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle commandHandle, int useBendingSprings); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 2d8bc9bd3..e5dc10bb4 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -8144,6 +8144,12 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; psb->setCollisionFlags(0); psb->setTotalMass(mass); + bool use_self_collision = false; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_USE_SELF_COLLISION) + { + use_self_collision = loadSoftBodyArgs.m_useSelfCollision; + } + psb->setSelfCollision(use_self_collision); #else btSoftBody::Material* pm = psb->appendMaterial(); pm->m_kLST = 0.5; diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 7fd317aa4..d23ac1594 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -501,6 +501,7 @@ enum EnumLoadSoftBodyUpdateFlags LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT = 1<<10, LOAD_SOFT_BODY_ADD_BENDING_SPRINGS = 1<<11, LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE = 1<<12, + LOAD_SOFT_BODY_SET_SELF_COLLISION = 1<<13, }; enum EnumSimParamInternalSimFlags @@ -525,6 +526,7 @@ struct LoadSoftBodyArgs double m_corotatedLambda; bool m_useBendingSprings; double m_collisionHardness; + double m_useSelfCollision; double m_frictionCoeff; double m_NeoHookeanMu; double m_NeoHookeanLambda; diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 6f46b63b7..ef3a201c5 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -3378,6 +3378,16 @@ btSoftBody::vsolver_t btSoftBody::getSolver(eVSolver::_ solver) return (0); } +void btSoftBody::setSelfCollision(bool useSelfCollision) +{ + m_useSelfCollision = useSelfCollision; +} + +bool btSoftBody::useSelfCollision() +{ + return m_useSelfCollision; +} + // void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap) { @@ -3563,16 +3573,19 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb) } else { - btSoftColliders::CollideFF_DD docollide; - docollide.mrg = getCollisionShape()->getMargin() + - psb->getCollisionShape()->getMargin(); - docollide.psb[0] = this; - docollide.psb[1] = psb; - /* psb0 faces vs psb0 faces */ - btDbvntNode* root = copyToDbvnt(this->m_fdbvt.m_root); - calculateNormalCone(root); - this->m_fdbvt.selfCollideT(root,docollide); - delete root; + if (psb->useSelfCollision()) + { + btSoftColliders::CollideFF_DD docollide; + docollide.mrg = getCollisionShape()->getMargin() + + psb->getCollisionShape()->getMargin(); + docollide.psb[0] = this; + docollide.psb[1] = psb; + /* psb0 faces vs psb0 faces */ + btDbvntNode* root = copyToDbvnt(this->m_fdbvt.m_root); + calculateNormalCone(root); + this->m_fdbvt.selfCollideT(root,docollide); + delete root; + } // btSoftColliders::CollideFF_DD docollide; // /* common */ diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index 1016fe9f6..8acf22a21 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -790,6 +790,7 @@ public: btAlignedObjectArray m_renderNodesInterpolationWeights; btAlignedObjectArray > m_renderNodesParents; + bool m_useSelfCollision; btAlignedObjectArray m_clusterConnectivity; //cluster connectivity, for self-collision @@ -1006,6 +1007,8 @@ public: /* defaultCollisionHandlers */ void defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap); void defaultCollisionHandler(btSoftBody* psb); + void setSelfCollision(bool useSelfCollision); + bool useSelfCollision(); // // Functionality to deal with new accelerated solvers. From 0cb7cb2445f734e72b1e3e2ba9b81a55497ec963 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 4 Oct 2019 18:31:29 -0700 Subject: [PATCH 199/389] bool->int --- examples/SharedMemory/PhysicsClientC_API.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 52569807b..752789428 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -636,7 +636,7 @@ extern "C" B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness); B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ); B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness); - B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, bool useSelfCollision); + B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision); B3_SHARED_API int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle commandHandle, double frictionCoefficient); B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle commandHandle, int useBendingSprings); From c610ba49df6f3fccee903869a6ec94b9bcbcd7e9 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Sat, 5 Oct 2019 17:42:37 -0700 Subject: [PATCH 200/389] fix bug in computing rhs in momentum solve --- examples/DeformableDemo/DeformableContact.cpp | 2 +- examples/DeformableDemo/DeformableRigid.cpp | 2 +- .../DeformableSelfCollision.cpp | 2 +- examples/DeformableDemo/GraspDeformable.cpp | 75 ++++++++++--------- examples/DeformableDemo/PinchFriction.cpp | 2 +- .../DeformableDemo/VolumetricDeformable.cpp | 2 +- src/BulletSoftBody/btConjugateGradient.h | 2 +- src/BulletSoftBody/btDeformableBodySolver.cpp | 3 +- .../btDeformableMultiBodyConstraintSolver.cpp | 7 +- 9 files changed, 50 insertions(+), 47 deletions(-) diff --git a/examples/DeformableDemo/DeformableContact.cpp b/examples/DeformableDemo/DeformableContact.cpp index 12a81543b..3efa8e470 100644 --- a/examples/DeformableDemo/DeformableContact.cpp +++ b/examples/DeformableDemo/DeformableContact.cpp @@ -196,7 +196,7 @@ void DeformableContact::initPhysics() getDeformableDynamicsWorld()->addForce(psb2, gravity_force2); m_forces.push_back(gravity_force2); } - getDeformableDynamicsWorld()->setImplicit(true); + getDeformableDynamicsWorld()->setImplicit(false); getDeformableDynamicsWorld()->setLineSearch(false); m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); } diff --git a/examples/DeformableDemo/DeformableRigid.cpp b/examples/DeformableDemo/DeformableRigid.cpp index 1bd437a49..748f1f4c8 100644 --- a/examples/DeformableDemo/DeformableRigid.cpp +++ b/examples/DeformableDemo/DeformableRigid.cpp @@ -231,7 +231,7 @@ void DeformableRigid::initPhysics() // add a few rigid bodies Ctor_RbUpStack(1); } - getDeformableDynamicsWorld()->setImplicit(true); + getDeformableDynamicsWorld()->setImplicit(false); getDeformableDynamicsWorld()->setLineSearch(false); m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); } diff --git a/examples/DeformableDemo/DeformableSelfCollision.cpp b/examples/DeformableDemo/DeformableSelfCollision.cpp index be09af17c..cb4f405c2 100644 --- a/examples/DeformableDemo/DeformableSelfCollision.cpp +++ b/examples/DeformableDemo/DeformableSelfCollision.cpp @@ -175,7 +175,7 @@ void DeformableSelfCollision::initPhysics() getDeformableDynamicsWorld()->addForce(psb, gravity_force); m_forces.push_back(gravity_force); } - getDeformableDynamicsWorld()->setImplicit(true); + getDeformableDynamicsWorld()->setImplicit(false); getDeformableDynamicsWorld()->setLineSearch(false); m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); } diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index 41f75a4cf..970fde5f4 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -269,6 +269,7 @@ void GraspDeformable::initPhysics() } // create a soft block + if(0) { char relative_path[1024]; // b3FileUtils::findFile("banana.vtk", relative_path, 1024); @@ -291,7 +292,7 @@ void GraspDeformable::initPhysics() // psb->scale(btVector3(30, 30, 30)); // for banana // psb->scale(btVector3(.2, .2, .2)); // psb->scale(btVector3(2, 2, 2)); - psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot + psb->scale(btVector3(.1, .1, .1)); // for tube, torus, boot // psb->scale(btVector3(.1, .1, .1)); // for ditto // psb->translate(btVector3(.25, 2, 0.4)); psb->getCollisionShape()->setMargin(0.01); @@ -306,44 +307,46 @@ void GraspDeformable::initPhysics() getDeformableDynamicsWorld()->addForce(psb, gravity_force); m_forces.push_back(gravity_force); - btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(10,20, 0.01); + btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(100,200, 0.05); getDeformableDynamicsWorld()->addForce(psb, neohookean); m_forces.push_back(neohookean); } - -// // create a piece of cloth -// { -// bool onGround = false; -// const btScalar s = .4; -// btSoftBody* 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); -// -// 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, -// 2,2, -// 0, true); -// -// psb->getCollisionShape()->setMargin(0.02); -// psb->generateBendingConstraints(2); -// psb->setTotalMass(.01); -// psb->setSpringStiffness(5); -// psb->setDampingCoefficient(0.05); -// 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; -// psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; -// getDeformableDynamicsWorld()->addSoftBody(psb); -// getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(.2,0.02, true)); -// getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); -// } + getDeformableDynamicsWorld()->setImplicit(false); + + // create a piece of cloth + { + bool onGround = false; + const btScalar s = .4; + btSoftBody* 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); + + 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, + 2,2, + 0, true); + + psb->getCollisionShape()->setMargin(0.005); + psb->generateBendingConstraints(2); + psb->setTotalMass(.01); + psb->setSpringStiffness(5); + psb->setDampingCoefficient(0.05); + 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; + psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; + psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; + getDeformableDynamicsWorld()->addSoftBody(psb); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(.2,0.02, true)); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); + } m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); diff --git a/examples/DeformableDemo/PinchFriction.cpp b/examples/DeformableDemo/PinchFriction.cpp index 72e864ac3..1cbc7e43d 100644 --- a/examples/DeformableDemo/PinchFriction.cpp +++ b/examples/DeformableDemo/PinchFriction.cpp @@ -350,7 +350,7 @@ void PinchFriction::initPhysics() getDeformableDynamicsWorld()->addForce(psb3, neohookean); m_forces.push_back(neohookean); } - + getDeformableDynamicsWorld()->setImplicit(false); // add a pair of grippers createGrip(); m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); diff --git a/examples/DeformableDemo/VolumetricDeformable.cpp b/examples/DeformableDemo/VolumetricDeformable.cpp index c1213d520..d3a37d5bf 100644 --- a/examples/DeformableDemo/VolumetricDeformable.cpp +++ b/examples/DeformableDemo/VolumetricDeformable.cpp @@ -228,7 +228,7 @@ void VolumetricDeformable::initPhysics() m_forces.push_back(neohookean); } - getDeformableDynamicsWorld()->setImplicit(true); + getDeformableDynamicsWorld()->setImplicit(false); getDeformableDynamicsWorld()->setLineSearch(false); // add a few rigid bodies Ctor_RbUpStack(4); diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h index c1e41a0fd..c1816600e 100644 --- a/src/BulletSoftBody/btConjugateGradient.h +++ b/src/BulletSoftBody/btConjugateGradient.h @@ -66,7 +66,6 @@ public: // temp = A*p A.multiply(p, temp); A.project(temp); - // alpha = r^T * z / (p^T * A * p) if (dot(p,temp) < SIMD_EPSILON) { if (verbose) @@ -77,6 +76,7 @@ public: } return k; } + // alpha = r^T * z / (p^T * A * p) btScalar alpha = r_dot_z_new / dot(p, temp); // x += alpha * p; multAndAddTo(alpha, p, x); diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 10d3775d3..197ef7221 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -21,7 +21,7 @@ btDeformableBodySolver::btDeformableBodySolver() : m_numNodes(0) -, m_cg(20) +, m_cg(200) , m_maxNewtonIterations(5) , m_newtonTolerance(1e-4) , m_lineSearch(true) @@ -301,6 +301,7 @@ void btDeformableBodySolver::setupDeformableSolve(bool implicit) m_backupVelocity[counter] = psb->m_nodes[j].m_vn; } m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter]; + psb->m_nodes[j].m_v = m_backupVelocity[counter]; ++counter; } } diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp index 362451c0e..2567cecab 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp @@ -23,7 +23,7 @@ btScalar btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlyIteration ///this is a special step to resolve penetrations (just for contacts) solveGroupCacheFriendlySplitImpulseIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); - m_maxOverrideNumSolverIterations = 50; +// m_maxOverrideNumSolverIterations = 10; int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations; for (int iteration = 0; iteration < maxIterations; iteration++) { @@ -33,10 +33,9 @@ btScalar btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlyIteration m_leastSquaresResidual = solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); // solver body velocity -> rigid body velocity solverBodyWriteBack(infoGlobal); - + btScalar deformableResidual = m_deformableSolver->solveContactConstraints(); // update rigid body velocity in rigid/deformable contact - m_leastSquaresResidual = btMax(m_leastSquaresResidual, m_deformableSolver->solveContactConstraints()); - + m_leastSquaresResidual = btMax(m_leastSquaresResidual, deformableResidual); // solver body velocity <- rigid body velocity writeToSolverBody(bodies, numBodies, infoGlobal); From 3b945597d1ddbbc2bc7e37c0797b5a3a50165029 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 7 Oct 2019 14:40:11 -0700 Subject: [PATCH 201/389] prevent narrow phase collision detection between rigid and soft when both are sleeping --- src/BulletSoftBody/btSoftBody.cpp | 67 +++++++++++++----------- src/BulletSoftBody/btSoftBodyInternals.h | 2 + 2 files changed, 37 insertions(+), 32 deletions(-) diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index ef3a201c5..debe95d61 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -2306,9 +2306,9 @@ bool btSoftBody::checkDeformableContact(const btCollisionObjectWrapper* colObjWr const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject(); // use the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg for collision detect // but resolve contact at x_n - //btTransform wtr = (predict) ? - //(colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform()) - //: colObjWrap->getWorldTransform(); +// btTransform wtr = (predict) ? +// (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform()) +// : colObjWrap->getWorldTransform(); const btTransform& wtr = colObjWrap->getWorldTransform(); btScalar dst = m_worldInfo->m_sparsesdf.Evaluate( @@ -3430,35 +3430,38 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap { btRigidBody* prb1 = (btRigidBody*)btRigidBody::upcast(pcoWrap->getCollisionObject()); - btTransform wtr = pcoWrap->getWorldTransform(); - - const btTransform ctr = pcoWrap->getWorldTransform(); - const btScalar timemargin = (wtr.getOrigin() - ctr.getOrigin()).length(); - const btScalar basemargin = getCollisionShape()->getMargin(); - btVector3 mins; - btVector3 maxs; - ATTRIBUTE_ALIGNED16(btDbvtVolume) - volume; - pcoWrap->getCollisionShape()->getAabb(pcoWrap->getWorldTransform(), - mins, - maxs); - volume = btDbvtVolume::FromMM(mins, maxs); - volume.Expand(btVector3(basemargin, basemargin, basemargin)); - btSoftColliders::CollideSDF_RD docollideNode; - docollideNode.psb = this; - docollideNode.m_colObj1Wrap = pcoWrap; - docollideNode.m_rigidBody = prb1; - docollideNode.dynmargin = basemargin + timemargin; - docollideNode.stamargin = basemargin; - m_ndbvt.collideTV(m_ndbvt.m_root, volume, docollideNode); - - btSoftColliders::CollideSDF_RDF docollideFace; - docollideFace.psb = this; - docollideFace.m_colObj1Wrap = pcoWrap; - docollideFace.m_rigidBody = prb1; - docollideFace.dynmargin = basemargin + timemargin; - docollideFace.stamargin = basemargin; - m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace); + if (pcoWrap->getCollisionObject()->isActive() || this->isActive()) + { + const btTransform wtr = pcoWrap->getWorldTransform(); +// const btTransform ctr = pcoWrap->getWorldTransform(); +// const btScalar timemargin = (wtr.getOrigin() - ctr.getOrigin()).length(); + const btScalar timemargin = 0; + const btScalar basemargin = getCollisionShape()->getMargin(); + btVector3 mins; + btVector3 maxs; + ATTRIBUTE_ALIGNED16(btDbvtVolume) + volume; + pcoWrap->getCollisionShape()->getAabb(wtr, + mins, + maxs); + volume = btDbvtVolume::FromMM(mins, maxs); + volume.Expand(btVector3(basemargin, basemargin, basemargin)); + btSoftColliders::CollideSDF_RD docollideNode; + docollideNode.psb = this; + docollideNode.m_colObj1Wrap = pcoWrap; + docollideNode.m_rigidBody = prb1; + docollideNode.dynmargin = basemargin + timemargin; + docollideNode.stamargin = basemargin; + m_ndbvt.collideTV(m_ndbvt.m_root, volume, docollideNode); + + btSoftColliders::CollideSDF_RDF docollideFace; + docollideFace.psb = this; + docollideFace.m_colObj1Wrap = pcoWrap; + docollideFace.m_rigidBody = prb1; + docollideFace.dynmargin = basemargin + timemargin; + docollideFace.stamargin = basemargin; + m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace); + } } break; } diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index ff074eb43..afe9c7ea8 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -1074,6 +1074,7 @@ struct btSoftColliders if (psb->checkDeformableContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predict = */ true) || psb->checkDeformableContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predict = */ true)) { const btScalar ima = n.m_im; + // todo: collision between multibody and fixed deformable node will be missed. const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; const btScalar ms = ima + imb; if (ms > 0) @@ -1169,6 +1170,7 @@ struct btSoftColliders { btScalar ima = n0->m_im + n1->m_im + n2->m_im; const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; + // todo: collision between multibody and fixed deformable face will be missed. const btScalar ms = ima + imb; if (ms > 0) { From ca92cf067ee8cd32b7dbcfcaa40d9ae1cb8ee6b4 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 7 Oct 2019 14:48:36 -0700 Subject: [PATCH 202/389] fix removeCollisionObject for Deformable world --- .../btDeformableMultiBodyDynamicsWorld.cpp | 9 +++++++++ src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h | 2 ++ 2 files changed, 11 insertions(+) diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 595ed737c..73e534d09 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -386,3 +386,12 @@ void btDeformableMultiBodyDynamicsWorld::removeSoftBody(btSoftBody* body) // force a reinitialize so that node indices get updated. m_deformableBodySolver->reinitialize(m_softBodies, btScalar(-1)); } + +void btDeformableMultiBodyDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject) +{ + btSoftBody* body = btSoftBody::upcast(collisionObject); + if (body) + removeSoftBody(body); + else + btDiscreteDynamicsWorld::removeCollisionObject(collisionObject); +} diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h index e66e060f2..f618c989d 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h @@ -147,6 +147,8 @@ public: void removeSoftBody(btSoftBody* body); + void removeCollisionObject(btCollisionObject* collisionObject); + int getDrawFlags() const { return (m_drawFlags); } void setDrawFlags(int f) { m_drawFlags = f; } From 94facf002927f8d54c144a6bcde9803483009551 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 7 Oct 2019 17:24:22 -0700 Subject: [PATCH 203/389] typo fix --- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index e5dc10bb4..e87251ede 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -8145,7 +8145,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar psb->setCollisionFlags(0); psb->setTotalMass(mass); bool use_self_collision = false; - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_USE_SELF_COLLISION) + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_SELF_COLLISION) { use_self_collision = loadSoftBodyArgs.m_useSelfCollision; } From 58a67f82fbe1b4668c67b199893d393c878d4963 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 7 Oct 2019 17:32:08 -0700 Subject: [PATCH 204/389] set default integration scheme to explicit --- src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h index f618c989d..72cfa4fc5 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h @@ -83,7 +83,8 @@ public: m_sbi.water_normal = btVector3(0, 0, 0); m_sbi.m_gravity.setValue(0, -10, 0); m_internalTime = 0.0; - m_implicit = true; + m_implicit = false; + m_lineSearch = false; m_selfCollision = true; } From c808bb78c7ef6f6c178f4e504d6e46c00ce202bf Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 7 Oct 2019 19:30:45 -0700 Subject: [PATCH 205/389] delete lagrangian force when deleting dynamics world from command processor --- .../PhysicsServerCommandProcessor.cpp | 46 +++++++++++++------ 1 file changed, 32 insertions(+), 14 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index e87251ede..1f095105a 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -105,7 +105,7 @@ #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h" #endif -#define SKIP_DEFORMABLE_BODY 1 +//#define SKIP_DEFORMABLE_BODY 1 int gInternalSimFlags = 0; bool gResetSimulation = 0; @@ -1631,6 +1631,7 @@ struct PhysicsServerCommandProcessorInternalData #ifndef SKIP_DEFORMABLE_BODY btDeformableMultiBodyDynamicsWorld* m_dynamicsWorld; btDeformableBodySolver* m_deformablebodySolver; + btAlignedObjectArray m_lf; #else btSoftMultiBodyDynamicsWorld* m_dynamicsWorld; btSoftBodySolver* m_softbodySolver; @@ -2790,6 +2791,13 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld() m_data->m_dynamicsWorld->removeMultiBody(mb); delete mb; } +#ifndef SKIP_DEFORMABLE + for (int j = 0; j < m_data->m_lf.size(); j++) + { + btDeformableLagrangianForce* force = m_data->m_lf[j]; + delete force; + } +#endif #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD for (i = m_data->m_dynamicsWorld->getSoftBodyArray().size() - 1; i >= 0; i--) { @@ -8066,7 +8074,9 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar { spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; - m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false)); + btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false); + m_data->m_dynamicsWorld->addForce(psb, springForce); + m_data->m_lf.push_back(springForce); } #endif } @@ -8077,24 +8087,30 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar btScalar corotated_mu, corotated_lambda; if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE) { - corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu; - corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda; - m_data->m_dynamicsWorld->addForce(psb, new btDeformableCorotatedForce(corotated_mu, corotated_lambda)); + corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu; + corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda; + btDeformableLagrangianForce* corotatedForce = new btDeformableCorotatedForce(corotated_mu, corotated_lambda); + m_data->m_dynamicsWorld->addForce(psb, corotatedForce); + m_data->m_lf.push_back(corotatedForce); } btScalar neohookean_mu, neohookean_lambda, neohookean_damping; if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE) { - neohookean_mu = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanMu; - neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda; - neohookean_damping = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanDamping; - m_data->m_dynamicsWorld->addForce(psb, new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda, neohookean_damping)); + neohookean_mu = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanMu; + neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda; + neohookean_damping = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanDamping; + btDeformableLagrangianForce* neohookeanForce = new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda, neohookean_damping); + m_data->m_dynamicsWorld->addForce(psb, neohookeanForce); + m_data->m_lf.push_back(neohookeanForce); } btScalar spring_elastic_stiffness, spring_damping_stiffness; if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE) { - spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; - spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; - m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true)); + spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; + spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; + btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true); + m_data->m_dynamicsWorld->addForce(psb, springForce); + m_data->m_lf.push_back(springForce); } #endif } @@ -8113,7 +8129,9 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar psb->m_renderNodes.resize(0); } btVector3 gravity = m_data->m_dynamicsWorld->getGravity(); - m_data->m_dynamicsWorld->addForce(psb, new btDeformableGravityForce(gravity)); + btDeformableLagrangianForce* gravityForce = new btDeformableGravityForce(gravity); + m_data->m_dynamicsWorld->addForce(psb, gravityForce); + m_data->m_lf.push_back(gravityForce); btScalar collision_hardness = 1; psb->m_cfg.kKHR = collision_hardness; psb->m_cfg.kCHR = collision_hardness; @@ -8143,7 +8161,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar // collion between deformable and deformable and self-collision psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; psb->setCollisionFlags(0); - psb->setTotalMass(mass); + psb->setTotalMass(mass); bool use_self_collision = false; if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_SELF_COLLISION) { From 0d7ff567e66a55f8a219caaf46614b613c58a6c4 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 9 Oct 2019 00:38:13 -0700 Subject: [PATCH 206/389] bug fix in deformable predict motion --- src/BulletSoftBody/btDeformableBodySolver.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 197ef7221..1dba88698 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -336,14 +336,14 @@ bool btDeformableBodySolver::updateNodes() void btDeformableBodySolver::predictMotion(btScalar solverdt) { + // apply explicit forces to velocity + m_objective->applyExplicitForce(m_residual); for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody *psb = m_softBodies[i]; if (psb->isActive()) { - // apply explicit forces to velocity - m_objective->applyExplicitForce(m_residual); // predict motion for collision detection predictDeformableMotion(psb, solverdt); } From 25a566c378a31f1d97530ffc9c45976e20e08f96 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 10 Oct 2019 13:12:40 -0700 Subject: [PATCH 207/389] finish deformable sleeping and add option for drag --- .../btDeformableBackwardEulerObjective.cpp | 4 ++++ src/BulletSoftBody/btDeformableBodySolver.cpp | 1 + src/BulletSoftBody/btDeformableGravityForce.h | 4 ++++ .../btDeformableMassSpringForce.h | 24 +++++++++++++++++++ .../btDeformableNeoHookeanForce.h | 8 +++++++ src/BulletSoftBody/btSoftBody.cpp | 1 + src/BulletSoftBody/btSoftBody.h | 1 + 7 files changed, 43 insertions(+) diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index 49232725a..fee353a60 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -101,6 +101,10 @@ void btDeformableBackwardEulerObjective::applyForce(TVStack& force, bool setZero for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } for (int j = 0; j < psb->m_nodes.size(); ++j) { btScalar one_over_mass = (psb->m_nodes[j].m_im == 0) ? 0 : psb->m_nodes[j].m_im; diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 1dba88698..dc0b024f3 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -376,6 +376,7 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d for (i = 0, ni = psb->m_nodes.size(); i < ni; ++i) { btSoftBody::Node& n = psb->m_nodes[i]; + n.m_v *= (1 - psb->m_cfg.drag); n.m_q = n.m_x + n.m_v * dt; } /* Bounds */ diff --git a/src/BulletSoftBody/btDeformableGravityForce.h b/src/BulletSoftBody/btDeformableGravityForce.h index d9bef8b07..abc120252 100644 --- a/src/BulletSoftBody/btDeformableGravityForce.h +++ b/src/BulletSoftBody/btDeformableGravityForce.h @@ -80,6 +80,10 @@ public: for (int i = 0; iisActive()) + { + continue; + } for (int j = 0; j < psb->m_nodes.size(); ++j) { const btSoftBody::Node& node = psb->m_nodes[j]; diff --git a/src/BulletSoftBody/btDeformableMassSpringForce.h b/src/BulletSoftBody/btDeformableMassSpringForce.h index 9e7b3594c..44ac91c62 100644 --- a/src/BulletSoftBody/btDeformableMassSpringForce.h +++ b/src/BulletSoftBody/btDeformableMassSpringForce.h @@ -51,6 +51,10 @@ public: for (int i = 0; i < m_softBodies.size(); ++i) { const btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } for (int j = 0; j < psb->m_links.size(); ++j) { const btSoftBody::Link& link = psb->m_links[j]; @@ -83,6 +87,10 @@ public: for (int i = 0; i < m_softBodies.size(); ++i) { const btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } for (int j = 0; j < psb->m_links.size(); ++j) { const btSoftBody::Link& link = psb->m_links[j]; @@ -108,6 +116,10 @@ public: for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } btScalar scaled_k_damp = m_dampingStiffness * scale; for (int j = 0; j < psb->m_links.size(); ++j) { @@ -138,6 +150,10 @@ public: for (int i = 0; i < m_softBodies.size(); ++i) { const btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } for (int j = 0; j < psb->m_links.size(); ++j) { const btSoftBody::Link& link = psb->m_links[j]; @@ -160,6 +176,10 @@ public: for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } for (int j = 0; j < psb->m_nodes.size(); ++j) { sz = btMax(sz, psb->m_nodes[j].index); @@ -188,6 +208,10 @@ public: for (int i = 0; i < m_softBodies.size(); ++i) { const btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } btScalar scaled_k = m_elasticStiffness * scale; for (int j = 0; j < psb->m_links.size(); ++j) { diff --git a/src/BulletSoftBody/btDeformableNeoHookeanForce.h b/src/BulletSoftBody/btDeformableNeoHookeanForce.h index c40aaf4a7..797addf8b 100644 --- a/src/BulletSoftBody/btDeformableNeoHookeanForce.h +++ b/src/BulletSoftBody/btDeformableNeoHookeanForce.h @@ -93,6 +93,10 @@ public: for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } for (int j = 0; j < psb->m_tetraScratches.size(); ++j) { btSoftBody::Tetra& tetra = psb->m_tetras[j]; @@ -111,6 +115,10 @@ public: for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } for (int j = 0; j < psb->m_nodes.size(); ++j) { sz = btMax(sz, psb->m_nodes[j].index); diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index debe95d61..f63955470 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -89,6 +89,7 @@ void btSoftBody::initDefaults() m_cfg.piterations = 1; m_cfg.diterations = 0; m_cfg.citerations = 4; + m_cfg.drag = 0.01; m_cfg.collisions = fCollision::Default; m_cfg.collisions |= fCollision::VF_DD; m_pose.m_bvolume = false; diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index 8acf22a21..31ddfabb9 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -702,6 +702,7 @@ public: tVSolverArray m_vsequence; // Velocity solvers sequence tPSolverArray m_psequence; // Position solvers sequence tPSolverArray m_dsequence; // Drift solvers sequence + btScalar drag; // deformable air drag }; /* SolverState */ struct SolverState From 992e1454b63a06d62fe2a1e7f55c5850ebe320cf Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 10 Oct 2019 13:13:14 -0700 Subject: [PATCH 208/389] turn on SKIP_DEFORMABLE --- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 1f095105a..e9d93eff0 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -105,7 +105,7 @@ #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h" #endif -//#define SKIP_DEFORMABLE_BODY 1 +#define SKIP_DEFORMABLE_BODY 1 int gInternalSimFlags = 0; bool gResetSimulation = 0; @@ -2797,6 +2797,7 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld() btDeformableLagrangianForce* force = m_data->m_lf[j]; delete force; } + m_data->m_lf.clear(); #endif #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD for (i = m_data->m_dynamicsWorld->getSoftBodyArray().size() - 1; i >= 0; i--) From 0d742273c1cbc9135394f6db50fd7dfb519bb399 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 10 Oct 2019 13:14:26 -0700 Subject: [PATCH 209/389] set default drag coefficient to 0 --- src/BulletSoftBody/btSoftBody.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index f63955470..f3d3f0e4b 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -89,7 +89,7 @@ void btSoftBody::initDefaults() m_cfg.piterations = 1; m_cfg.diterations = 0; m_cfg.citerations = 4; - m_cfg.drag = 0.01; + m_cfg.drag = 0; m_cfg.collisions = fCollision::Default; m_cfg.collisions |= fCollision::VF_DD; m_pose.m_bvolume = false; From 45c44977119e8a1fda1c0fdd3467572cad63816d Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 10 Oct 2019 13:32:11 -0700 Subject: [PATCH 210/389] fix compile --- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index e9d93eff0..9e5799c36 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -2791,7 +2791,7 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld() m_data->m_dynamicsWorld->removeMultiBody(mb); delete mb; } -#ifndef SKIP_DEFORMABLE +#ifndef SKIP_DEFORMABLE_BODY for (int j = 0; j < m_data->m_lf.size(); j++) { btDeformableLagrangianForce* force = m_data->m_lf[j]; From 87546bb7c320f366ac46fd2aa5717d9d517ead7f Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 10 Oct 2019 14:26:44 -0700 Subject: [PATCH 211/389] prevent velocity of deformable from getting too big from explicit force --- src/BulletSoftBody/btDeformableBodySolver.cpp | 15 +++- src/BulletSoftBody/btSoftBody.cpp | 82 +++++++++++++------ 2 files changed, 70 insertions(+), 27 deletions(-) diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index dc0b024f3..618bf7ed5 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -372,15 +372,26 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d psb->m_sst.velmrg = psb->m_sst.sdt * 3; psb->m_sst.radmrg = psb->getCollisionShape()->getMargin(); psb->m_sst.updmrg = psb->m_sst.radmrg * (btScalar)0.25; + /* Bounds */ + psb->updateBounds(); + /* Integrate */ + // do not allow particles to move more than 10% of the bounding box size + btScalar max_v = 0.1 * (psb->m_bounds[1]-psb->m_bounds[0]).norm() / dt; for (i = 0, ni = psb->m_nodes.size(); i < ni; ++i) { btSoftBody::Node& n = psb->m_nodes[i]; + // apply drag n.m_v *= (1 - psb->m_cfg.drag); + // scale velocity back + if (n.m_v.norm() > max_v) + { + n.m_v.safeNormalize(); + n.m_v *= max_v; + } n.m_q = n.m_x + n.m_v * dt; } - /* Bounds */ - psb->updateBounds(); + /* Nodes */ ATTRIBUTE_ALIGNED16(btDbvtVolume) vol; diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index f3d3f0e4b..c3d99590a 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -2428,31 +2428,63 @@ void btSoftBody::updateBounds() m_bounds[1] = btVector3(1000, 1000, 1000); } else {*/ - if (m_ndbvt.m_root) - { - const btVector3& mins = m_ndbvt.m_root->volume.Mins(); - const btVector3& maxs = m_ndbvt.m_root->volume.Maxs(); - const btScalar csm = getCollisionShape()->getMargin(); - const btVector3 mrg = btVector3(csm, - csm, - csm) * - 1; // ??? to investigate... - m_bounds[0] = mins - mrg; - m_bounds[1] = maxs + mrg; - if (0 != getBroadphaseHandle()) - { - m_worldInfo->m_broadphase->setAabb(getBroadphaseHandle(), - m_bounds[0], - m_bounds[1], - m_worldInfo->m_dispatcher); - } - } - else - { - m_bounds[0] = - m_bounds[1] = btVector3(0, 0, 0); - } - //} +// if (m_ndbvt.m_root) +// { +// const btVector3& mins = m_ndbvt.m_root->volume.Mins(); +// const btVector3& maxs = m_ndbvt.m_root->volume.Maxs(); +// const btScalar csm = getCollisionShape()->getMargin(); +// const btVector3 mrg = btVector3(csm, +// csm, +// csm) * +// 1; // ??? to investigate... +// m_bounds[0] = mins - mrg; +// m_bounds[1] = maxs + mrg; +// if (0 != getBroadphaseHandle()) +// { +// m_worldInfo->m_broadphase->setAabb(getBroadphaseHandle(), +// m_bounds[0], +// m_bounds[1], +// m_worldInfo->m_dispatcher); +// } +// } +// else +// { +// m_bounds[0] = +// m_bounds[1] = btVector3(0, 0, 0); +// } + if (m_nodes.size()) + { + btVector3 mins = m_nodes[0].m_x; + btVector3 maxs = m_nodes[0].m_x; + for (int i = 1; i < m_nodes.size(); ++i) + { + for (int d = 0; d < 3; ++d) + { + if (m_nodes[i].m_x[d] > maxs[d]) + maxs[d] = m_nodes[i].m_x[d]; + if (m_nodes[i].m_x[d] < mins[d]) + mins[d] = m_nodes[i].m_x[d]; + } + } + const btScalar csm = getCollisionShape()->getMargin(); + const btVector3 mrg = btVector3(csm, + csm, + csm); + m_bounds[0] = mins - mrg; + m_bounds[1] = maxs + mrg; + if (0 != getBroadphaseHandle()) + { + m_worldInfo->m_broadphase->setAabb(getBroadphaseHandle(), + m_bounds[0], + m_bounds[1], + m_worldInfo->m_dispatcher); + } + } + else + { + m_bounds[0] = + m_bounds[1] = btVector3(0, 0, 0); + } } // From e87df1854405c6a6e5af0468e3e1059f92afc751 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 10 Oct 2019 22:55:11 -0700 Subject: [PATCH 212/389] switch to damping model from Irvine 05 for its SPDness --- src/BulletSoftBody/btDeformableBodySolver.cpp | 4 ++-- src/BulletSoftBody/btDeformableNeoHookeanForce.h | 10 ++++++++-- 2 files changed, 10 insertions(+), 4 deletions(-) diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 618bf7ed5..676df528d 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -376,8 +376,8 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d psb->updateBounds(); /* Integrate */ - // do not allow particles to move more than 10% of the bounding box size - btScalar max_v = 0.1 * (psb->m_bounds[1]-psb->m_bounds[0]).norm() / dt; + // do not allow particles to move more than the bounding box size + btScalar max_v = (psb->m_bounds[1]-psb->m_bounds[0]).norm() / dt; for (i = 0, ni = psb->m_nodes.size(); i < ni; ++i) { btSoftBody::Node& n = psb->m_nodes[i]; diff --git a/src/BulletSoftBody/btDeformableNeoHookeanForce.h b/src/BulletSoftBody/btDeformableNeoHookeanForce.h index 797addf8b..816d214ef 100644 --- a/src/BulletSoftBody/btDeformableNeoHookeanForce.h +++ b/src/BulletSoftBody/btDeformableNeoHookeanForce.h @@ -73,7 +73,10 @@ public: size_t id3 = node3->index; btMatrix3x3 dF = DsFromVelocity(node0, node1, node2, node3) * tetra.m_Dm_inverse; btMatrix3x3 dP; - firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP); +// firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP); + btMatrix3x3 I; + I.setIdentity(); + dP = (dF + dF.transpose()) * m_mu_damp + I * (dF[0][0]+dF[1][1]+dF[2][2]) * m_lambda_damp; btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); @@ -210,7 +213,10 @@ public: size_t id3 = node3->index; btMatrix3x3 dF = Ds(id0, id1, id2, id3, dv) * tetra.m_Dm_inverse; btMatrix3x3 dP; - firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP); +// firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP); + btMatrix3x3 I; + I.setIdentity(); + dP = (dF + dF.transpose()) * m_mu_damp + I * (dF[0][0]+dF[1][1]+dF[2][2]) * m_lambda_damp; // btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); btVector3 df_on_node0 = df_on_node123 * grad_N_hat_1st_col; From 9546390fd68b4233245f907b68cc2568f446f91c Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 11 Oct 2019 16:24:07 -0700 Subject: [PATCH 213/389] clamp stress for NeoHookean in singular value space --- .../btDeformableNeoHookeanForce.h | 55 +- src/LinearMath/CMakeLists.txt | 1 + src/LinearMath/btImplicitQRSVD.h | 892 ++++++++++++++++++ 3 files changed, 946 insertions(+), 2 deletions(-) create mode 100644 src/LinearMath/btImplicitQRSVD.h diff --git a/src/BulletSoftBody/btDeformableNeoHookeanForce.h b/src/BulletSoftBody/btDeformableNeoHookeanForce.h index 816d214ef..e0f1b76d1 100644 --- a/src/BulletSoftBody/btDeformableNeoHookeanForce.h +++ b/src/BulletSoftBody/btDeformableNeoHookeanForce.h @@ -18,6 +18,8 @@ subject to the following restrictions: #include "btDeformableLagrangianForce.h" #include "LinearMath/btQuickprof.h" +#include "LinearMath/btImplicitQRSVD.h" +#include "Eigen" // This energy is as described in https://graphics.pixar.com/library/StableElasticity/paper.pdf class btDeformableNeoHookeanForce : public btDeformableLagrangianForce { @@ -72,11 +74,12 @@ public: size_t id2 = node2->index; size_t id3 = node3->index; btMatrix3x3 dF = DsFromVelocity(node0, node1, node2, node3) * tetra.m_Dm_inverse; + btMatrix3x3 C = dF + dF.transpose(); btMatrix3x3 dP; // firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP); btMatrix3x3 I; I.setIdentity(); - dP = (dF + dF.transpose()) * m_mu_damp + I * (dF[0][0]+dF[1][1]+dF[2][2]) * m_lambda_damp; + dP = C * m_mu_damp + I * (dF[0][0]+dF[1][1]+dF[2][2]) * m_lambda_damp; btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); @@ -155,6 +158,7 @@ public: virtual void addScaledElasticForce(btScalar scale, TVStack& force) { +// btScalar max_p = 0; int numNodes = getNumNodes(); btAssert(numNodes <= force.size()); btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); @@ -166,6 +170,51 @@ public: btSoftBody::Tetra& tetra = psb->m_tetras[j]; btMatrix3x3 P; firstPiola(psb->m_tetraScratches[j],P); + + btMatrix3x3 U, V; + btVector3 sigma; + singularValueDecomposition(P, U, sigma, V); + sigma[0] = btMin(sigma[0], (btScalar)1000); + sigma[1] = btMin(sigma[1], (btScalar)1000); + sigma[2] = btMin(sigma[2], (btScalar)1000); + sigma[0] = btMax(sigma[0], (btScalar)-1000); + sigma[1] = btMax(sigma[1], (btScalar)-1000); + sigma[2] = btMax(sigma[2], (btScalar)-1000); + btMatrix3x3 Sigma; + Sigma.setIdentity(); + Sigma[0][0] = sigma[0]; + Sigma[1][1] = sigma[1]; + Sigma[2][2] = sigma[2]; +// max_p = btMax(max_p, sigma[0]); +// max_p = btMax(max_p, sigma[1]); +// max_p = btMax(max_p, sigma[2]); + P = U * Sigma * V.transpose(); + +// Eigen::Matrix eigenP; +// eigenP << P[0][0], P[0][1], P[0][2], +// P[1][0],P[1][1],P[1][2], +// P[2][0],P[2][1],P[2][2]; +// Eigen::JacobiSVD > svd(eigenP, Eigen::ComputeFullU | Eigen::ComputeFullV); +// Eigen::Matrix P_hat = svd.singularValues().asDiagonal(); +// P_hat(0,0) = btMin((btScalar)P_hat(0,0), (btScalar)20); +// P_hat(1,1) = btMin((btScalar)P_hat(1,1), (btScalar)20); +// P_hat(2,2) = btMin((btScalar)P_hat(2,2), (btScalar)20); +// eigenP = svd.matrixU() * P_hat * svd.matrixV().transpose(); +// max_p = btMax(max_p, (btScalar)P_hat(0,0)); +// max_p = btMax(max_p, (btScalar)P_hat(1,1)); +// max_p = btMax(max_p, (btScalar)P_hat(2,2)); +// +// P[0][0] = eigenP(0,0); +// P[0][1] = eigenP(0,1); +// P[0][2] = eigenP(0,2); +// P[1][0] = eigenP(1,0); +// P[1][1] = eigenP(1,1); +// P[1][2] = eigenP(1,2); +// P[2][0] = eigenP(2,0); +// P[2][1] = eigenP(2,1); +// P[2][2] = eigenP(2,2); + + // btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose(); btVector3 force_on_node0 = force_on_node123 * grad_N_hat_1st_col; @@ -187,6 +236,7 @@ public: force[id3] -= scale1 * force_on_node123.getColumn(2); } } +// std::cout << max_p << std::endl; } // The damping matrix is calculated using the time n state as described in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search @@ -212,11 +262,12 @@ public: size_t id2 = node2->index; size_t id3 = node3->index; btMatrix3x3 dF = Ds(id0, id1, id2, id3, dv) * tetra.m_Dm_inverse; + btMatrix3x3 C = dF + dF.transpose(); btMatrix3x3 dP; // firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP); btMatrix3x3 I; I.setIdentity(); - dP = (dF + dF.transpose()) * m_mu_damp + I * (dF[0][0]+dF[1][1]+dF[2][2]) * m_lambda_damp; + dP = C * m_mu_damp + I * (dF[0][0]+dF[1][1]+dF[2][2]) * m_lambda_damp; // btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); btVector3 df_on_node0 = df_on_node123 * grad_N_hat_1st_col; diff --git a/src/LinearMath/CMakeLists.txt b/src/LinearMath/CMakeLists.txt index 0c8c0133a..a5491c325 100644 --- a/src/LinearMath/CMakeLists.txt +++ b/src/LinearMath/CMakeLists.txt @@ -32,6 +32,7 @@ SET(LinearMath_HDRS btIDebugDraw.h btList.h btMatrix3x3.h + btImplicitQRSVD.h btMinMax.h btMotionState.h btPolarDecomposition.h diff --git a/src/LinearMath/btImplicitQRSVD.h b/src/LinearMath/btImplicitQRSVD.h new file mode 100644 index 000000000..0785a6259 --- /dev/null +++ b/src/LinearMath/btImplicitQRSVD.h @@ -0,0 +1,892 @@ +/** + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + 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. + + Copyright (c) 2016 Theodore Gast, Chuyuan Fu, Chenfanfu Jiang, Joseph Teran + + Permission is hereby granted, free of charge, to any person obtaining a copy of + this software and associated documentation files (the "Software"), to deal in + the Software without restriction, including without limitation the rights to + use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies + of the Software, and to permit persons to whom the Software is furnished to do + so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all + copies or substantial portions of the Software. + + If the code is used in an article, the following paper shall be cited: + @techreport{qrsvd:2016, + title={Implicit-shifted Symmetric QR Singular Value Decomposition of 3x3 Matrices}, + author={Gast, Theodore and Fu, Chuyuan and Jiang, Chenfanfu and Teran, Joseph}, + year={2016}, + institution={University of California Los Angeles} + } + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + SOFTWARE. +**/ + +#ifndef btImplicitQRSVD_h +#define btImplicitQRSVD_h + +#include "btMatrix3x3.h" +class btMatrix2x2 +{ +public: + btScalar m_00, m_01, m_10, m_11; + btMatrix2x2(): m_00(0), m_10(0), m_01(0), m_11(0) + { + } + btMatrix2x2(const btMatrix2x2& other): m_00(other.m_00),m_01(other.m_01),m_10(other.m_10),m_11(other.m_11) + {} + btScalar& operator()(int i, int j) + { + if (i == 0 && j == 0) + return m_00; + if (i == 1 && j == 0) + return m_10; + if (i == 0 && j == 1) + return m_01; + if (i == 1 && j == 1) + return m_11; + btAssert(false); + return m_00; + } + const btScalar& operator()(int i, int j) const + { + if (i == 0 && j == 0) + return m_00; + if (i == 1 && j == 0) + return m_10; + if (i == 0 && j == 1) + return m_01; + if (i == 1 && j == 1) + return m_11; + btAssert(false); + return m_00; + } + void setIdentity() + { + m_00 = 1; + m_11 = 1; + m_01 = 0; + m_10 = 0; + } +}; + +/** + Class for givens rotation. + Row rotation G*A corresponds to something like + c -s 0 + ( s c 0 ) A + 0 0 1 + Column rotation A G' corresponds to something like + c -s 0 + A ( s c 0 ) + 0 0 1 + + c and s are always computed so that + ( c -s ) ( a ) = ( * ) + s c b ( 0 ) + + Assume rowi(R); + A.setIdentity(); + A[rowi][rowi] = c; + A[rowk][rowi] = -s; + A[rowi][rowk] = s; + A[rowk][rowk] = c; + } + + inline void fill(const btMatrix2x2& R) const + { + btMatrix2x2& A = const_cast(R); + A(rowi,rowi) = c; + A(rowk,rowi) = -s; + A(rowi,rowk) = s; + A(rowk,rowk) = c; + } + + /** + This function does something like + c -s 0 + ( s c 0 ) A -> A + 0 0 1 + It only affects row i and row k of A. + */ + inline void rowRotation(btMatrix3x3& A) const + { + for (int j = 0; j < 3; j++) { + btScalar tau1 = A[rowi][j]; + btScalar tau2 = A[rowk][j]; + A[rowi][j] = c * tau1 - s * tau2; + A[rowk][j] = s * tau1 + c * tau2; + } + } + inline void rowRotation(btMatrix2x2& A) const + { + for (int j = 0; j < 2; j++) { + btScalar tau1 = A(rowi,j); + btScalar tau2 = A(rowk,j); + A(rowi,j) = c * tau1 - s * tau2; + A(rowk,j) = s * tau1 + c * tau2; + } + } + + /** + This function does something like + c s 0 + A ( -s c 0 ) -> A + 0 0 1 + It only affects column i and column k of A. + */ + inline void columnRotation(btMatrix3x3& A) const + { + for (int j = 0; j < 3; j++) { + btScalar tau1 = A[j][rowi]; + btScalar tau2 = A[j][rowk]; + A[j][rowi] = c * tau1 - s * tau2; + A[j][rowk] = s * tau1 + c * tau2; + } + } + inline void columnRotation(btMatrix2x2& A) const + { + for (int j = 0; j < 2; j++) { + btScalar tau1 = A(j,rowi); + btScalar tau2 = A(j,rowk); + A(j,rowi) = c * tau1 - s * tau2; + A(j,rowk) = s * tau1 + c * tau2; + } + } + + /** + Multiply givens must be for same row and column + **/ + inline void operator*=(const GivensRotation& A) + { + btScalar new_c = c * A.c - s * A.s; + btScalar new_s = s * A.c + c * A.s; + c = new_c; + s = new_s; + } + + /** + Multiply givens must be for same row and column + **/ + inline GivensRotation operator*(const GivensRotation& A) const + { + GivensRotation r(*this); + r *= A; + return r; + } +}; + +/** + \brief zero chasing the 3X3 matrix to bidiagonal form + original form of H: x x 0 + x x x + 0 0 x + after zero chase: + x x 0 + 0 x x + 0 0 x + */ +inline void zeroChase(btMatrix3x3& H, btMatrix3x3& U, btMatrix3x3& V) +{ + + /** + Reduce H to of form + x x + + 0 x x + 0 0 x + */ + GivensRotation r1(H[0][0], H[1][0], 0, 1); + /** + Reduce H to of form + x x 0 + 0 x x + 0 + x + Can calculate r2 without multiplying by r1 since both entries are in first two + rows thus no need to divide by sqrt(a^2+b^2) + */ + GivensRotation r2(1, 2); + if (H[1][0] != 0) + r2.compute(H[0][0] * H[0][1] + H[1][0] * H[1][1], H[0][0] * H[0][2] + H[1][0] * H[1][2]); + else + r2.compute(H[0][1], H[0][2]); + + r1.rowRotation(H); + + /* GivensRotation r2(H(0, 1), H(0, 2), 1, 2); */ + r2.columnRotation(H); + r2.columnRotation(V); + + /** + Reduce H to of form + x x 0 + 0 x x + 0 0 x + */ + GivensRotation r3(H[1][1], H[2][1], 1, 2); + r3.rowRotation(H); + + // Save this till end for better cache coherency + // r1.rowRotation(u_transpose); + // r3.rowRotation(u_transpose); + r1.columnRotation(U); + r3.columnRotation(U); +} + +/** + \brief make a 3X3 matrix to upper bidiagonal form + original form of H: x x x + x x x + x x x + after zero chase: + x x 0 + 0 x x + 0 0 x + */ +inline void makeUpperBidiag(btMatrix3x3& H, btMatrix3x3& U, btMatrix3x3& V) +{ + U.setIdentity(); + V.setIdentity(); + + /** + Reduce H to of form + x x x + x x x + 0 x x + */ + + GivensRotation r(H[1][0], H[2][0], 1, 2); + r.rowRotation(H); + // r.rowRotation(u_transpose); + r.columnRotation(U); + // zeroChase(H, u_transpose, V); + zeroChase(H, U, V); +} + +/** + \brief make a 3X3 matrix to lambda shape + original form of H: x x x + * x x x + * x x x + after : + * x 0 0 + * x x 0 + * x 0 x + */ +inline void makeLambdaShape(btMatrix3x3& H, btMatrix3x3& U, btMatrix3x3& V) +{ + U.setIdentity(); + V.setIdentity(); + + /** + Reduce H to of form + * x x 0 + * x x x + * x x x + */ + + GivensRotation r1(H[0][1], H[0][2], 1, 2); + r1.columnRotation(H); + r1.columnRotation(V); + + /** + Reduce H to of form + * x x 0 + * x x 0 + * x x x + */ + + r1.computeUnconventional(H[1][2], H[2][2]); + r1.rowRotation(H); + r1.columnRotation(U); + + /** + Reduce H to of form + * x x 0 + * x x 0 + * x 0 x + */ + + GivensRotation r2(H[2][0], H[2][1], 0, 1); + r2.columnRotation(H); + r2.columnRotation(V); + + /** + Reduce H to of form + * x 0 0 + * x x 0 + * x 0 x + */ + r2.computeUnconventional(H[0][1], H[1][1]); + r2.rowRotation(H); + r2.columnRotation(U); +} + +/** + \brief 2x2 polar decomposition. + \param[in] A matrix. + \param[out] R Robustly a rotation matrix. + \param[out] S_Sym Symmetric. Whole matrix is stored + + Polar guarantees negative sign is on the small magnitude singular value. + S is guaranteed to be the closest one to identity. + R is guaranteed to be the closest rotation to A. + */ +inline void polarDecomposition(const btMatrix2x2& A, + GivensRotation& R, + const btMatrix2x2& S_Sym) +{ + btScalar a = (A(0, 0) + A(1, 1)), b = (A(1, 0) - A(0, 1)); + btScalar denominator = btSqrt(a*a+b*b); + R.c = (btScalar)1; + R.s = (btScalar)0; + if (denominator != 0) { + /* + No need to use a tolerance here because x(0) and x(1) always have + smaller magnitude then denominator, therefore overflow never happens. + */ + R.c = a / denominator; + R.s = -b / denominator; + } + btMatrix2x2& S = const_cast(S_Sym); + S = A; + R.rowRotation(S); +} + +inline void polarDecomposition(const btMatrix2x2& A, + const btMatrix2x2& R, + const btMatrix2x2& S_Sym) +{ + GivensRotation r(0, 1); + polarDecomposition(A, r, S_Sym); + r.fill(R); +} + +/** + \brief 2x2 SVD (singular value decomposition) A=USV' + \param[in] A Input matrix. + \param[out] U Robustly a rotation matrix in Givens form + \param[out] Sigma matrix of singular values sorted with decreasing magnitude. The second one can be negative. + \param[out] V Robustly a rotation matrix in Givens form + */ +inline void singularValueDecomposition( + const btMatrix2x2& A, + GivensRotation& U, + const btMatrix2x2& Sigma, + GivensRotation& V, + const btScalar tol = 64 * std::numeric_limits::epsilon()) +{ + btMatrix2x2& sigma = const_cast(Sigma); + sigma.setIdentity(); + btMatrix2x2 S_Sym; + polarDecomposition(A, U, S_Sym); + btScalar cosine, sine; + btScalar x = S_Sym(0, 0); + btScalar y = S_Sym(0, 1); + btScalar z = S_Sym(1, 1); + if (y == 0) { + // S is already diagonal + cosine = 1; + sine = 0; + sigma(0,0) = x; + sigma(1,1) = z; + } + else { + btScalar tau = 0.5 * (x - z); + btScalar w = btSqrt(tau * tau + y * y); + // w > y > 0 + btScalar t; + if (tau > 0) { + // tau + w > w > y > 0 ==> division is safe + t = y / (tau + w); + } + else { + // tau - w < -w < -y < 0 ==> division is safe + t = y / (tau - w); + } + cosine = btScalar(1) / btSqrt(t * t + btScalar(1)); + sine = -t * cosine; + /* + V = [cosine -sine; sine cosine] + Sigma = V'SV. Only compute the diagonals for efficiency. + Also utilize symmetry of S and don't form V yet. + */ + btScalar c2 = cosine * cosine; + btScalar csy = 2 * cosine * sine * y; + btScalar s2 = sine * sine; + sigma(0,0) = c2 * x - csy + s2 * z; + sigma(1,1) = s2 * x + csy + c2 * z; + } + + // Sorting + // Polar already guarantees negative sign is on the small magnitude singular value. + if (sigma(0,0) < sigma(1,1)) { + std::swap(sigma(0,0), sigma(1,1)); + V.c = -sine; + V.s = cosine; + } + else { + V.c = cosine; + V.s = sine; + } + U *= V; +} + +/** + \brief 2x2 SVD (singular value decomposition) A=USV' + \param[in] A Input matrix. + \param[out] U Robustly a rotation matrix. + \param[out] Sigma Vector of singular values sorted with decreasing magnitude. The second one can be negative. + \param[out] V Robustly a rotation matrix. + */ +inline void singularValueDecomposition( + const btMatrix2x2& A, + const btMatrix2x2& U, + const btMatrix2x2& Sigma, + const btMatrix2x2& V, + const btScalar tol = 64 * std::numeric_limits::epsilon()) +{ + GivensRotation gv(0, 1); + GivensRotation gu(0, 1); + singularValueDecomposition(A, gu, Sigma, gv); + + gu.fill(U); + gv.fill(V); +} + +/** + \brief compute wilkinsonShift of the block + a1 b1 + b1 a2 + based on the wilkinsonShift formula + mu = c + d - sign (d) \ sqrt (d*d + b*b), where d = (a-c)/2 + + */ +inline btScalar wilkinsonShift(const btScalar a1, const btScalar b1, const btScalar a2) +{ + using std::sqrt; + using std::fabs; + using std::copysign; + + btScalar d = (btScalar)0.5 * (a1 - a2); + btScalar bs = b1 * b1; + + btScalar mu = a2 - copysign(bs / (fabs(d) + sqrt(d * d + bs)), d); + // T mu = a2 - bs / ( d + sign_d*sqrt (d*d + bs)); + return mu; +} + +/** + \brief Helper function of 3X3 SVD for processing 2X2 SVD + */ +template +inline void process(btMatrix3x3& B, btMatrix3x3& U, btVector3& sigma, btMatrix3x3& V) +{ + int other = (t == 1) ? 0 : 2; + GivensRotation u(0, 1); + GivensRotation v(0, 1); + sigma[other] = B[other][other]; + + btMatrix2x2 B_sub, sigma_sub; + if (t == 0) + { + B_sub.m_00 = B[0][0]; + B_sub.m_10 = B[1][0]; + B_sub.m_01 = B[0][1]; + B_sub.m_11 = B[1][1]; + sigma_sub.m_00 = sigma[0]; + sigma_sub.m_11 = sigma[1]; +// singularValueDecomposition(B.template block<2, 2>(t, t), u, sigma.template block<2, 1>(t, 0), v); + singularValueDecomposition(B_sub, u, sigma_sub, v); + B[0][0] = B_sub.m_00; + B[1][0] = B_sub.m_10; + B[0][1] = B_sub.m_01; + B[1][1] = B_sub.m_11; + sigma[0] = sigma_sub.m_00; + sigma[1] = sigma_sub.m_11; + } + else + { + B_sub.m_00 = B[1][1]; + B_sub.m_10 = B[2][1]; + B_sub.m_01 = B[1][2]; + B_sub.m_11 = B[2][2]; + sigma_sub.m_00 = sigma[1]; + sigma_sub.m_11 = sigma[2]; + // singularValueDecomposition(B.template block<2, 2>(t, t), u, sigma.template block<2, 1>(t, 0), v); + singularValueDecomposition(B_sub, u, sigma_sub, v); + B[1][1] = B_sub.m_00; + B[2][1] = B_sub.m_10; + B[1][2] = B_sub.m_01; + B[2][2] = B_sub.m_11; + sigma[1] = sigma_sub.m_00; + sigma[2] = sigma_sub.m_11; + } + u.rowi += t; + u.rowk += t; + v.rowi += t; + v.rowk += t; + u.columnRotation(U); + v.columnRotation(V); +} + +/** + \brief Helper function of 3X3 SVD for flipping signs due to flipping signs of sigma + */ +inline void flipSign(int i, btMatrix3x3& U, btVector3& sigma) +{ + sigma[i] = -sigma[i]; + U[0][i] = -U[0][i]; + U[1][i] = -U[1][i]; + U[2][i] = -U[2][i]; +} + +inline void flipSign(int i, btMatrix3x3& U) +{ + U[0][i] = -U[0][i]; + U[1][i] = -U[1][i]; + U[2][i] = -U[2][i]; +} + +inline void swapCol(btMatrix3x3& A, int i, int j) +{ + for (int d = 0; d < 3; ++d) + std::swap(A[d][i], A[d][j]); +} +/** + \brief Helper function of 3X3 SVD for sorting singular values + */ +inline void sort(btMatrix3x3& U, btVector3& sigma, btMatrix3x3& V, int t) +{ + using std::fabs; + + if (t == 0) + { + // Case: sigma(0) > |sigma(1)| >= |sigma(2)| + if (fabs(sigma[1]) >= fabs(sigma[2])) { + if (sigma[1] < 0) { + flipSign(1, U, sigma); + flipSign(2, U, sigma); + } + return; + } + + //fix sign of sigma for both cases + if (sigma[2] < 0) { + flipSign(1, U, sigma); + flipSign(2, U, sigma); + } + + //swap sigma(1) and sigma(2) for both cases + std::swap(sigma[1], sigma[2]); + // swap the col 1 and col 2 for U,V + swapCol(U,1,2); + swapCol(V,1,2); + + // Case: |sigma(2)| >= sigma(0) > |simga(1)| + if (sigma[1] > sigma[0]) { + std::swap(sigma[0], sigma[1]); + swapCol(U,0,1); + swapCol(V,0,1); + } + + // Case: sigma(0) >= |sigma(2)| > |simga(1)| + else { + flipSign(2, U); + flipSign(2, V); + } + } + else if (t == 1) + { + // Case: |sigma(0)| >= sigma(1) > |sigma(2)| + if (fabs(sigma[0]) >= sigma[1]) { + if (sigma[0] < 0) { + flipSign(0, U, sigma); + flipSign(2, U, sigma); + } + return; + } + + //swap sigma(0) and sigma(1) for both cases + std::swap(sigma[0], sigma[1]); + swapCol(U, 0, 1); + swapCol(V, 0, 1); + + // Case: sigma(1) > |sigma(2)| >= |sigma(0)| + if (fabs(sigma[1]) < fabs(sigma[2])) { + std::swap(sigma[1], sigma[2]); + swapCol(U, 1, 2); + swapCol(V, 1, 2); + } + + // Case: sigma(1) >= |sigma(0)| > |sigma(2)| + else { + flipSign(1, U); + flipSign(1, V); + } + + // fix sign for both cases + if (sigma[1] < 0) { + flipSign(1, U, sigma); + flipSign(2, U, sigma); + } + } +} + +/** + \brief 3X3 SVD (singular value decomposition) A=USV' + \param[in] A Input matrix. + \param[out] U is a rotation matrix. + \param[out] sigma Diagonal matrix, sorted with decreasing magnitude. The third one can be negative. + \param[out] V is a rotation matrix. + */ +inline int singularValueDecomposition(const btMatrix3x3& A, + btMatrix3x3& U, + btVector3& sigma, + btMatrix3x3& V, + btScalar tol = 128*std::numeric_limits::epsilon()) +{ + using std::fabs; + using std::sqrt; + using std::max; + btMatrix3x3 B = A; + U.setIdentity(); + V.setIdentity(); + + makeUpperBidiag(B, U, V); + + int count = 0; + btScalar mu = (btScalar)0; + GivensRotation r(0, 1); + + btScalar alpha_1 = B[0][0]; + btScalar beta_1 = B[0][1]; + btScalar alpha_2 = B[1][1]; + btScalar alpha_3 = B[2][2]; + btScalar beta_2 = B[1][2]; + btScalar gamma_1 = alpha_1 * beta_1; + btScalar gamma_2 = alpha_2 * beta_2; + tol *= max((btScalar)0.5 * sqrt(alpha_1 * alpha_1 + alpha_2 * alpha_2 + alpha_3 * alpha_3 + beta_1 * beta_1 + beta_2 * beta_2), (btScalar)1); + + /** + Do implicit shift QR until A^T A is block diagonal + */ + + while (fabs(beta_2) > tol && fabs(beta_1) > tol + && fabs(alpha_1) > tol && fabs(alpha_2) > tol + && fabs(alpha_3) > tol) { + mu = wilkinsonShift(alpha_2 * alpha_2 + beta_1 * beta_1, gamma_2, alpha_3 * alpha_3 + beta_2 * beta_2); + + r.compute(alpha_1 * alpha_1 - mu, gamma_1); + r.columnRotation(B); + + r.columnRotation(V); + zeroChase(B, U, V); + + alpha_1 = B[0][0]; + beta_1 = B[0][1]; + alpha_2 = B[1][1]; + alpha_3 = B[2][2]; + beta_2 = B[1][2]; + gamma_1 = alpha_1 * beta_1; + gamma_2 = alpha_2 * beta_2; + count++; + } + /** + Handle the cases of one of the alphas and betas being 0 + Sorted by ease of handling and then frequency + of occurrence + + If B is of form + x x 0 + 0 x 0 + 0 0 x + */ + if (fabs(beta_2) <= tol) { + process<0>(B, U, sigma, V); + sort(U, sigma, V,0); + } + /** + If B is of form + x 0 0 + 0 x x + 0 0 x + */ + else if (fabs(beta_1) <= tol) { + process<1>(B, U, sigma, V); + sort(U, sigma, V,1); + } + /** + If B is of form + x x 0 + 0 0 x + 0 0 x + */ + else if (fabs(alpha_2) <= tol) { + /** + Reduce B to + x x 0 + 0 0 0 + 0 0 x + */ + GivensRotation r1(1, 2); + r1.computeUnconventional(B[1][2], B[2][2]); + r1.rowRotation(B); + r1.columnRotation(U); + + process<0>(B, U, sigma, V); + sort(U, sigma, V, 0); + } + /** + If B is of form + x x 0 + 0 x x + 0 0 0 + */ + else if (fabs(alpha_3) <= tol) { + /** + Reduce B to + x x + + 0 x 0 + 0 0 0 + */ + GivensRotation r1(1, 2); + r1.compute(B[1][1], B[1][2]); + r1.columnRotation(B); + r1.columnRotation(V); + /** + Reduce B to + x x 0 + + x 0 + 0 0 0 + */ + GivensRotation r2(0, 2); + r2.compute(B[0][0], B[0][2]); + r2.columnRotation(B); + r2.columnRotation(V); + + process<0>(B, U, sigma, V); + sort(U, sigma, V, 0); + } + /** + If B is of form + 0 x 0 + 0 x x + 0 0 x + */ + else if (fabs(alpha_1) <= tol) { + /** + Reduce B to + 0 0 + + 0 x x + 0 0 x + */ + GivensRotation r1(0, 1); + r1.computeUnconventional(B[0][1], B[1][1]); + r1.rowRotation(B); + r1.columnRotation(U); + + /** + Reduce B to + 0 0 0 + 0 x x + 0 + x + */ + GivensRotation r2(0, 2); + r2.computeUnconventional(B[0][2], B[2][2]); + r2.rowRotation(B); + r2.columnRotation(U); + + process<1>(B, U, sigma, V); + sort(U, sigma, V, 1); + } + + return count; +} +#endif /* btImplicitQRSVD_h */ From 9e29f7108d8ba2c991e6b98eabeb354e9c085c28 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 11 Oct 2019 16:34:56 -0700 Subject: [PATCH 214/389] remove Eigen --- src/BulletSoftBody/btDeformableNeoHookeanForce.h | 1 - 1 file changed, 1 deletion(-) diff --git a/src/BulletSoftBody/btDeformableNeoHookeanForce.h b/src/BulletSoftBody/btDeformableNeoHookeanForce.h index e0f1b76d1..589abf2e3 100644 --- a/src/BulletSoftBody/btDeformableNeoHookeanForce.h +++ b/src/BulletSoftBody/btDeformableNeoHookeanForce.h @@ -19,7 +19,6 @@ subject to the following restrictions: #include "btDeformableLagrangianForce.h" #include "LinearMath/btQuickprof.h" #include "LinearMath/btImplicitQRSVD.h" -#include "Eigen" // This energy is as described in https://graphics.pixar.com/library/StableElasticity/paper.pdf class btDeformableNeoHookeanForce : public btDeformableLagrangianForce { From a7222d8a9f4f287976043d53788e37b308370d18 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Sat, 12 Oct 2019 18:48:56 -0700 Subject: [PATCH 215/389] add option to set stress clamping limit --- examples/DeformableDemo/GraspDeformable.cpp | 37 ++++++----- .../btDeformableNeoHookeanForce.h | 65 ++++++------------- src/BulletSoftBody/btSoftBody.cpp | 7 ++ src/BulletSoftBody/btSoftBody.h | 2 + 4 files changed, 49 insertions(+), 62 deletions(-) diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index 970fde5f4..98fb63a8d 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -190,6 +190,7 @@ void GraspDeformable::initPhysics() m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); // build a gripper + if(1) { bool damping = true; bool gyro = false; @@ -269,18 +270,18 @@ void GraspDeformable::initPhysics() } // create a soft block - if(0) + if(1) { char relative_path[1024]; // b3FileUtils::findFile("banana.vtk", relative_path, 1024); // b3FileUtils::findFile("ball.vtk", relative_path, 1024); -// b3FileUtils::findFile("paper_collision.vtk", relative_path, 1024); +// b3FileUtils::findFile("deformable_crumpled_napkin_sim.vtk", relative_path, 1024); // b3FileUtils::findFile("single_tet.vtk", relative_path, 1024); - b3FileUtils::findFile("tube.vtk", relative_path, 1024); +// b3FileUtils::findFile("tube.vtk", relative_path, 1024); // b3FileUtils::findFile("torus.vtk", relative_path, 1024); // b3FileUtils::findFile("paper_roll.vtk", relative_path, 1024); // b3FileUtils::findFile("bread.vtk", relative_path, 1024); -// b3FileUtils::findFile("ditto.vtk", relative_path, 1024); + b3FileUtils::findFile("ditto.vtk", relative_path, 1024); // b3FileUtils::findFile("boot.vtk", relative_path, 1024); // btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(), // TetraCube::getElements(), @@ -290,12 +291,13 @@ void GraspDeformable::initPhysics() btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), relative_path); // psb->scale(btVector3(30, 30, 30)); // for banana -// psb->scale(btVector3(.2, .2, .2)); + psb->scale(btVector3(.7, .7, .7)); // psb->scale(btVector3(2, 2, 2)); - psb->scale(btVector3(.1, .1, .1)); // for tube, torus, boot -// psb->scale(btVector3(.1, .1, .1)); // for ditto -// psb->translate(btVector3(.25, 2, 0.4)); - psb->getCollisionShape()->setMargin(0.01); +// psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot + psb->scale(btVector3(.1, .1, .1)); // for ditto +// psb->translate(btVector3(.25, 10, 0.4)); + psb->getCollisionShape()->setMargin(0.0005); + psb->setMaxStress(50); psb->setTotalMass(.01); psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb->m_cfg.kCHR = 1; // collision hardness with rigid body @@ -307,20 +309,22 @@ void GraspDeformable::initPhysics() getDeformableDynamicsWorld()->addForce(psb, gravity_force); m_forces.push_back(gravity_force); - btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(100,200, 0.05); + btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(8,32, .05); getDeformableDynamicsWorld()->addForce(psb, neohookean); m_forces.push_back(neohookean); } getDeformableDynamicsWorld()->setImplicit(false); // create a piece of cloth + if(0) { bool onGround = false; - const btScalar s = .4; - btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s), - btVector3(+s, 0, -s), - btVector3(-s, 0, +s), - btVector3(+s, 0, +s), + const btScalar s = .1; + const btScalar h = 1; + btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s), + btVector3(+s, h, -s), + btVector3(-s, h, +s), + btVector3(+s, h, +s), 20,20, 0, true); @@ -344,7 +348,8 @@ void GraspDeformable::initPhysics() psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; getDeformableDynamicsWorld()->addSoftBody(psb); - getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(.2,0.02, true)); +// getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(.0,0.0, true)); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(1,0.05, false)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); } diff --git a/src/BulletSoftBody/btDeformableNeoHookeanForce.h b/src/BulletSoftBody/btDeformableNeoHookeanForce.h index 589abf2e3..26f738fda 100644 --- a/src/BulletSoftBody/btDeformableNeoHookeanForce.h +++ b/src/BulletSoftBody/btDeformableNeoHookeanForce.h @@ -33,7 +33,7 @@ public: m_lambda_damp = damping * m_lambda; } - btDeformableNeoHookeanForce(btScalar mu, btScalar lambda, btScalar damping = 0): m_mu(mu), m_lambda(lambda) + btDeformableNeoHookeanForce(btScalar mu, btScalar lambda, btScalar damping = 0.05): m_mu(mu), m_lambda(lambda) { m_mu_damp = damping * m_mu; m_lambda_damp = damping * m_lambda; @@ -73,12 +73,10 @@ public: size_t id2 = node2->index; size_t id3 = node3->index; btMatrix3x3 dF = DsFromVelocity(node0, node1, node2, node3) * tetra.m_Dm_inverse; - btMatrix3x3 C = dF + dF.transpose(); - btMatrix3x3 dP; -// firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP); btMatrix3x3 I; I.setIdentity(); - dP = C * m_mu_damp + I * (dF[0][0]+dF[1][1]+dF[2][2]) * m_lambda_damp; + btMatrix3x3 dP = (dF + dF.transpose()) * m_mu_damp + I * (dF[0][0]+dF[1][1]+dF[2][2]) * m_lambda_damp; +// firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP); btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); @@ -157,13 +155,17 @@ public: virtual void addScaledElasticForce(btScalar scale, TVStack& force) { -// btScalar max_p = 0; int numNodes = getNumNodes(); btAssert(numNodes <= force.size()); btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + btScalar max_p = psb->m_cfg.m_maxStress; for (int j = 0; j < psb->m_tetras.size(); ++j) { btSoftBody::Tetra& tetra = psb->m_tetras[j]; @@ -173,47 +175,21 @@ public: btMatrix3x3 U, V; btVector3 sigma; singularValueDecomposition(P, U, sigma, V); - sigma[0] = btMin(sigma[0], (btScalar)1000); - sigma[1] = btMin(sigma[1], (btScalar)1000); - sigma[2] = btMin(sigma[2], (btScalar)1000); - sigma[0] = btMax(sigma[0], (btScalar)-1000); - sigma[1] = btMax(sigma[1], (btScalar)-1000); - sigma[2] = btMax(sigma[2], (btScalar)-1000); + if (max_p > 0) + { + sigma[0] = btMin(sigma[0], max_p); + sigma[1] = btMin(sigma[1], max_p); + sigma[2] = btMin(sigma[2], max_p); + sigma[0] = btMax(sigma[0], -max_p); + sigma[1] = btMax(sigma[1], -max_p); + sigma[2] = btMax(sigma[2], -max_p); + } btMatrix3x3 Sigma; Sigma.setIdentity(); Sigma[0][0] = sigma[0]; Sigma[1][1] = sigma[1]; Sigma[2][2] = sigma[2]; -// max_p = btMax(max_p, sigma[0]); -// max_p = btMax(max_p, sigma[1]); -// max_p = btMax(max_p, sigma[2]); P = U * Sigma * V.transpose(); - -// Eigen::Matrix eigenP; -// eigenP << P[0][0], P[0][1], P[0][2], -// P[1][0],P[1][1],P[1][2], -// P[2][0],P[2][1],P[2][2]; -// Eigen::JacobiSVD > svd(eigenP, Eigen::ComputeFullU | Eigen::ComputeFullV); -// Eigen::Matrix P_hat = svd.singularValues().asDiagonal(); -// P_hat(0,0) = btMin((btScalar)P_hat(0,0), (btScalar)20); -// P_hat(1,1) = btMin((btScalar)P_hat(1,1), (btScalar)20); -// P_hat(2,2) = btMin((btScalar)P_hat(2,2), (btScalar)20); -// eigenP = svd.matrixU() * P_hat * svd.matrixV().transpose(); -// max_p = btMax(max_p, (btScalar)P_hat(0,0)); -// max_p = btMax(max_p, (btScalar)P_hat(1,1)); -// max_p = btMax(max_p, (btScalar)P_hat(2,2)); -// -// P[0][0] = eigenP(0,0); -// P[0][1] = eigenP(0,1); -// P[0][2] = eigenP(0,2); -// P[1][0] = eigenP(1,0); -// P[1][1] = eigenP(1,1); -// P[1][2] = eigenP(1,2); -// P[2][0] = eigenP(2,0); -// P[2][1] = eigenP(2,1); -// P[2][2] = eigenP(2,2); - - // btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose(); btVector3 force_on_node0 = force_on_node123 * grad_N_hat_1st_col; @@ -235,7 +211,6 @@ public: force[id3] -= scale1 * force_on_node123.getColumn(2); } } -// std::cout << max_p << std::endl; } // The damping matrix is calculated using the time n state as described in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search @@ -261,12 +236,10 @@ public: size_t id2 = node2->index; size_t id3 = node3->index; btMatrix3x3 dF = Ds(id0, id1, id2, id3, dv) * tetra.m_Dm_inverse; - btMatrix3x3 C = dF + dF.transpose(); - btMatrix3x3 dP; -// firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP); btMatrix3x3 I; I.setIdentity(); - dP = C * m_mu_damp + I * (dF[0][0]+dF[1][1]+dF[2][2]) * m_lambda_damp; + btMatrix3x3 dP = (dF + dF.transpose()) * m_mu_damp + I * (dF[0][0]+dF[1][1]+dF[2][2]) * m_lambda_damp; +// firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP); // btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); btVector3 df_on_node0 = df_on_node123 * grad_N_hat_1st_col; diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index c3d99590a..253de645d 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -90,6 +90,7 @@ void btSoftBody::initDefaults() m_cfg.diterations = 0; m_cfg.citerations = 4; m_cfg.drag = 0; + m_cfg.m_maxStress = 0; m_cfg.collisions = fCollision::Default; m_cfg.collisions |= fCollision::VF_DD; m_pose.m_bvolume = false; @@ -3195,6 +3196,12 @@ void btSoftBody::applyForces() } } +// +void btSoftBody::setMaxStress(btScalar maxStress) +{ + m_cfg.m_maxStress = maxStress; +} + // void btSoftBody::interpolateRenderMesh() { diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index 31ddfabb9..4f4f6f22b 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -703,6 +703,7 @@ public: tPSolverArray m_psequence; // Position solvers sequence tPSolverArray m_dsequence; // Drift solvers sequence btScalar drag; // deformable air drag + btScalar m_maxStress; // Maximum principle first Piola stress }; /* SolverState */ struct SolverState @@ -1107,6 +1108,7 @@ public: void updateDeformation(); void advanceDeformation(); void applyForces(); + void setMaxStress(btScalar maxStress); void interpolateRenderMesh(); static void PSolve_Anchors(btSoftBody* psb, btScalar kst, btScalar ti); static void PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti); From 30238b2fbcb7eacbd06b1cebe35536ef347d41f4 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Sat, 12 Oct 2019 19:19:11 -0700 Subject: [PATCH 216/389] remove std::copysign --- examples/DeformableDemo/GraspDeformable.cpp | 2 +- src/LinearMath/btImplicitQRSVD.h | 11 +++++++---- 2 files changed, 8 insertions(+), 5 deletions(-) diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index 98fb63a8d..ddb47954b 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -340,7 +340,7 @@ void GraspDeformable::initPhysics() psb->getCollisionShape()->setMargin(0.005); psb->generateBendingConstraints(2); psb->setTotalMass(.01); - psb->setSpringStiffness(5); + psb->setSpringStiffness(10); psb->setDampingCoefficient(0.05); psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb->m_cfg.kCHR = 1; // collision hardness with rigid body diff --git a/src/LinearMath/btImplicitQRSVD.h b/src/LinearMath/btImplicitQRSVD.h index 0785a6259..6af525993 100644 --- a/src/LinearMath/btImplicitQRSVD.h +++ b/src/LinearMath/btImplicitQRSVD.h @@ -87,6 +87,12 @@ public: } }; +static inline btScalar copySign(btScalar x, btScalar y) { + if ((x < 0 && y > 0) || (x > 0 && y < 0)) + return -x; + return x; +} + /** Class for givens rotation. Row rotation G*A corresponds to something like @@ -550,14 +556,11 @@ inline void singularValueDecomposition( */ inline btScalar wilkinsonShift(const btScalar a1, const btScalar b1, const btScalar a2) { - using std::sqrt; using std::fabs; - using std::copysign; btScalar d = (btScalar)0.5 * (a1 - a2); btScalar bs = b1 * b1; - - btScalar mu = a2 - copysign(bs / (fabs(d) + sqrt(d * d + bs)), d); + btScalar mu = a2 - copysign(bs / (btFabs(d) + btSqrt(d * d + bs)), d); // T mu = a2 - bs / ( d + sign_d*sqrt (d*d + bs)); return mu; } From a1afc66817818f4b2650df3379e43b9d447f902d Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 14 Oct 2019 09:16:11 -0700 Subject: [PATCH 217/389] remove std::fabs and std::max --- src/LinearMath/btImplicitQRSVD.h | 30 ++++++++++++------------------ 1 file changed, 12 insertions(+), 18 deletions(-) diff --git a/src/LinearMath/btImplicitQRSVD.h b/src/LinearMath/btImplicitQRSVD.h index 6af525993..cf96d4f72 100644 --- a/src/LinearMath/btImplicitQRSVD.h +++ b/src/LinearMath/btImplicitQRSVD.h @@ -556,8 +556,6 @@ inline void singularValueDecomposition( */ inline btScalar wilkinsonShift(const btScalar a1, const btScalar b1, const btScalar a2) { - using std::fabs; - btScalar d = (btScalar)0.5 * (a1 - a2); btScalar bs = b1 * b1; btScalar mu = a2 - copysign(bs / (btFabs(d) + btSqrt(d * d + bs)), d); @@ -647,12 +645,10 @@ inline void swapCol(btMatrix3x3& A, int i, int j) */ inline void sort(btMatrix3x3& U, btVector3& sigma, btMatrix3x3& V, int t) { - using std::fabs; - if (t == 0) { // Case: sigma(0) > |sigma(1)| >= |sigma(2)| - if (fabs(sigma[1]) >= fabs(sigma[2])) { + if (btFabs(sigma[1]) >= btFabs(sigma[2])) { if (sigma[1] < 0) { flipSign(1, U, sigma); flipSign(2, U, sigma); @@ -688,7 +684,7 @@ inline void sort(btMatrix3x3& U, btVector3& sigma, btMatrix3x3& V, int t) else if (t == 1) { // Case: |sigma(0)| >= sigma(1) > |sigma(2)| - if (fabs(sigma[0]) >= sigma[1]) { + if (btFabs(sigma[0]) >= sigma[1]) { if (sigma[0] < 0) { flipSign(0, U, sigma); flipSign(2, U, sigma); @@ -702,7 +698,7 @@ inline void sort(btMatrix3x3& U, btVector3& sigma, btMatrix3x3& V, int t) swapCol(V, 0, 1); // Case: sigma(1) > |sigma(2)| >= |sigma(0)| - if (fabs(sigma[1]) < fabs(sigma[2])) { + if (btFabs(sigma[1]) < btFabs(sigma[2])) { std::swap(sigma[1], sigma[2]); swapCol(U, 1, 2); swapCol(V, 1, 2); @@ -736,8 +732,6 @@ inline int singularValueDecomposition(const btMatrix3x3& A, btScalar tol = 128*std::numeric_limits::epsilon()) { using std::fabs; - using std::sqrt; - using std::max; btMatrix3x3 B = A; U.setIdentity(); V.setIdentity(); @@ -755,15 +749,15 @@ inline int singularValueDecomposition(const btMatrix3x3& A, btScalar beta_2 = B[1][2]; btScalar gamma_1 = alpha_1 * beta_1; btScalar gamma_2 = alpha_2 * beta_2; - tol *= max((btScalar)0.5 * sqrt(alpha_1 * alpha_1 + alpha_2 * alpha_2 + alpha_3 * alpha_3 + beta_1 * beta_1 + beta_2 * beta_2), (btScalar)1); + tol *= btMax((btScalar)0.5 * btSqrt(alpha_1 * alpha_1 + alpha_2 * alpha_2 + alpha_3 * alpha_3 + beta_1 * beta_1 + beta_2 * beta_2), (btScalar)1); /** Do implicit shift QR until A^T A is block diagonal */ - while (fabs(beta_2) > tol && fabs(beta_1) > tol - && fabs(alpha_1) > tol && fabs(alpha_2) > tol - && fabs(alpha_3) > tol) { + while (btFabs(beta_2) > tol && btFabs(beta_1) > tol + && btFabs(alpha_1) > tol && btFabs(alpha_2) > tol + && btFabs(alpha_3) > tol) { mu = wilkinsonShift(alpha_2 * alpha_2 + beta_1 * beta_1, gamma_2, alpha_3 * alpha_3 + beta_2 * beta_2); r.compute(alpha_1 * alpha_1 - mu, gamma_1); @@ -791,7 +785,7 @@ inline int singularValueDecomposition(const btMatrix3x3& A, 0 x 0 0 0 x */ - if (fabs(beta_2) <= tol) { + if (btFabs(beta_2) <= tol) { process<0>(B, U, sigma, V); sort(U, sigma, V,0); } @@ -801,7 +795,7 @@ inline int singularValueDecomposition(const btMatrix3x3& A, 0 x x 0 0 x */ - else if (fabs(beta_1) <= tol) { + else if (btFabs(beta_1) <= tol) { process<1>(B, U, sigma, V); sort(U, sigma, V,1); } @@ -811,7 +805,7 @@ inline int singularValueDecomposition(const btMatrix3x3& A, 0 0 x 0 0 x */ - else if (fabs(alpha_2) <= tol) { + else if (btFabs(alpha_2) <= tol) { /** Reduce B to x x 0 @@ -832,7 +826,7 @@ inline int singularValueDecomposition(const btMatrix3x3& A, 0 x x 0 0 0 */ - else if (fabs(alpha_3) <= tol) { + else if (btFabs(alpha_3) <= tol) { /** Reduce B to x x + @@ -863,7 +857,7 @@ inline int singularValueDecomposition(const btMatrix3x3& A, 0 x x 0 0 x */ - else if (fabs(alpha_1) <= tol) { + else if (btFabs(alpha_1) <= tol) { /** Reduce B to 0 0 + From 05c25a27ded6502957a46ab5ed17dddd1d2894cb Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 14 Oct 2019 15:21:42 -0700 Subject: [PATCH 218/389] address comment from ldowns --- src/BulletSoftBody/btConjugateGradient.h | 9 ++++----- src/BulletSoftBody/btDeformableBodySolver.cpp | 14 ++++++++++---- 2 files changed, 14 insertions(+), 9 deletions(-) diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h index c1816600e..bd51e584b 100644 --- a/src/BulletSoftBody/btConjugateGradient.h +++ b/src/BulletSoftBody/btConjugateGradient.h @@ -27,12 +27,12 @@ class btConjugateGradient typedef btAlignedObjectArray TVStack; TVStack r,p,z,temp; int max_iterations; - btScalar tolerance; + btScalar tolerance_squared; public: btConjugateGradient(const int max_it_in) : max_iterations(max_it_in) { - tolerance = 1e-5; + tolerance_squared = 1e-5; } virtual ~btConjugateGradient(){} @@ -51,8 +51,7 @@ public: A.precondition(r, z); A.project(z); btScalar r_dot_z = dot(z,r); - btScalar local_tolerance = tolerance; - if (r_dot_z <= local_tolerance) { + if (r_dot_z <= tolerance_squared) { if (verbose) { std::cout << "Iteration = 0" << std::endl; @@ -86,7 +85,7 @@ public: A.precondition(r, z); r_dot_z = r_dot_z_new; r_dot_z_new = dot(r,z); - if (r_dot_z_new < local_tolerance) { + if (r_dot_z_new < tolerance_squared) { if (verbose) { std::cout << "ConjugateGradient iterations " << k << std::endl; diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 676df528d..01a71aa3e 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -18,13 +18,13 @@ #include "btDeformableBodySolver.h" #include "btSoftBodyInternals.h" #include "LinearMath/btQuickprof.h" - +static const int kMaxConjugateGradientIterations = 200; btDeformableBodySolver::btDeformableBodySolver() : m_numNodes(0) -, m_cg(200) +, m_cg(kMaxConjugateGradientIterations) , m_maxNewtonIterations(5) , m_newtonTolerance(1e-4) -, m_lineSearch(true) +, m_lineSearch(false) { m_objective = new btDeformableBackwardEulerObjective(m_softBodies, m_backupVelocity); } @@ -101,6 +101,7 @@ void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt) m_residual[j].setZero(); } } + updateVelocity(); } } @@ -298,9 +299,14 @@ void btDeformableBodySolver::setupDeformableSolve(bool implicit) { if (implicit) { + if ((psb->m_nodes[j].m_v - m_backupVelocity[counter]).norm() < SIMD_EPSILON) + m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter]; + else + m_dv[counter] = psb->m_nodes[j].m_v - psb->m_nodes[j].m_vn; m_backupVelocity[counter] = psb->m_nodes[j].m_vn; } - m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter]; + else + m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter]; psb->m_nodes[j].m_v = m_backupVelocity[counter]; ++counter; } From 774937bcd66edb455c147c4c7eb77fbfbdcc48b6 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 14 Oct 2019 15:21:58 -0700 Subject: [PATCH 219/389] add option to turn face contact on/off --- .../btDeformableMultiBodyConstraintSolver.cpp | 1 - .../btDeformableMultiBodyDynamicsWorld.cpp | 10 ++-------- src/BulletSoftBody/btSoftBody.cpp | 20 ++++++++++++------- src/BulletSoftBody/btSoftBody.h | 8 ++++++++ 4 files changed, 23 insertions(+), 16 deletions(-) diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp index 2567cecab..1e0d53a41 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp @@ -23,7 +23,6 @@ btScalar btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlyIteration ///this is a special step to resolve penetrations (just for contacts) solveGroupCacheFriendlySplitImpulseIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); -// m_maxOverrideNumSolverIterations = 10; int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations; for (int iteration = 0; iteration < maxIterations; iteration++) { diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 73e534d09..9c21bf9b0 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -88,8 +88,6 @@ void btDeformableMultiBodyDynamicsWorld::softBodySelfCollision() void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) { BT_PROFILE("integrateTransforms"); - //m_deformableBodySolver->backupVelocity(); - //positionCorrection(timeStep); // looks like position correction is no longer necessary btMultiBodyDynamicsWorld::integrateTransforms(timeStep); for (int i = 0; i < m_softBodies.size(); ++i) { @@ -116,16 +114,12 @@ void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) } psb->interpolateRenderMesh(); } - //m_deformableBodySolver->revertVelocity(); } void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep) { - if (!m_implicit) - { - // save v_{n+1}^* velocity after explicit forces - m_deformableBodySolver->backupVelocity(); - } + // save v_{n+1}^* velocity after explicit forces + m_deformableBodySolver->backupVelocity(); // set up constraints among multibodies and between multibodies and deformable bodies setupConstraints(); diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 253de645d..843c60e29 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -117,6 +117,9 @@ void btSoftBody::initDefaults() m_windVelocity = btVector3(0, 0, 0); m_restLengthScale = btScalar(1.0); m_dampingCoefficient = 1; + m_sleepingThreshold = 0.01; + m_useFaceContact = false; + m_collisionFlags = 0; } // @@ -3494,13 +3497,16 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap docollideNode.stamargin = basemargin; m_ndbvt.collideTV(m_ndbvt.m_root, volume, docollideNode); - btSoftColliders::CollideSDF_RDF docollideFace; - docollideFace.psb = this; - docollideFace.m_colObj1Wrap = pcoWrap; - docollideFace.m_rigidBody = prb1; - docollideFace.dynmargin = basemargin + timemargin; - docollideFace.stamargin = basemargin; - m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace); + if (this->m_useFaceContact) + { + btSoftColliders::CollideSDF_RDF docollideFace; + docollideFace.psb = this; + docollideFace.m_colObj1Wrap = pcoWrap; + docollideFace.m_rigidBody = prb1; + docollideFace.dynmargin = basemargin + timemargin; + docollideFace.stamargin = basemargin; + m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace); + } } } break; diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index 4f4f6f22b..970290962 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -789,6 +789,9 @@ public: btDbvt m_cdbvt; // Clusters tree tClusterArray m_clusters; // Clusters btScalar m_dampingCoefficient; // Damping Coefficient + btScalar m_sleepingThreshold; + btScalar m_maxSpeedSquared; + bool m_useFaceContact; btAlignedObjectArray m_renderNodesInterpolationWeights; btAlignedObjectArray > m_renderNodesParents; @@ -829,6 +832,11 @@ public: { m_dampingCoefficient = damping_coeff; } + + void setUseFaceContact(bool useFaceContact) + { + m_useFaceContact = false; + } ///@todo: avoid internal softbody shape hack and move collision code to collision library virtual void setCollisionShape(btCollisionShape* collisionShape) From 3ae193ff1533cb58df199edc810e6357d6eb03fe Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 15 Oct 2019 15:43:26 -0700 Subject: [PATCH 220/389] bool->int --- examples/SharedMemory/PhysicsClientC_API.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 914e47037..085a0384b 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -386,7 +386,7 @@ B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle return 0; } -B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, bool useSelfCollision) +B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command->m_type == CMD_LOAD_SOFT_BODY); From 3d622a3bee6d88044eeda7cf874406a4268563d9 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 16 Oct 2019 12:00:02 -0700 Subject: [PATCH 221/389] enable deformable sleeping --- src/BulletSoftBody/btDeformableBodySolver.cpp | 16 ++- .../btDeformableContactProjection.cpp | 15 ++- src/BulletSoftBody/btDeformableGravityForce.h | 4 + .../btDeformableMultiBodyDynamicsWorld.cpp | 34 ++++- .../btDeformableMultiBodyDynamicsWorld.h | 2 + .../btDeformableNeoHookeanForce.h | 12 ++ src/BulletSoftBody/btSoftBody.cpp | 122 ++++++++++++------ src/BulletSoftBody/btSoftBody.h | 7 +- src/BulletSoftBody/btSoftBodyInternals.h | 4 - 9 files changed, 162 insertions(+), 54 deletions(-) diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 01a71aa3e..9af8e3f77 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -200,7 +200,7 @@ void btDeformableBodySolver::updateDv(btScalar scale) void btDeformableBodySolver::computeStep(TVStack& ddv, const TVStack& residual) { - m_cg.solve(*m_objective, ddv, residual, false); + m_cg.solve(*m_objective, ddv, residual); } void btDeformableBodySolver::reinitialize(const btAlignedObjectArray& softBodies, btScalar dt) @@ -248,6 +248,11 @@ void btDeformableBodySolver::updateVelocity() for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; + psb->m_maxSpeedSquared = 0; + if (!psb->isActive()) + { + continue; + } for (int j = 0; j < psb->m_nodes.size(); ++j) { // set NaN to zero; @@ -256,6 +261,7 @@ void btDeformableBodySolver::updateVelocity() m_dv[counter].setZero(); } psb->m_nodes[j].m_v = m_backupVelocity[counter]+m_dv[counter]; + psb->m_maxSpeedSquared = btMax(psb->m_maxSpeedSquared, psb->m_nodes[j].m_v.length2()); ++counter; } } @@ -267,6 +273,10 @@ void btDeformableBodySolver::updateTempPosition() for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } for (int j = 0; j < psb->m_nodes.size(); ++j) { psb->m_nodes[j].m_q = psb->m_nodes[j].m_x + m_dt * psb->m_nodes[j].m_v; @@ -295,6 +305,10 @@ void btDeformableBodySolver::setupDeformableSolve(bool implicit) for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } for (int j = 0; j < psb->m_nodes.size(); ++j) { if (implicit) diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index e340a3fd5..cf0a5e896 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -51,6 +51,10 @@ void btDeformableContactProjection::setConstraints() for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } for (int j = 0; j < psb->m_nodes.size(); ++j) { if (psb->m_nodes[j].m_im == 0) @@ -61,10 +65,15 @@ void btDeformableContactProjection::setConstraints() } } - // set Deformable Node vs. Rigid constraint for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + + // set Deformable Node vs. Rigid constraint for (int j = 0; j < psb->m_nodeRigidContacts.size(); ++j) { const btSoftBody::DeformableNodeRigidContact& contact = psb->m_nodeRigidContacts[j]; @@ -242,6 +251,10 @@ void btDeformableContactProjection::setProjection() for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } for (int j = 0; j < psb->m_nodes.size(); ++j) { int index = psb->m_nodes[j].index; diff --git a/src/BulletSoftBody/btDeformableGravityForce.h b/src/BulletSoftBody/btDeformableGravityForce.h index abc120252..33e5a8564 100644 --- a/src/BulletSoftBody/btDeformableGravityForce.h +++ b/src/BulletSoftBody/btDeformableGravityForce.h @@ -57,6 +57,10 @@ public: for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } for (int j = 0; j < psb->m_nodes.size(); ++j) { btSoftBody::Node& n = psb->m_nodes[j]; diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 9c21bf9b0..ded9893ce 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -70,18 +70,46 @@ void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar t ///update vehicle simulation btMultiBodyDynamicsWorld::updateActions(timeStep); - btMultiBodyDynamicsWorld::updateActivationState(timeStep); + updateActivationState(timeStep); // End solver-wise simulation step // /////////////////////////////// } +void btDeformableMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep) +{ + for (int i = 0; i < m_softBodies.size(); i++) + { + btSoftBody* psb = m_softBodies[i]; + psb->updateDeactivation(timeStep); + if (psb->wantsSleeping()) + { + if (psb->getActivationState() == ACTIVE_TAG) + psb->setActivationState(WANTS_DEACTIVATION); + if (psb->getActivationState() == ISLAND_SLEEPING) + { + psb->setZeroVelocity(); + } + } + else + { + if (psb->getActivationState() != DISABLE_DEACTIVATION) + psb->setActivationState(ACTIVE_TAG); + } + } + btMultiBodyDynamicsWorld::updateActivationState(timeStep); +} + + void btDeformableMultiBodyDynamicsWorld::softBodySelfCollision() { m_deformableBodySolver->updateSoftBodies(); for (int i = 0; i < m_softBodies.size(); i++) { - btSoftBody* psb = (btSoftBody*)m_softBodies[i]; - psb->defaultCollisionHandler(psb); + btSoftBody* psb = m_softBodies[i]; + if (psb->isActive()) + { + psb->defaultCollisionHandler(psb); + } } } diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h index 72cfa4fc5..834c6c8b1 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h @@ -62,6 +62,8 @@ protected: void solveConstraints(btScalar timeStep); + void updateActivationState(btScalar timeStep); + public: btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btDeformableMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0) : btMultiBodyDynamicsWorld(dispatcher, pairCache, (btMultiBodyConstraintSolver*)constraintSolver, collisionConfiguration), diff --git a/src/BulletSoftBody/btDeformableNeoHookeanForce.h b/src/BulletSoftBody/btDeformableNeoHookeanForce.h index 26f738fda..b113b4546 100644 --- a/src/BulletSoftBody/btDeformableNeoHookeanForce.h +++ b/src/BulletSoftBody/btDeformableNeoHookeanForce.h @@ -61,6 +61,10 @@ public: for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } for (int j = 0; j < psb->m_tetras.size(); ++j) { btSoftBody::Tetra& tetra = psb->m_tetras[j]; @@ -224,6 +228,10 @@ public: for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } for (int j = 0; j < psb->m_tetras.size(); ++j) { btSoftBody::Tetra& tetra = psb->m_tetras[j]; @@ -262,6 +270,10 @@ public: for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } for (int j = 0; j < psb->m_tetras.size(); ++j) { btSoftBody::Tetra& tetra = psb->m_tetras[j]; diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 843c60e29..b05b28ca4 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -117,7 +117,7 @@ void btSoftBody::initDefaults() m_windVelocity = btVector3(0, 0, 0); m_restLengthScale = btScalar(1.0); m_dampingCoefficient = 1; - m_sleepingThreshold = 0.01; + m_sleepingThreshold = 0.1; m_useFaceContact = false; m_collisionFlags = 0; } @@ -3601,51 +3601,43 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb) break; case fCollision::VF_DD: { - if (this != psb) + if (psb->isActive() || this->isActive()) { - btSoftColliders::CollideVF_DD docollide; - /* common */ - docollide.mrg = getCollisionShape()->getMargin() + - psb->getCollisionShape()->getMargin(); - /* psb0 nodes vs psb1 faces */ - docollide.psb[0] = this; - docollide.psb[1] = psb; - docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root, - docollide.psb[1]->m_fdbvt.m_root, - docollide); - /* psb1 nodes vs psb0 faces */ - docollide.psb[0] = psb; - docollide.psb[1] = this; - docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root, - docollide.psb[1]->m_fdbvt.m_root, - docollide); - } - else - { - if (psb->useSelfCollision()) + if (this != psb) { - btSoftColliders::CollideFF_DD docollide; - docollide.mrg = getCollisionShape()->getMargin() + - psb->getCollisionShape()->getMargin(); - docollide.psb[0] = this; - docollide.psb[1] = psb; - /* psb0 faces vs psb0 faces */ - btDbvntNode* root = copyToDbvnt(this->m_fdbvt.m_root); - calculateNormalCone(root); - this->m_fdbvt.selfCollideT(root,docollide); - delete root; + btSoftColliders::CollideVF_DD docollide; + /* common */ + docollide.mrg = getCollisionShape()->getMargin() + + psb->getCollisionShape()->getMargin(); + /* psb0 nodes vs psb1 faces */ + docollide.psb[0] = this; + docollide.psb[1] = psb; + docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root, + docollide.psb[1]->m_fdbvt.m_root, + docollide); + /* psb1 nodes vs psb0 faces */ + docollide.psb[0] = psb; + docollide.psb[1] = this; + docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root, + docollide.psb[1]->m_fdbvt.m_root, + docollide); + } + else + { + if (psb->useSelfCollision()) + { + btSoftColliders::CollideFF_DD docollide; + docollide.mrg = getCollisionShape()->getMargin() + + psb->getCollisionShape()->getMargin(); + docollide.psb[0] = this; + docollide.psb[1] = psb; + /* psb0 faces vs psb0 faces */ + btDbvntNode* root = copyToDbvnt(this->m_fdbvt.m_root); + calculateNormalCone(root); + this->m_fdbvt.selfCollideT(root,docollide); + delete root; + } } - -// btSoftColliders::CollideFF_DD docollide; -// /* common */ -// docollide.mrg = getCollisionShape()->getMargin() + -// psb->getCollisionShape()->getMargin(); -// /* psb0 nodes vs psb1 faces */ -// docollide.psb[0] = this; -// docollide.psb[1] = psb; -// docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_fdbvt.m_root, -// docollide.psb[1]->m_fdbvt.m_root, -// docollide); } } break; @@ -4051,3 +4043,47 @@ const char* btSoftBody::serialize(void* dataBuffer, class btSerializer* serializ return btSoftBodyDataName; } + +void btSoftBody::updateDeactivation(btScalar timeStep) +{ + if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION)) + return; + + if (m_maxSpeedSquared < m_sleepingThreshold * m_sleepingThreshold) + { + m_deactivationTime += timeStep; + } + else + { + m_deactivationTime = btScalar(0.); + setActivationState(0); + } +} + + +void btSoftBody::setZeroVelocity() +{ + for (int i = 0; i < m_nodes.size(); ++i) + { + m_nodes[i].m_v.setZero(); + } +} + +bool btSoftBody::wantsSleeping() +{ + if (getActivationState() == DISABLE_DEACTIVATION) + return false; + + //disable deactivation + if (gDisableDeactivation || (gDeactivationTime == btScalar(0.))) + return false; + + if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION)) + return true; + + if (m_deactivationTime > gDeactivationTime) + { + return true; + } + return false; +} diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index 970290962..195434c06 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -1017,8 +1017,11 @@ public: /* defaultCollisionHandlers */ void defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap); void defaultCollisionHandler(btSoftBody* psb); - void setSelfCollision(bool useSelfCollision); - bool useSelfCollision(); + void setSelfCollision(bool useSelfCollision); + bool useSelfCollision(); + void updateDeactivation(btScalar timeStep); + void setZeroVelocity(); + bool wantsSleeping(); // // Functionality to deal with new accelerated solvers. diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index afe9c7ea8..6e20b3222 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -1097,8 +1097,6 @@ struct btSoftColliders c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra); c.m_c1 = ra; - if (m_rigidBody) - m_rigidBody->activate(); } else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) { @@ -1200,8 +1198,6 @@ struct btSoftColliders // we do not scale the impulse matrix by dt c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra); c.m_c1 = ra; - if (m_rigidBody) - m_rigidBody->activate(); } else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) { From 95fd362857dc2e77a8febf62f2a3b157f93c9461 Mon Sep 17 00:00:00 2001 From: Mark Sakharov Date: Wed, 16 Oct 2019 23:36:02 +0300 Subject: [PATCH 222/389] Fixing division by zero --- src/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp b/src/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp index 2a5efc649..4cd90c1a7 100644 --- a/src/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp +++ b/src/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp @@ -890,6 +890,8 @@ static void setupSpatialGridBatchesMt( btVector3 gridExtent = bboxMax - bboxMin; + gridExtent.setMax({btScalar(1), btScalar(1), btScalar(1)}); + btVector3 gridCellSize = consExtent; int gridDim[3]; gridDim[0] = int(1.0 + gridExtent.x() / gridCellSize.x()); From 60dfe1fe697c92f95d7f18a3df35ad372a6cac73 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 16 Oct 2019 19:23:01 -0700 Subject: [PATCH 223/389] add support for anchor constraint between deformable and rigid --- .../DeformableDemo/DeformableClothAnchor.cpp | 236 ++++++++++++++++++ .../DeformableDemo/DeformableClothAnchor.h | 19 ++ examples/ExampleBrowser/CMakeLists.txt | 2 + examples/ExampleBrowser/ExampleEntries.cpp | 2 + .../btDeformableContactConstraint.cpp | 121 +++++++++ .../btDeformableContactConstraint.h | 26 ++ .../btDeformableContactProjection.cpp | 29 ++- .../btDeformableContactProjection.h | 2 + .../btDeformableMultiBodyDynamicsWorld.cpp | 7 + src/BulletSoftBody/btSoftBody.cpp | 35 +++ src/BulletSoftBody/btSoftBody.h | 10 +- 11 files changed, 487 insertions(+), 2 deletions(-) create mode 100644 examples/DeformableDemo/DeformableClothAnchor.cpp create mode 100644 examples/DeformableDemo/DeformableClothAnchor.h diff --git a/examples/DeformableDemo/DeformableClothAnchor.cpp b/examples/DeformableDemo/DeformableClothAnchor.cpp new file mode 100644 index 000000000..49fd3184b --- /dev/null +++ b/examples/DeformableDemo/DeformableClothAnchor.cpp @@ -0,0 +1,236 @@ +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + 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. + */ +#include "DeformableClothAnchor.h" +///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. +#include "btBulletDynamicsCommon.h" +#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" +#include "BulletSoftBody/btSoftBody.h" +#include "BulletSoftBody/btSoftBodyHelpers.h" +#include "BulletSoftBody/btDeformableBodySolver.h" +#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" +#include //printf debugging + +#include "../CommonInterfaces/CommonRigidBodyBase.h" +#include "../Utils/b3ResourcePath.h" + +///The DeformableClothAnchor shows contact between deformable objects and rigid objects. +class DeformableClothAnchor : public CommonRigidBodyBase +{ + btAlignedObjectArray m_forces; +public: + DeformableClothAnchor(struct GUIHelperInterface* helper) + : CommonRigidBodyBase(helper) + { + } + virtual ~DeformableClothAnchor() + { + } + 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); + } + + virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const + { + ///just make it a btSoftRigidDynamicsWorld please + ///or we will add type checking + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; + } + + virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() + { + ///just make it a btSoftRigidDynamicsWorld please + ///or we will add type checking + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; + } + + virtual void renderScene() + { + CommonRigidBodyBase::renderScene(); + btDeformableMultiBodyDynamicsWorld* 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 DeformableClothAnchor::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) + btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver(); + sol->setDeformableSolver(deformableBodySolver); + m_solver = sol; + + m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); + // deformableBodySolver->setWorld(getDeformableDynamicsWorld()); + // m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality + btVector3 gravity = btVector3(0, -10, 0); + m_dynamicsWorld->setGravity(gravity); + getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; + + // 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, -50, 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(1); + + //add the ground to the dynamics world + m_dynamicsWorld->addRigidBody(body); + } + + // create a piece of cloth + { + const btScalar s = 4; + const btScalar h = 6; + const int r = 9; + btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s), + btVector3(+s, h, -s), + btVector3(-s, h, +s), + btVector3(+s, h, +s), r, r, 4 + 8, true); + psb->getCollisionShape()->setMargin(0.1); + psb->generateBendingConstraints(2); + psb->setTotalMass(1); + psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects + psb->m_cfg.kCHR = 1; // collision hardness with rigid body + psb->m_cfg.kDF = 2; + psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; + getDeformableDynamicsWorld()->addSoftBody(psb); + + btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(100,1, true); + getDeformableDynamicsWorld()->addForce(psb, mass_spring); + m_forces.push_back(mass_spring); + + btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); + getDeformableDynamicsWorld()->addForce(psb, gravity_force); + m_forces.push_back(gravity_force); + + btTransform startTransform; + startTransform.setIdentity(); + startTransform.setOrigin(btVector3(0, h, -(s + 3.5))); + btRigidBody* body = createRigidBody(2, startTransform, new btBoxShape(btVector3(s, 1, 3))); + psb->appendDeformableAnchor(0, body); + psb->appendDeformableAnchor(r - 1, body); + } + getDeformableDynamicsWorld()->setImplicit(false); + getDeformableDynamicsWorld()->setLineSearch(false); + m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); +} + +void DeformableClothAnchor::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 forces + for (int j = 0; j < m_forces.size(); j++) + { + btDeformableLagrangianForce* force = m_forces[j]; + delete force; + } + m_forces.clear(); + //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* DeformableClothAnchorCreateFunc(struct CommonExampleOptions& options) +{ + return new DeformableClothAnchor(options.m_guiHelper); +} + + diff --git a/examples/DeformableDemo/DeformableClothAnchor.h b/examples/DeformableDemo/DeformableClothAnchor.h new file mode 100644 index 000000000..4e8388647 --- /dev/null +++ b/examples/DeformableDemo/DeformableClothAnchor.h @@ -0,0 +1,19 @@ +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + 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_CLOTH_ANCHOR_H +#define DEFORMABLE_CLOTH_ANCHOR_H + +class CommonExampleInterface* DeformableClothAnchorCreateFunc(struct CommonExampleOptions& options); + +#endif //DEFORMABLE_CLOTH_ANCHOR_H diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt index 7c31c9d84..56aaf625b 100644 --- a/examples/ExampleBrowser/CMakeLists.txt +++ b/examples/ExampleBrowser/CMakeLists.txt @@ -371,6 +371,8 @@ SET(BulletExampleBrowser_SRCS ../DeformableDemo/DeformableRigid.h ../DeformableDemo/VolumetricDeformable.cpp ../DeformableDemo/VolumetricDeformable.h + ../DeformableDemo/DeformableClothAnchor.cpp + ../DeformableDemo/DeformableClothAnchor.h ../MultiBody/MultiDofDemo.cpp ../MultiBody/MultiDofDemo.h ../RigidBody/RigidBodySoftContact.cpp diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index e705fd075..887fb2fc5 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -53,6 +53,7 @@ #include "../DeformableDemo/VolumetricDeformable.h" #include "../DeformableDemo/GraspDeformable.h" #include "../DeformableDemo/DeformableContact.h" +#include "../DeformableDemo/DeformableClothAnchor.h" #include "../SharedMemory/PhysicsServerExampleBullet2.h" #include "../SharedMemory/PhysicsServerExample.h" #include "../SharedMemory/PhysicsClientExample.h" @@ -198,6 +199,7 @@ static ExampleEntry gDefaultExamples[] = ExampleEntry(1, "Grasp Deformable Cube", "Grasping test", PinchCreateFunc), ExampleEntry(1, "Grasp Deformable with Motor", "Grasping test", GraspDeformableCreateFunc), ExampleEntry(1, "Volumetric Deformable Objects", "Volumetric Deformable test", VolumetricDeformableCreateFunc), + ExampleEntry(1, "Deformable Cloth Anchor", "Deformable Anchor test", DeformableClothAnchorCreateFunc), ExampleEntry(1, "Deformable-MultiBody Contact", "MultiBody and Deformable contact", DeformableMultibodyCreateFunc), // ExampleEntry(1, "MultiBody Baseline", "MultiBody Baseline", MultiBodyBaselineCreateFunc), diff --git a/src/BulletSoftBody/btDeformableContactConstraint.cpp b/src/BulletSoftBody/btDeformableContactConstraint.cpp index ce5018f2f..3bb20a6e1 100644 --- a/src/BulletSoftBody/btDeformableContactConstraint.cpp +++ b/src/BulletSoftBody/btDeformableContactConstraint.cpp @@ -15,6 +15,127 @@ #include "btDeformableContactConstraint.h" +/* ================ Deformable Node Anchor =================== */ +btDeformableNodeAnchorConstraint::btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& a) +: m_anchor(&a) +, btDeformableContactConstraint(a.m_cti.m_normal) +{ +} + +btDeformableNodeAnchorConstraint::btDeformableNodeAnchorConstraint(const btDeformableNodeAnchorConstraint& other) +: m_anchor(other.m_anchor) +, btDeformableContactConstraint(other) +{ +} + +btVector3 btDeformableNodeAnchorConstraint::getVa() const +{ + const btSoftBody::sCti& cti = m_anchor->m_cti; + btVector3 va(0, 0, 0); + if (cti.m_colObj->hasContactResponse()) + { + btRigidBody* rigidCol = 0; + btMultiBodyLinkCollider* multibodyLinkCol = 0; + + // grab the velocity of the rigid body + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + va = rigidCol ? (rigidCol->getVelocityInLocalPoint(m_anchor->m_c1)) : btVector3(0, 0, 0); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + // multibody anchor not supported yet + btAssert(false); + multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + const btScalar* J_n = &m_anchor->jacobianData_normal.m_jacobians[0]; + const btScalar* J_t1 = &m_anchor->jacobianData_t1.m_jacobians[0]; + const btScalar* J_t2 = &m_anchor->jacobianData_t2.m_jacobians[0]; + const btScalar* local_v = multibodyLinkCol->m_multiBody->getVelocityVector(); + const btScalar* local_dv = multibodyLinkCol->m_multiBody->getDeltaVelocityVector(); + // add in the normal component of the va + btScalar vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += (local_v[k]+local_dv[k]) * J_n[k]; + } + va = cti.m_normal * vel; + // add in the tangential components of the va + vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += (local_v[k]+local_dv[k]) * J_t1[k]; + } + va += m_anchor->t1 * vel; + vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += (local_v[k]+local_dv[k]) * J_t2[k]; + } + va += m_anchor->t2 * vel; + } + } + } + return va; +} + +btScalar btDeformableNodeAnchorConstraint::solveConstraint() +{ + const btSoftBody::sCti& cti = m_anchor->m_cti; + btVector3 va = getVa(); + btVector3 vb = getVb(); + btVector3 vr = (vb - va); + // + (m_anchor->m_node->m_x - cti.m_colObj->getWorldTransform() * m_anchor->m_local) * 10.0 + const btScalar dn = btDot(vr, cti.m_normal); + // dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt + btScalar residualSquare = dn*dn; + btVector3 impulse = m_anchor->m_c0 * vr; + // apply impulse to deformable nodes involved and change their velocities + applyImpulse(impulse); + + // apply impulse to the rigid/multibodies involved and change their velocities + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + btRigidBody* rigidCol = 0; + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + if (rigidCol) + { + rigidCol->applyImpulse(impulse, m_anchor->m_c1); + } + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + btMultiBodyLinkCollider* multibodyLinkCol = 0; + multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + const btScalar* deltaV_normal = &m_anchor->jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + // apply normal component of the impulse + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_normal, impulse.dot(cti.m_normal)); + // apply tangential component of the impulse + const btScalar* deltaV_t1 = &m_anchor->jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t1, impulse.dot(m_anchor->t1)); + const btScalar* deltaV_t2 = &m_anchor->jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t2, impulse.dot(m_anchor->t2)); + } + } + return residualSquare; +} + +btVector3 btDeformableNodeAnchorConstraint::getVb() const +{ + return m_anchor->m_node->m_v; +} + +void btDeformableNodeAnchorConstraint::applyImpulse(const btVector3& impulse) +{ + btVector3 dv = impulse * m_anchor->m_c2; + m_anchor->m_node->m_v -= dv; +} + /* ================ Deformable vs. Rigid =================== */ btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c) : m_contact(&c) diff --git a/src/BulletSoftBody/btDeformableContactConstraint.h b/src/BulletSoftBody/btDeformableContactConstraint.h index f79bc6065..da16c51e5 100644 --- a/src/BulletSoftBody/btDeformableContactConstraint.h +++ b/src/BulletSoftBody/btDeformableContactConstraint.h @@ -108,6 +108,32 @@ public: virtual void applyImpulse(const btVector3& impulse){} }; +// +// Anchor Constraint between rigid and deformable node +class btDeformableNodeAnchorConstraint : public btDeformableContactConstraint +{ +public: + const btSoftBody::DeformableNodeRigidAnchor* m_anchor; + + btDeformableNodeAnchorConstraint(){} + btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& c); + btDeformableNodeAnchorConstraint(const btDeformableNodeAnchorConstraint& other); + virtual ~btDeformableNodeAnchorConstraint() + { + } + virtual btScalar solveConstraint(); + // object A is the rigid/multi body, and object B is the deformable node/face + virtual btVector3 getVa() const; + // get the velocity of the deformable node in contact + virtual btVector3 getVb() const; + virtual btVector3 getDv(const btSoftBody::Node* n) const + { + return btVector3(0,0,0); + } + virtual void applyImpulse(const btVector3& impulse); +}; + + // // Constraint between rigid/multi body and deformable objects class btDeformableRigidContactConstraint : public btDeformableContactConstraint diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index cf0a5e896..d438d6eec 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -32,6 +32,14 @@ btScalar btDeformableContactProjection::update() } } + // anchor constraints + for (int index = 0; index < m_nodeAnchorConstraints.size(); ++index) + { + btDeformableNodeAnchorConstraint& constraint = *m_nodeAnchorConstraints.getAtIndex(index); + btScalar localResidualSquare = constraint.solveConstraint(); + residualSquare = btMax(residualSquare, localResidualSquare); + } + // face constraints for (int index = 0; index < m_allFaceConstraints.size(); ++index) { @@ -73,6 +81,24 @@ void btDeformableContactProjection::setConstraints() continue; } + // set up deformable anchors + for (int j = 0; j < psb->m_deformableAnchors.size(); ++j) + { + btSoftBody::DeformableNodeRigidAnchor& anchor = psb->m_deformableAnchors[j]; + // skip fixed points + if (anchor.m_node->m_im == 0) + { + continue; + } + + if (m_nodeAnchorConstraints.find(anchor.m_node->index) == NULL) + { + anchor.m_c1 = anchor.m_cti.m_colObj->getWorldTransform().getBasis() * anchor.m_local; + btDeformableNodeAnchorConstraint constraint(anchor); + m_nodeAnchorConstraints.insert(anchor.m_node->index, constraint); + } + } + // set Deformable Node vs. Rigid constraint for (int j = 0; j < psb->m_nodeRigidContacts.size(); ++j) { @@ -262,7 +288,7 @@ void btDeformableContactProjection::setProjection() bool existStaticConstraint = false; btVector3 averagedNormal(0,0,0); btAlignedObjectArray normals; - if (m_staticConstraints.find(index) != NULL) + if (m_staticConstraints.find(index) != NULL || m_nodeAnchorConstraints.find(index) != NULL) { existStaticConstraint = true; hasConstraint = true; @@ -451,6 +477,7 @@ void btDeformableContactProjection::applyDynamicFriction(TVStack& f) void btDeformableContactProjection::reinitialize(bool nodeUpdated) { m_staticConstraints.clear(); + m_nodeAnchorConstraints.clear(); m_nodeRigidConstraints.clear(); m_faceRigidConstraints.clear(); m_deformableConstraints.clear(); diff --git a/src/BulletSoftBody/btDeformableContactProjection.h b/src/BulletSoftBody/btDeformableContactProjection.h index fa5eb662b..90386b0c9 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.h +++ b/src/BulletSoftBody/btDeformableContactProjection.h @@ -36,6 +36,8 @@ public: btHashMap > m_faceRigidConstraints; // map from node index to deformable constraint btHashMap > m_deformableConstraints; + // map from node index to node anchor constraint + btHashMap m_nodeAnchorConstraints; // all constraints involving face btAlignedObjectArray m_allFaceConstraints; diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index ded9893ce..242f84bee 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -140,6 +140,13 @@ void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) node.m_q = node.m_x; node.m_vn = node.m_v; } + // enforce anchor constraints + for (int j = 0; j < psb->m_deformableAnchors.size();++j) + { + btSoftBody::DeformableNodeRigidAnchor& a = psb->m_deformableAnchors[j]; + btSoftBody::Node* n = a.m_node; + n->m_x = a.m_cti.m_colObj->getWorldTransform() * a.m_local; + } psb->interpolateRenderMesh(); } } diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index b05b28ca4..c25f4441b 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -411,6 +411,41 @@ void btSoftBody::appendAnchor(int node, btRigidBody* body, const btVector3& loca m_anchors.push_back(a); } +// +void btSoftBody::appendDeformableAnchor(int node, btRigidBody* body) +{ + DeformableNodeRigidAnchor c; + btSoftBody::Node& n = m_nodes[node]; + const btScalar ima = n.m_im; + const btScalar imb = body->getInvMass(); + btVector3 nrm; + const btCollisionShape* shp = body->getCollisionShape(); + const btTransform& wtr = body->getWorldTransform(); + btScalar dst = + m_worldInfo->m_sparsesdf.Evaluate( + wtr.invXform(m_nodes[node].m_x), + shp, + nrm, + 0); + + c.m_cti.m_colObj = body; + c.m_cti.m_normal = wtr.getBasis() * nrm; + c.m_cti.m_offset = dst; + c.m_node = &m_nodes[node]; + const btScalar fc = m_cfg.kDF * body->getFriction(); + c.m_c2 = ima; + c.m_c3 = fc; + c.m_c4 = body->isStaticOrKinematicObject() ? m_cfg.kKHR : m_cfg.kCHR; + static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0); + const btMatrix3x3& iwi = body->getInvInertiaTensorWorld(); + const btVector3 ra = n.m_x - wtr.getOrigin(); + + c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra); + c.m_c1 = ra; + c.m_local = body->getWorldTransform().inverse() * m_nodes[node].m_x; + m_deformableAnchors.push_back(c); +} + // void btSoftBody::appendLinearJoint(const LJoint::Specs& specs, Cluster* body0, Body body1) { diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index 195434c06..8aca75e1e 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -354,6 +354,12 @@ public: Node* m_node; // Owner node }; + class DeformableNodeRigidAnchor : public DeformableNodeRigidContact + { + public: + btVector3 m_local; // Anchor position in body space + }; + class DeformableFaceRigidContact : public DeformableRigidContact { public: @@ -774,6 +780,7 @@ public: btAlignedObjectArray m_tetraScratches; btAlignedObjectArray m_tetraScratchesTn; tAnchorArray m_anchors; // Anchors + btAlignedObjectArray m_deformableAnchors; tRContactArray m_rcontacts; // Rigid contacts btAlignedObjectArray m_nodeRigidContacts; btAlignedObjectArray m_faceNodeContacts; @@ -897,7 +904,8 @@ public: Material* mat = 0); /* Append anchor */ - void appendAnchor(int node, + void appendDeformableAnchor(int node, btRigidBody* body); + void appendAnchor(int node, btRigidBody* body, bool disableCollisionBetweenLinkedBodies = false, btScalar influence = 1); void appendAnchor(int node, btRigidBody* body, const btVector3& localPivot, bool disableCollisionBetweenLinkedBodies = false, btScalar influence = 1); /* Append linear joint */ From 36f7441790a2d3bc17eda170694bcab199e6b096 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 17 Oct 2019 16:45:28 -0700 Subject: [PATCH 224/389] support anchor constraint between deformable and multibody --- .../DeformableDemo/DeformableMultibody.cpp | 1 - .../DeformableDemo/MultibodyClothAnchor.cpp | 395 ++++++++++++++++++ .../DeformableDemo/MultibodyClothAnchor.h | 19 + examples/ExampleBrowser/CMakeLists.txt | 2 + examples/ExampleBrowser/ExampleEntries.cpp | 4 +- .../btDeformableContactConstraint.cpp | 2 - .../btDeformableMultiBodyDynamicsWorld.cpp | 47 ++- src/BulletSoftBody/btSoftBody.cpp | 57 +++ src/BulletSoftBody/btSoftBody.h | 1 + 9 files changed, 523 insertions(+), 5 deletions(-) create mode 100644 examples/DeformableDemo/MultibodyClothAnchor.cpp create mode 100644 examples/DeformableDemo/MultibodyClothAnchor.h diff --git a/examples/DeformableDemo/DeformableMultibody.cpp b/examples/DeformableDemo/DeformableMultibody.cpp index d7f254960..7b9137cc9 100644 --- a/examples/DeformableDemo/DeformableMultibody.cpp +++ b/examples/DeformableDemo/DeformableMultibody.cpp @@ -145,7 +145,6 @@ void DeformableMultibody::initPhysics() m_dynamicsWorld->addRigidBody(body,1,1+2); } - { bool damping = true; bool gyro = false; diff --git a/examples/DeformableDemo/MultibodyClothAnchor.cpp b/examples/DeformableDemo/MultibodyClothAnchor.cpp new file mode 100644 index 000000000..eeeb4d33c --- /dev/null +++ b/examples/DeformableDemo/MultibodyClothAnchor.cpp @@ -0,0 +1,395 @@ +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + 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. + */ +#include "MultibodyClothAnchor.h" +///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. +#include "btBulletDynamicsCommon.h" +#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" +#include "BulletSoftBody/btSoftBody.h" +#include "BulletSoftBody/btSoftBodyHelpers.h" +#include "BulletSoftBody/btDeformableBodySolver.h" +#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" +#include //printf debugging + +#include "../CommonInterfaces/CommonRigidBodyBase.h" +#include "../Utils/b3ResourcePath.h" + +///The MultibodyClothAnchor shows contact between deformable objects and rigid objects. +class MultibodyClothAnchor : public CommonRigidBodyBase +{ + btAlignedObjectArray m_forces; +public: + MultibodyClothAnchor(struct GUIHelperInterface* helper) + : CommonRigidBodyBase(helper) + { + } + virtual ~MultibodyClothAnchor() + { + } + 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); + } + + virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const + { + ///just make it a btSoftRigidDynamicsWorld please + ///or we will add type checking + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; + } + + virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() + { + ///just make it a btSoftRigidDynamicsWorld please + ///or we will add type checking + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; + } + + virtual void renderScene() + { + CommonRigidBodyBase::renderScene(); + btDeformableMultiBodyDynamicsWorld* 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()); + } + } + } + + btMultiBody* createMultiBody(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical = false, bool floating = false); + + void addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents); +}; + +void MultibodyClothAnchor::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) + btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver(); + sol->setDeformableSolver(deformableBodySolver); + m_solver = sol; + + m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); + // deformableBodySolver->setWorld(getDeformableDynamicsWorld()); + // m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality + btVector3 gravity = btVector3(0, -20, 0); + m_dynamicsWorld->setGravity(gravity); + getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; + + // 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, -35, 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(1); + + //add the ground to the dynamics world + m_dynamicsWorld->addRigidBody(body,1,1+2); + } + + // create a piece of cloth + { + const btScalar s = 4; + const btScalar h = 6; + const int r = 9; + btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s), + btVector3(+s, h, -s), + btVector3(-s, h, +s), + btVector3(+s, h, +s), r, r, 4 + 8, true); + psb->getCollisionShape()->setMargin(0.1); + psb->generateBendingConstraints(2); + psb->setTotalMass(1); + psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects + psb->m_cfg.kCHR = 1; // collision hardness with rigid body + psb->m_cfg.kDF = 2; + psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; + getDeformableDynamicsWorld()->addSoftBody(psb); + + btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(30,1, true); + getDeformableDynamicsWorld()->addForce(psb, mass_spring); + m_forces.push_back(mass_spring); + + btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); + getDeformableDynamicsWorld()->addForce(psb, gravity_force); + m_forces.push_back(gravity_force); + + bool damping = true; + bool gyro = false; + int numLinks = 5; + bool spherical = false; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals + bool canSleep = false; + bool selfCollide = true; + btVector3 linkHalfExtents(1.5, .5, .5); + btVector3 baseHalfExtents(1.5, .5, .5); + + btMultiBody* mbC = createMultiBody(getDeformableDynamicsWorld(), numLinks, btVector3(s+3.5f, h, -s-0.6f), linkHalfExtents, baseHalfExtents, spherical, true); + + mbC->setCanSleep(canSleep); + mbC->setHasSelfCollision(selfCollide); + mbC->setUseGyroTerm(gyro); + // + if (!damping) + { + mbC->setLinearDamping(0.0f); + mbC->setAngularDamping(0.0f); + } + else + { + mbC->setLinearDamping(0.04f); + mbC->setAngularDamping(0.04f); + } + + 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(mbC, getDeformableDynamicsWorld(), baseHalfExtents, linkHalfExtents); + + // quick hack: advance time to populate the variables in multibody + m_dynamicsWorld->stepSimulation(SIMD_EPSILON, 0); + btAlignedObjectArray scratch_q; + btAlignedObjectArray scratch_m; + mbC->forwardKinematics(scratch_q, scratch_m); + psb->appendDeformableAnchor(0, mbC->getLink(3).m_collider); + psb->appendDeformableAnchor(r - 1, mbC->getLink(0).m_collider); + } + getDeformableDynamicsWorld()->setImplicit(false); + getDeformableDynamicsWorld()->setLineSearch(false); + m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); +} + +void MultibodyClothAnchor::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 forces + for (int j = 0; j < m_forces.size(); j++) + { + btDeformableLagrangianForce* force = m_forces[j]; + delete force; + } + m_forces.clear(); + //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; +} + +btMultiBody* MultibodyClothAnchor::createMultiBody(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 = 1.f; + + 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); + + //init the links + btVector3 hingeJointAxis(0, 1, 0); + float linkMass = 1.f; + 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(-linkHalfExtents[0] * 2.f, 0, 0); //par body's COM to cur body's COM offset + btVector3 currentPivotToCurrentCom(-linkHalfExtents[0], 0, 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->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 MultibodyClothAnchor::addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents) +{ + btAlignedObjectArray world_to_local; + world_to_local.resize(pMultiBody->getNumLinks() + 1); + + btAlignedObjectArray local_origin; + local_origin.resize(pMultiBody->getNumLinks() + 1); + world_to_local[0] = pMultiBody->getWorldToBaseRot(); + local_origin[0] = pMultiBody->getBasePos(); + + { + btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()}; + + 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(1); + 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]; + + 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(1); + pWorld->addCollisionObject(col, 2, 1+2); + pMultiBody->getLink(i).m_collider = col; + } +} + +class CommonExampleInterface* MultibodyClothAnchorCreateFunc(struct CommonExampleOptions& options) +{ + return new MultibodyClothAnchor(options.m_guiHelper); +} + + diff --git a/examples/DeformableDemo/MultibodyClothAnchor.h b/examples/DeformableDemo/MultibodyClothAnchor.h new file mode 100644 index 000000000..818e043c1 --- /dev/null +++ b/examples/DeformableDemo/MultibodyClothAnchor.h @@ -0,0 +1,19 @@ +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + 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 MULTIBODY_CLOTH_ANCHOR_H +#define MULTIBODY_CLOTH_ANCHOR_H + +class CommonExampleInterface* MultibodyClothAnchorCreateFunc(struct CommonExampleOptions& options); + +#endif //MULTIBODY_CLOTH_ANCHOR_H diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt index 56aaf625b..56eecf328 100644 --- a/examples/ExampleBrowser/CMakeLists.txt +++ b/examples/ExampleBrowser/CMakeLists.txt @@ -373,6 +373,8 @@ SET(BulletExampleBrowser_SRCS ../DeformableDemo/VolumetricDeformable.h ../DeformableDemo/DeformableClothAnchor.cpp ../DeformableDemo/DeformableClothAnchor.h + ../DeformableDemo/MultibodyClothAnchor.cpp + ../DeformableDemo/MultibodyClothAnchor.h ../MultiBody/MultiDofDemo.cpp ../MultiBody/MultiDofDemo.h ../RigidBody/RigidBodySoftContact.cpp diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index 887fb2fc5..191d62e58 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -54,6 +54,7 @@ #include "../DeformableDemo/GraspDeformable.h" #include "../DeformableDemo/DeformableContact.h" #include "../DeformableDemo/DeformableClothAnchor.h" +#include "../DeformableDemo/MultibodyClothAnchor.h" #include "../SharedMemory/PhysicsServerExampleBullet2.h" #include "../SharedMemory/PhysicsServerExample.h" #include "../SharedMemory/PhysicsClientExample.h" @@ -199,7 +200,8 @@ static ExampleEntry gDefaultExamples[] = ExampleEntry(1, "Grasp Deformable Cube", "Grasping test", PinchCreateFunc), ExampleEntry(1, "Grasp Deformable with Motor", "Grasping test", GraspDeformableCreateFunc), ExampleEntry(1, "Volumetric Deformable Objects", "Volumetric Deformable test", VolumetricDeformableCreateFunc), - ExampleEntry(1, "Deformable Cloth Anchor", "Deformable Anchor test", DeformableClothAnchorCreateFunc), + ExampleEntry(1, "Rigid Cloth Anchor", "Deformable Rigid body Anchor test", DeformableClothAnchorCreateFunc), + ExampleEntry(1, "Multibody Cloth Anchor", "Deformable Multibody Anchor test", MultibodyClothAnchorCreateFunc), ExampleEntry(1, "Deformable-MultiBody Contact", "MultiBody and Deformable contact", DeformableMultibodyCreateFunc), // ExampleEntry(1, "MultiBody Baseline", "MultiBody Baseline", MultiBodyBaselineCreateFunc), diff --git a/src/BulletSoftBody/btDeformableContactConstraint.cpp b/src/BulletSoftBody/btDeformableContactConstraint.cpp index 3bb20a6e1..91a6c7d20 100644 --- a/src/BulletSoftBody/btDeformableContactConstraint.cpp +++ b/src/BulletSoftBody/btDeformableContactConstraint.cpp @@ -45,8 +45,6 @@ btVector3 btDeformableNodeAnchorConstraint::getVa() const } else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) { - // multibody anchor not supported yet - btAssert(false); multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); if (multibodyLinkCol) { diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 242f84bee..9f8e13e20 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -33,7 +33,7 @@ The algorithm also closely resembles the one in http://physbam.stanford.edu/~fed #include "btDeformableMultiBodyDynamicsWorld.h" #include "btDeformableBodySolver.h" #include "LinearMath/btQuickprof.h" - +#include "btSoftBodyInternals.h" void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) { BT_PROFILE("internalSingleStepSimulation"); @@ -146,6 +146,51 @@ void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) btSoftBody::DeformableNodeRigidAnchor& a = psb->m_deformableAnchors[j]; btSoftBody::Node* n = a.m_node; n->m_x = a.m_cti.m_colObj->getWorldTransform() * a.m_local; + + // update multibody anchor info + if (a.m_cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(a.m_cti.m_colObj); + if (multibodyLinkCol) + { + btVector3 nrm; + const btCollisionShape* shp = multibodyLinkCol->getCollisionShape(); + const btTransform& wtr = multibodyLinkCol->getWorldTransform(); + psb->m_worldInfo->m_sparsesdf.Evaluate( + wtr.invXform(n->m_x), + shp, + nrm, + 0); + a.m_cti.m_normal = wtr.getBasis() * nrm; + btVector3 normal = a.m_cti.m_normal; + btVector3 t1 = generateUnitOrthogonalVector(normal); + btVector3 t2 = btCross(normal, t1); + btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2; + findJacobian(multibodyLinkCol, jacobianData_normal, a.m_node->m_x, normal); + findJacobian(multibodyLinkCol, jacobianData_t1, a.m_node->m_x, t1); + findJacobian(multibodyLinkCol, jacobianData_t2, a.m_node->m_x, t2); + + btScalar* J_n = &jacobianData_normal.m_jacobians[0]; + btScalar* J_t1 = &jacobianData_t1.m_jacobians[0]; + btScalar* J_t2 = &jacobianData_t2.m_jacobians[0]; + + btScalar* u_n = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + + btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(), + t1.getX(), t1.getY(), t1.getZ(), + t2.getX(), t2.getY(), t2.getZ()); // world frame to local frame + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + btMatrix3x3 local_impulse_matrix = (Diagonal(n->m_im) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse(); + a.m_c0 = rot.transpose() * local_impulse_matrix * rot; + a.jacobianData_normal = jacobianData_normal; + a.jacobianData_t1 = jacobianData_t1; + a.jacobianData_t2 = jacobianData_t2; + a.t1 = t1; + a.t2 = t2; + } + } } psb->interpolateRenderMesh(); } diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index c25f4441b..c46f7a3b8 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -443,9 +443,66 @@ void btSoftBody::appendDeformableAnchor(int node, btRigidBody* body) c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra); c.m_c1 = ra; c.m_local = body->getWorldTransform().inverse() * m_nodes[node].m_x; + c.m_node->m_battach = 1; m_deformableAnchors.push_back(c); } +// +void btSoftBody::appendDeformableAnchor(int node, btMultiBodyLinkCollider* link) +{ + DeformableNodeRigidAnchor c; + btSoftBody::Node& n = m_nodes[node]; + const btScalar ima = n.m_im; + btVector3 nrm; + const btCollisionShape* shp = link->getCollisionShape(); + const btTransform& wtr = link->getWorldTransform(); + btScalar dst = + m_worldInfo->m_sparsesdf.Evaluate( + wtr.invXform(m_nodes[node].m_x), + shp, + nrm, + 0); + c.m_cti.m_colObj = link; + c.m_cti.m_normal = wtr.getBasis() * nrm; + c.m_cti.m_offset = dst; + c.m_node = &m_nodes[node]; + const btScalar fc = m_cfg.kDF * link->getFriction(); + c.m_c2 = ima; + c.m_c3 = fc; + c.m_c4 = link->isStaticOrKinematicObject() ? m_cfg.kKHR : m_cfg.kCHR; + btVector3 normal = c.m_cti.m_normal; + btVector3 t1 = generateUnitOrthogonalVector(normal); + btVector3 t2 = btCross(normal, t1); + btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2; + findJacobian(link, jacobianData_normal, c.m_node->m_x, normal); + findJacobian(link, jacobianData_t1, c.m_node->m_x, t1); + findJacobian(link, jacobianData_t2, c.m_node->m_x, t2); + + btScalar* J_n = &jacobianData_normal.m_jacobians[0]; + btScalar* J_t1 = &jacobianData_t1.m_jacobians[0]; + btScalar* J_t2 = &jacobianData_t2.m_jacobians[0]; + + btScalar* u_n = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + + btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(), + t1.getX(), t1.getY(), t1.getZ(), + t2.getX(), t2.getY(), t2.getZ()); // world frame to local frame + const int ndof = link->m_multiBody->getNumDofs() + 6; + btMatrix3x3 local_impulse_matrix = (Diagonal(n.m_im) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse(); + c.m_c0 = rot.transpose() * local_impulse_matrix * rot; + c.jacobianData_normal = jacobianData_normal; + c.jacobianData_t1 = jacobianData_t1; + c.jacobianData_t2 = jacobianData_t2; + c.t1 = t1; + c.t2 = t2; + const btVector3 ra = n.m_x - wtr.getOrigin(); + c.m_c1 = ra; + c.m_local = link->getWorldTransform().inverse() * m_nodes[node].m_x; + c.m_node->m_battach = 1; + m_deformableAnchors.push_back(c); +} // void btSoftBody::appendLinearJoint(const LJoint::Specs& specs, Cluster* body0, Body body1) { diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index 8aca75e1e..51f0dad21 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -905,6 +905,7 @@ public: /* Append anchor */ void appendDeformableAnchor(int node, btRigidBody* body); + void appendDeformableAnchor(int node, btMultiBodyLinkCollider* link); void appendAnchor(int node, btRigidBody* body, bool disableCollisionBetweenLinkedBodies = false, btScalar influence = 1); void appendAnchor(int node, btRigidBody* body, const btVector3& localPivot, bool disableCollisionBetweenLinkedBodies = false, btScalar influence = 1); From 88e4ca19702368e7074d52f7d921c68126d3bb71 Mon Sep 17 00:00:00 2001 From: Mark S Date: Sat, 19 Oct 2019 02:34:45 +0300 Subject: [PATCH 225/389] Update btBatchedConstraints.cpp btVector3 constructor added. --- src/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp b/src/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp index 4cd90c1a7..27f76b842 100644 --- a/src/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp +++ b/src/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp @@ -890,7 +890,7 @@ static void setupSpatialGridBatchesMt( btVector3 gridExtent = bboxMax - bboxMin; - gridExtent.setMax({btScalar(1), btScalar(1), btScalar(1)}); + gridExtent.setMax(btVector3(btScalar(1), btScalar(1), btScalar(1))); btVector3 gridCellSize = consExtent; int gridDim[3]; From c6af3aa3f8c9b2413cc52f1ae6ce8aabdb4fc00f Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 23 Oct 2019 12:17:21 -0700 Subject: [PATCH 226/389] fix bug in deformable vs. deformable friction --- examples/DeformableDemo/DeformableContact.cpp | 2 +- src/BulletSoftBody/btDeformableContactConstraint.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/DeformableDemo/DeformableContact.cpp b/examples/DeformableDemo/DeformableContact.cpp index 3efa8e470..2432d3e27 100644 --- a/examples/DeformableDemo/DeformableContact.cpp +++ b/examples/DeformableDemo/DeformableContact.cpp @@ -182,7 +182,7 @@ void DeformableContact::initPhysics() psb2->setTotalMass(1); psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb2->m_cfg.kCHR = 1; // collision hardness with rigid body - psb2->m_cfg.kDF = 0.1; + psb2->m_cfg.kDF = 0; psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; psb->translate(btVector3(3.5,0,0)); diff --git a/src/BulletSoftBody/btDeformableContactConstraint.cpp b/src/BulletSoftBody/btDeformableContactConstraint.cpp index 91a6c7d20..908785895 100644 --- a/src/BulletSoftBody/btDeformableContactConstraint.cpp +++ b/src/BulletSoftBody/btDeformableContactConstraint.cpp @@ -435,7 +435,7 @@ btScalar btDeformableFaceNodeContactConstraint::solveConstraint() m_total_tangent_dv -= impulse_tangent * m_contact->m_imf; } - if (m_total_normal_dv.dot(m_contact->m_normal) < 0) + if (m_total_normal_dv.dot(m_contact->m_normal) > 0) { // separating in the normal direction m_static = false; From 08f53fc38d35e8b03e09e485d1925d03eff294d4 Mon Sep 17 00:00:00 2001 From: Chuyuan Fu Date: Mon, 14 Oct 2019 17:00:09 -0700 Subject: [PATCH 227/389] add warmstart --- .../NarrowPhaseCollision/btManifoldPoint.h | 5 +- .../btPersistentManifold.cpp | 8 +- .../btPersistentManifold.h | 7 +- .../Featherstone/btMultiBodyConstraint.cpp | 34 ---- .../btMultiBodyConstraintSolver.cpp | 183 ++++++++++++------ .../btMultiBodyConstraintSolver.h | 8 +- 6 files changed, 141 insertions(+), 104 deletions(-) diff --git a/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h b/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h index 6d21f6620..12ce02e87 100644 --- a/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h +++ b/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h @@ -55,6 +55,7 @@ public: : m_userPersistentData(0), m_contactPointFlags(0), m_appliedImpulse(0.f), + m_prevRHS(0.f), m_appliedImpulseLateral1(0.f), m_appliedImpulseLateral2(0.f), m_contactMotion1(0.f), @@ -79,6 +80,7 @@ public: m_userPersistentData(0), m_contactPointFlags(0), m_appliedImpulse(0.f), + m_prevRHS(0.f), m_appliedImpulseLateral1(0.f), m_appliedImpulseLateral2(0.f), m_contactMotion1(0.f), @@ -114,7 +116,8 @@ public: int m_contactPointFlags; btScalar m_appliedImpulse; - btScalar m_appliedImpulseLateral1; + btScalar m_prevRHS; + btScalar m_appliedImpulseLateral1; btScalar m_appliedImpulseLateral2; btScalar m_contactMotion1; btScalar m_contactMotion2; diff --git a/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp b/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp index f1422cad4..f378ba73b 100644 --- a/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp +++ b/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp @@ -325,7 +325,8 @@ const char* btPersistentManifold::serialize(const class btPersistentManifold* ma { const btManifoldPoint& pt = manifold->getContactPoint(i); dataOut->m_pointCacheAppliedImpulse[i] = pt.m_appliedImpulse; - dataOut->m_pointCacheAppliedImpulseLateral1[i] = pt.m_appliedImpulseLateral1; + dataOut->m_pointCachePrevRHS[i] = pt.m_prevRHS; + dataOut->m_pointCacheAppliedImpulseLateral1[i] = pt.m_appliedImpulseLateral1; dataOut->m_pointCacheAppliedImpulseLateral2[i] = pt.m_appliedImpulseLateral2; pt.m_localPointA.serialize(dataOut->m_pointCacheLocalPointA[i]); pt.m_localPointB.serialize(dataOut->m_pointCacheLocalPointB[i]); @@ -337,7 +338,6 @@ const char* btPersistentManifold::serialize(const class btPersistentManifold* ma dataOut->m_pointCacheFrictionCFM[i] = pt.m_frictionCFM; dataOut->m_pointCacheContactERP[i] = pt.m_contactERP; dataOut->m_pointCacheContactCFM[i] = pt.m_contactCFM; - dataOut->m_pointCacheContactPointFlags[i] = pt.m_contactPointFlags; dataOut->m_pointCacheIndex0[i] = pt.m_index0; dataOut->m_pointCacheIndex1[i] = pt.m_index1; dataOut->m_pointCachePartId0[i] = pt.m_partId0; @@ -371,6 +371,7 @@ void btPersistentManifold::deSerialize(const struct btPersistentManifoldDoubleDa btManifoldPoint& pt = m_pointCache[i]; pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i]; + pt.m_prevRHS = manifoldDataPtr->m_pointCachePrevRHS[i]; pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i]; pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i]; pt.m_localPointA.deSerializeDouble(manifoldDataPtr->m_pointCacheLocalPointA[i]); @@ -416,6 +417,7 @@ void btPersistentManifold::deSerialize(const struct btPersistentManifoldFloatDat btManifoldPoint& pt = m_pointCache[i]; pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i]; + pt.m_prevRHS = manifoldDataPtr->m_pointCachePrevRHS[i]; pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i]; pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i]; pt.m_localPointA.deSerialize(manifoldDataPtr->m_pointCacheLocalPointA[i]); @@ -444,4 +446,4 @@ void btPersistentManifold::deSerialize(const struct btPersistentManifoldFloatDat pt.m_contactMotion1 = manifoldDataPtr->m_pointCacheContactMotion1[i]; pt.m_contactMotion2 = manifoldDataPtr->m_pointCacheContactMotion2[i]; } -} \ No newline at end of file +} diff --git a/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h index 8a9134c95..feb149af6 100644 --- a/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h +++ b/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h @@ -173,6 +173,7 @@ public: //get rid of duplicated userPersistentData pointer m_pointCache[lastUsedIndex].m_userPersistentData = 0; m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f; + m_pointCache[lastUsedIndex].m_prevRHS = 0.f; m_pointCache[lastUsedIndex].m_contactPointFlags = 0; m_pointCache[lastUsedIndex].m_appliedImpulseLateral1 = 0.f; m_pointCache[lastUsedIndex].m_appliedImpulseLateral2 = 0.f; @@ -195,6 +196,7 @@ public: #ifdef MAINTAIN_PERSISTENCY int lifeTime = m_pointCache[insertIndex].getLifeTime(); btScalar appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse; + btScalar prevRHS = m_pointCache[insertIndex].m_prevRHS; btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1; btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2; @@ -223,6 +225,7 @@ public: m_pointCache[insertIndex] = newPoint; m_pointCache[insertIndex].m_userPersistentData = cache; m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse; + m_pointCache[insertIndex].m_prevRHS = prevRHS; m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1; m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2; } @@ -276,7 +279,8 @@ struct btPersistentManifoldDoubleData btVector3DoubleData m_pointCacheLateralFrictionDir2[4]; double m_pointCacheDistance[4]; double m_pointCacheAppliedImpulse[4]; - double m_pointCacheCombinedFriction[4]; + double m_pointCachePrevRHS[4]; + double m_pointCacheCombinedFriction[4]; double m_pointCacheCombinedRollingFriction[4]; double m_pointCacheCombinedSpinningFriction[4]; double m_pointCacheCombinedRestitution[4]; @@ -322,6 +326,7 @@ struct btPersistentManifoldFloatData btVector3FloatData m_pointCacheLateralFrictionDir2[4]; float m_pointCacheDistance[4]; float m_pointCacheAppliedImpulse[4]; + float m_pointCachePrevRHS[4]; float m_pointCacheCombinedFriction[4]; float m_pointCacheCombinedRollingFriction[4]; float m_pointCacheCombinedSpinningFriction[4]; diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp b/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp index e17ab94d9..d7ed05ce5 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp @@ -342,40 +342,6 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint(btMultiBodySolverConstra solverConstraint.m_friction = 0.f; //cp.m_combinedFriction; } - ///warm starting (or zero if disabled) - /* - if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) - { - solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor; - - if (solverConstraint.m_appliedImpulse) - { - if (multiBodyA) - { - btScalar impulse = solverConstraint.m_appliedImpulse; - btScalar* deltaV = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; - multiBodyA->applyDeltaVee(deltaV,impulse); - applyDeltaVee(data,deltaV,impulse,solverConstraint.m_deltaVelAindex,ndofA); - } else - { - if (rb0) - bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1*bodyA->internalGetInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse); - } - if (multiBodyB) - { - btScalar impulse = solverConstraint.m_appliedImpulse; - btScalar* deltaV = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; - multiBodyB->applyDeltaVee(deltaV,impulse); - applyDeltaVee(data,deltaV,impulse,solverConstraint.m_deltaVelBindex,ndofB); - } else - { - if (rb1) - bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2*bodyB->internalGetInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse); - } - } - } else - */ - solverConstraint.m_appliedImpulse = 0.f; solverConstraint.m_appliedPushImpulse = 0.f; diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp index 45c893b27..e10fea5a6 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp @@ -22,6 +22,8 @@ subject to the following restrictions: #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" #include "LinearMath/btQuickprof.h" +#include "BulletDynamics/Featherstone/btMultiBodySolverConstraint.h" +#include "LinearMath/btScalar.h" btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) { @@ -491,11 +493,7 @@ btScalar btMultiBodyConstraintSolver::resolveConeFrictionConstraintRows(const bt return deltaVel; } -void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint, - const btVector3& contactNormal, - btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, - btScalar& relaxation, - bool isFriction, btScalar desiredVelocity, btScalar cfmSlip) +void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint, const btVector3& contactNormal, const btScalar& appliedImpulse, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, btScalar& relaxation, bool isFriction, btScalar desiredVelocity, btScalar cfmSlip) { BT_PROFILE("setupMultiBodyContactConstraint"); btVector3 rel_pos1; @@ -781,48 +779,6 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol } } - ///warm starting (or zero if disabled) - //disable warmstarting for btMultiBody, it has issues gaining energy (==explosion) - if (/* DISABLES CODE */ (0)) //infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) - { - solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor; - - if (solverConstraint.m_appliedImpulse) - { - if (multiBodyA) - { - btScalar impulse = solverConstraint.m_appliedImpulse; - btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; - multiBodyA->applyDeltaVeeMultiDof(deltaV, impulse); - - applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelAindex, ndofA); - } - else - { - if (rb0) - bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1 * bodyA->internalGetInvMass() * rb0->getLinearFactor(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse); - } - if (multiBodyB) - { - btScalar impulse = solverConstraint.m_appliedImpulse; - btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; - multiBodyB->applyDeltaVeeMultiDof(deltaV, impulse); - applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelBindex, ndofB); - } - else - { - if (rb1) - bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass() * rb1->getLinearFactor(), -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse); - } - } - } - else - { - solverConstraint.m_appliedImpulse = 0.f; - } - - solverConstraint.m_appliedPushImpulse = 0.f; - { btScalar positionalError = 0.f; btScalar velocityError = restitution - rel_vel; // * damping; //note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction @@ -874,6 +830,53 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol solverConstraint.m_cfm = cfm * solverConstraint.m_jacDiagABInv; } + + if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + { + if (btFabs(cp.m_prevRHS) > 1e-5) + { + solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse / cp.m_prevRHS * solverConstraint.m_rhs * infoGlobal.m_warmstartingFactor; + if (solverConstraint.m_appliedImpulse < 0) + solverConstraint.m_appliedImpulse = 0; + } + else + { + solverConstraint.m_appliedImpulse = 0.f; + } + + if (solverConstraint.m_appliedImpulse) + { + if (multiBodyA) + { + btScalar impulse = solverConstraint.m_appliedImpulse; + btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; + multiBodyA->applyDeltaVeeMultiDof2(deltaV, impulse); + + applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelAindex, ndofA); + } + else + { + if (rb0) + bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1 * bodyA->internalGetInvMass() * rb0->getLinearFactor(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse); + } + if (multiBodyB) + { + btScalar impulse = solverConstraint.m_appliedImpulse; + btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; + multiBodyB->applyDeltaVeeMultiDof2(deltaV, impulse); + applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelBindex, ndofB); + } + else + { + if (rb1) + bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass() * rb1->getLinearFactor(), -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse); + } + } + } + else + { + solverConstraint.m_appliedImpulse = 0.f; + } } void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMultiBodySolverConstraint& solverConstraint, @@ -1130,7 +1133,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu } } -btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) +btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionConstraint(const btVector3& normalAxis, const btScalar& appliedImpulse, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) { BT_PROFILE("addMultiBodyFrictionConstraint"); btMultiBodySolverConstraint& solverConstraint = m_multiBodyFrictionContactConstraints.expandNonInitializing(); @@ -1161,7 +1164,7 @@ btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionCo solverConstraint.m_originalContactPoint = &cp; - setupMultiBodyContactConstraint(solverConstraint, normalAxis, cp, infoGlobal, relaxation, isFriction, desiredVelocity, cfmSlip); + setupMultiBodyContactConstraint(solverConstraint, normalAxis, 0, cp, infoGlobal, relaxation, isFriction, desiredVelocity, cfmSlip); return solverConstraint; } @@ -1297,7 +1300,7 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* solverConstraint.m_originalContactPoint = &cp; bool isFriction = false; - setupMultiBodyContactConstraint(solverConstraint, cp.m_normalWorldOnB, cp, infoGlobal, relaxation, isFriction); + setupMultiBodyContactConstraint(solverConstraint, cp.m_normalWorldOnB, cp.m_appliedImpulse, cp, infoGlobal, relaxation, isFriction); // const btVector3& pos1 = cp.getPositionWorldOnA(); // const btVector3& pos2 = cp.getPositionWorldOnB(); @@ -1371,13 +1374,13 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* { applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); - addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal); + addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, cp.m_appliedImpulseLateral1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); - addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal); + addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, cp.m_appliedImpulseLateral2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal); } if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION)) @@ -1388,26 +1391,25 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* } else { - addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM); + addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, cp.m_appliedImpulseLateral1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) - addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM); - - //setMultiBodyFrictionConstraintImpulse( solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal); - //todo: - solverConstraint.m_appliedImpulse = 0.f; - solverConstraint.m_appliedPushImpulse = 0.f; + addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, cp.m_appliedImpulseLateral2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM); } #endif //ENABLE_FRICTION } + else + { + // Reset quantities related to warmstart as 0. + cp.m_appliedImpulse = 0; + cp.m_prevRHS = 0; + } } } void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal) { - //btPersistentManifold* manifold = 0; - for (int i = 0; i < numManifolds; i++) { btPersistentManifold* manifold = manifoldPtr[i]; @@ -1434,6 +1436,51 @@ void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifol c->createConstraintRows(m_multiBodyNonContactConstraints, m_data, infoGlobal); } + + // Warmstart for noncontact constraints + if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + { + for (int i = 0; i < m_multiBodyNonContactConstraints.size(); i++) + { + btMultiBodySolverConstraint& solverConstraint = + m_multiBodyNonContactConstraints[i]; + solverConstraint.m_appliedImpulse = + solverConstraint.m_orgConstraint->getAppliedImpulse(solverConstraint.m_orgDofIndex) * + infoGlobal.m_warmstartingFactor; + + btMultiBody* multiBodyA = solverConstraint.m_multiBodyA; + btMultiBody* multiBodyB = solverConstraint.m_multiBodyB; + if (solverConstraint.m_appliedImpulse) + { + if (multiBodyA) + { + int ndofA = multiBodyA->getNumDofs() + 6; + btScalar* deltaV = + &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; + btScalar impulse = solverConstraint.m_appliedImpulse; + multiBodyA->applyDeltaVeeMultiDof2(deltaV, impulse); + applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelAindex, ndofA); + } + if (multiBodyB) + { + int ndofB = multiBodyB->getNumDofs() + 6; + btScalar* deltaV = + &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; + btScalar impulse = solverConstraint.m_appliedImpulse; + multiBodyB->applyDeltaVeeMultiDof2(deltaV, impulse); + applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelBindex, ndofB); + } + } + } + } + else + { + for (int i = 0; i < m_multiBodyNonContactConstraints.size(); i++) + { + btMultiBodySolverConstraint& solverConstraint = m_multiBodyNonContactConstraints[i]; + solverConstraint.m_appliedImpulse = 0; + } + } } btScalar btMultiBodyConstraintSolver::solveGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher) @@ -1678,10 +1725,22 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO } #endif #endif - + writeBackMultiBodyContacts(0, numPoolConstraints); return btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(bodies, numBodies, infoGlobal); } +void btMultiBodyConstraintSolver::writeBackMultiBodyContacts(int iBegin, int iEnd) +{ + for (int j = iBegin; j < iEnd; j++) + { + const btMultiBodySolverConstraint& solveManifold = m_multiBodyNormalContactConstraints[j]; + btManifoldPoint* pt = (btManifoldPoint*)solveManifold.m_originalContactPoint; + btAssert(pt); + pt->m_appliedImpulse = solveManifold.m_appliedImpulse; + pt->m_prevRHS = solveManifold.m_rhs; + } +} + void btMultiBodyConstraintSolver::solveMultiBodyGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher) { //printf("solveMultiBodyGroup: numBodies=%d, numConstraints=%d, numManifolds=%d, numMultiBodyConstraints=%d\n", numBodies, numConstraints, numManifolds, numMultiBodyConstraints); diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h index abf571883..2f5a6535c 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h @@ -49,7 +49,7 @@ protected: void convertContacts(btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal); - btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0); + btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis, const btScalar& appliedImpulse, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0); btMultiBodySolverConstraint& addMultiBodyTorsionalFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, @@ -66,7 +66,9 @@ protected: void setupMultiBodyContactConstraint(btMultiBodySolverConstraint & solverConstraint, const btVector3& contactNormal, - btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, + const btScalar& appliedImpulse, + btManifoldPoint& cp, + const btContactSolverInfo& infoGlobal, btScalar& relaxation, bool isFriction, btScalar desiredVelocity = 0, btScalar cfmSlip = 0); @@ -82,10 +84,10 @@ protected: void convertMultiBodyContact(btPersistentManifold * manifold, const btContactSolverInfo& infoGlobal); virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); // virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); - virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); void applyDeltaVee(btScalar * deltaV, btScalar impulse, int velocityIndex, int ndof); void writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint & constraint, btScalar deltaTime); + void writeBackMultiBodyContacts(int iBegin, int iEnd); public: BT_DECLARE_ALIGNED_ALLOCATOR(); From ac680be673f0e549f896d247d5253f04a6ed636c Mon Sep 17 00:00:00 2001 From: Chuyuan Fu Date: Mon, 14 Oct 2019 18:40:40 -0700 Subject: [PATCH 228/389] fix space --- src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h | 4 ++-- .../NarrowPhaseCollision/btPersistentManifold.cpp | 3 ++- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h b/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h index 12ce02e87..66f38c9dd 100644 --- a/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h +++ b/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h @@ -56,7 +56,7 @@ public: m_contactPointFlags(0), m_appliedImpulse(0.f), m_prevRHS(0.f), - m_appliedImpulseLateral1(0.f), + m_appliedImpulseLateral1(0.f), m_appliedImpulseLateral2(0.f), m_contactMotion1(0.f), m_contactMotion2(0.f), @@ -117,7 +117,7 @@ public: btScalar m_appliedImpulse; btScalar m_prevRHS; - btScalar m_appliedImpulseLateral1; + btScalar m_appliedImpulseLateral1; btScalar m_appliedImpulseLateral2; btScalar m_contactMotion1; btScalar m_contactMotion2; diff --git a/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp b/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp index f378ba73b..d1fad7a9d 100644 --- a/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp +++ b/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp @@ -326,7 +326,7 @@ const char* btPersistentManifold::serialize(const class btPersistentManifold* ma const btManifoldPoint& pt = manifold->getContactPoint(i); dataOut->m_pointCacheAppliedImpulse[i] = pt.m_appliedImpulse; dataOut->m_pointCachePrevRHS[i] = pt.m_prevRHS; - dataOut->m_pointCacheAppliedImpulseLateral1[i] = pt.m_appliedImpulseLateral1; + dataOut->m_pointCacheAppliedImpulseLateral1[i] = pt.m_appliedImpulseLateral1; dataOut->m_pointCacheAppliedImpulseLateral2[i] = pt.m_appliedImpulseLateral2; pt.m_localPointA.serialize(dataOut->m_pointCacheLocalPointA[i]); pt.m_localPointB.serialize(dataOut->m_pointCacheLocalPointB[i]); @@ -338,6 +338,7 @@ const char* btPersistentManifold::serialize(const class btPersistentManifold* ma dataOut->m_pointCacheFrictionCFM[i] = pt.m_frictionCFM; dataOut->m_pointCacheContactERP[i] = pt.m_contactERP; dataOut->m_pointCacheContactCFM[i] = pt.m_contactCFM; + dataOut->m_pointCacheContactPointFlags[i] = pt.m_contactPointFlags; dataOut->m_pointCacheIndex0[i] = pt.m_index0; dataOut->m_pointCacheIndex1[i] = pt.m_index1; dataOut->m_pointCachePartId0[i] = pt.m_partId0; From 913400eba1ab808a3fbf43c393425344ef66cee4 Mon Sep 17 00:00:00 2001 From: Chuyuan Fu Date: Thu, 17 Oct 2019 16:59:15 -0700 Subject: [PATCH 229/389] add SOLVER_USE_ARTICULATED_WARMSTARTING option and APIs fix compile --- examples/SharedMemory/PhysicsClientC_API.cpp | 8 +++++ examples/SharedMemory/PhysicsClientC_API.h | 1 + .../PhysicsServerCommandProcessor.cpp | 6 ++++ examples/SharedMemory/SharedMemoryCommands.h | 1 + examples/SharedMemory/SharedMemoryPublic.h | 1 + .../NarrowPhaseCollision/btManifoldPoint.h | 4 +-- .../btPersistentManifold.cpp | 2 +- .../btPersistentManifold.h | 2 +- .../ConstraintSolver/btContactSolverInfo.h | 8 +++-- .../btMultiBodyConstraintSolver.cpp | 30 ++++--------------- 10 files changed, 33 insertions(+), 30 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 085a0384b..9677197ca 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -752,6 +752,14 @@ B3_SHARED_API int b3PhysicsParamSetWarmStartingFactor(b3SharedMemoryCommandHandl return 0; } +B3_SHARED_API int b3PhysicsParamSetArticulatedWarmStartingFactor(b3SharedMemoryCommandHandle commandHandle, double warmStartingFactor) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; + b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS); + command->m_physSimParamArgs.m_articulatedWarmStartingFactor = warmStartingFactor; + command->m_updateFlags |= SIM_PARAM_UPDATE_ARTICULATED_WARM_STARTING_FACTOR; + return 0; +} B3_SHARED_API int b3PhysicsParamSetSolverResidualThreshold(b3SharedMemoryCommandHandle commandHandle, double solverResidualThreshold) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 752789428..4e0e0eb63 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -339,6 +339,7 @@ extern "C" B3_SHARED_API int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation); B3_SHARED_API int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations); B3_SHARED_API int b3PhysicsParamSetWarmStartingFactor(b3SharedMemoryCommandHandle commandHandle, double warmStartingFactor); + B3_SHARED_API int b3PhysicsParamSetArticulatedWarmStartingFactor(b3SharedMemoryCommandHandle commandHandle, double warmStartingFactor); B3_SHARED_API int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle commandHandle, int filterMode); B3_SHARED_API int b3PhysicsParamSetUseSplitImpulse(b3SharedMemoryCommandHandle commandHandle, int useSplitImpulse); B3_SHARED_API int b3PhysicsParamSetSplitImpulsePenetrationThreshold(b3SharedMemoryCommandHandle commandHandle, double splitImpulsePenetrationThreshold); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 9e5799c36..437584951 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -9338,6 +9338,12 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st { m_data->m_dynamicsWorld->getSolverInfo().m_warmstartingFactor = clientCmd.m_physSimParamArgs.m_warmStartingFactor; } + + if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_ARTICULATED_WARM_STARTING_FACTOR) + { + m_data->m_dynamicsWorld->getSolverInfo().m_solverMode |= SOLVER_USE_ARTICULATED_WARMSTARTING; + m_data->m_dynamicsWorld->getSolverInfo().m_articulatedWarmstartingFactor = clientCmd.m_physSimParamArgs.m_articulatedWarmStartingFactor; + } SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED; return hasStatus; diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index d23ac1594..610bfe275 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -483,6 +483,7 @@ enum EnumSimParamUpdateFlags SIM_PARAM_CONSTRAINT_MIN_SOLVER_ISLAND_SIZE = 1 << 25, 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, }; diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index 78c0c0fcb..3db75d397 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -947,6 +947,7 @@ struct b3PhysicsSimulationParameters int m_numSimulationSubSteps; int m_numSolverIterations; double m_warmStartingFactor; + double m_articulatedWarmStartingFactor; int m_useRealTimeSimulation; int m_useSplitImpulse; double m_splitImpulsePenetrationThreshold; diff --git a/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h b/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h index 66f38c9dd..573fc86bf 100644 --- a/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h +++ b/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h @@ -56,7 +56,7 @@ public: m_contactPointFlags(0), m_appliedImpulse(0.f), m_prevRHS(0.f), - m_appliedImpulseLateral1(0.f), + m_appliedImpulseLateral1(0.f), m_appliedImpulseLateral2(0.f), m_contactMotion1(0.f), m_contactMotion2(0.f), @@ -117,7 +117,7 @@ public: btScalar m_appliedImpulse; btScalar m_prevRHS; - btScalar m_appliedImpulseLateral1; + btScalar m_appliedImpulseLateral1; btScalar m_appliedImpulseLateral2; btScalar m_contactMotion1; btScalar m_contactMotion2; diff --git a/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp b/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp index d1fad7a9d..dca3e0926 100644 --- a/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp +++ b/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp @@ -326,7 +326,7 @@ const char* btPersistentManifold::serialize(const class btPersistentManifold* ma const btManifoldPoint& pt = manifold->getContactPoint(i); dataOut->m_pointCacheAppliedImpulse[i] = pt.m_appliedImpulse; dataOut->m_pointCachePrevRHS[i] = pt.m_prevRHS; - dataOut->m_pointCacheAppliedImpulseLateral1[i] = pt.m_appliedImpulseLateral1; + dataOut->m_pointCacheAppliedImpulseLateral1[i] = pt.m_appliedImpulseLateral1; dataOut->m_pointCacheAppliedImpulseLateral2[i] = pt.m_appliedImpulseLateral2; pt.m_localPointA.serialize(dataOut->m_pointCacheLocalPointA[i]); pt.m_localPointB.serialize(dataOut->m_pointCacheLocalPointB[i]); diff --git a/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h index feb149af6..0e26da0eb 100644 --- a/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h +++ b/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h @@ -280,7 +280,7 @@ struct btPersistentManifoldDoubleData double m_pointCacheDistance[4]; double m_pointCacheAppliedImpulse[4]; double m_pointCachePrevRHS[4]; - double m_pointCacheCombinedFriction[4]; + double m_pointCacheCombinedFriction[4]; double m_pointCacheCombinedRollingFriction[4]; double m_pointCacheCombinedSpinningFriction[4]; double m_pointCacheCombinedRestitution[4]; diff --git a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h index 63d7c98e1..072b0463a 100644 --- a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h +++ b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h @@ -30,7 +30,8 @@ enum btSolverMode SOLVER_SIMD = 256, SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512, SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024, - SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048 + SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048, + SOLVER_USE_ARTICULATED_WARMSTARTING = 4096, }; struct btContactSolverInfoData @@ -54,7 +55,7 @@ struct btContactSolverInfoData btScalar m_splitImpulseTurnErp; btScalar m_linearSlop; btScalar m_warmstartingFactor; - + btScalar m_articulatedWarmstartingFactor; int m_solverMode; int m_restingContactRestitutionThreshold; int m_minimumSolverBatchSize; @@ -89,6 +90,7 @@ struct btContactSolverInfo : public btContactSolverInfoData m_splitImpulseTurnErp = 0.1f; m_linearSlop = btScalar(0.0); m_warmstartingFactor = btScalar(0.85); + m_articulatedWarmstartingFactor = btScalar(0); //m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD | SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | SOLVER_RANDMIZE_ORDER; m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD; // | SOLVER_RANDMIZE_ORDER; m_restingContactRestitutionThreshold = 2; //unused as of 2.81 @@ -120,6 +122,7 @@ struct btContactSolverInfoDoubleData double m_splitImpulseTurnErp; double m_linearSlop; double m_warmstartingFactor; + double m_articulatedWarmstartingFactor; double m_maxGyroscopicForce; ///it is only used for 'explicit' version of gyroscopic force double m_singleAxisRollingFrictionThreshold; @@ -150,6 +153,7 @@ struct btContactSolverInfoFloatData float m_linearSlop; float m_warmstartingFactor; + float m_articulatedWarmstartingFactor; float m_maxGyroscopicForce; float m_singleAxisRollingFrictionThreshold; diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp index e10fea5a6..b9493896a 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp @@ -835,7 +835,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol { if (btFabs(cp.m_prevRHS) > 1e-5) { - solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse / cp.m_prevRHS * solverConstraint.m_rhs * infoGlobal.m_warmstartingFactor; + solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse / cp.m_prevRHS * solverConstraint.m_rhs * infoGlobal.m_articulatedWarmstartingFactor; if (solverConstraint.m_appliedImpulse < 0) solverConstraint.m_appliedImpulse = 0; } @@ -1438,7 +1438,7 @@ void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifol } // Warmstart for noncontact constraints - if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + if (infoGlobal.m_solverMode & SOLVER_USE_ARTICULATED_WARMSTARTING) { for (int i = 0; i < m_multiBodyNonContactConstraints.size(); i++) { @@ -1446,7 +1446,7 @@ void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifol m_multiBodyNonContactConstraints[i]; solverConstraint.m_appliedImpulse = solverConstraint.m_orgConstraint->getAppliedImpulse(solverConstraint.m_orgDofIndex) * - infoGlobal.m_warmstartingFactor; + infoGlobal.m_articulatedWarmstartingFactor; btMultiBody* multiBodyA = solverConstraint.m_multiBodyA; btMultiBody* multiBodyB = solverConstraint.m_multiBodyB; @@ -1603,28 +1603,10 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO writeBackSolverBodyToMultiBody(solverConstraint, infoGlobal.m_timeStep); } - if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + if (infoGlobal.m_solverMode & SOLVER_USE_ARTICULATED_WARMSTARTING) { BT_PROFILE("warm starting write back"); - for (int j = 0; j < numPoolConstraints; j++) - { - const btMultiBodySolverConstraint& solverConstraint = m_multiBodyNormalContactConstraints[j]; - btManifoldPoint* pt = (btManifoldPoint*)solverConstraint.m_originalContactPoint; - btAssert(pt); - pt->m_appliedImpulse = solverConstraint.m_appliedImpulse; - pt->m_appliedImpulseLateral1 = m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_appliedImpulse; - - //printf("pt->m_appliedImpulseLateral1 = %f\n", pt->m_appliedImpulseLateral1); - if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) - { - pt->m_appliedImpulseLateral2 = m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex + 1].m_appliedImpulse; - } else - { - pt->m_appliedImpulseLateral2 = 0; - } - } - - //do a callback here? + writeBackMultiBodyContacts(0, numPoolConstraints); } #if 0 //multibody joint feedback @@ -1725,7 +1707,7 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO } #endif #endif - writeBackMultiBodyContacts(0, numPoolConstraints); + return btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(bodies, numBodies, infoGlobal); } From 8c3ddac521e67c16ab145ec5552b235f821224ef Mon Sep 17 00:00:00 2001 From: Chuyuan Fu Date: Wed, 23 Oct 2019 11:59:46 -0700 Subject: [PATCH 230/389] restore default behavior take out condition --- .../ConstraintSolver/btContactSolverInfo.h | 2 +- .../btMultiBodyConstraintSolver.cpp | 43 +++++++++++-------- .../btMultiBodyConstraintSolver.h | 1 - 3 files changed, 27 insertions(+), 19 deletions(-) diff --git a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h index 072b0463a..298fb102f 100644 --- a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h +++ b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h @@ -90,7 +90,7 @@ struct btContactSolverInfo : public btContactSolverInfoData m_splitImpulseTurnErp = 0.1f; m_linearSlop = btScalar(0.0); m_warmstartingFactor = btScalar(0.85); - m_articulatedWarmstartingFactor = btScalar(0); + m_articulatedWarmstartingFactor = btScalar(1); //m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD | SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | SOLVER_RANDMIZE_ORDER; m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD; // | SOLVER_RANDMIZE_ORDER; m_restingContactRestitutionThreshold = 2; //unused as of 2.81 diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp index b9493896a..ffae5300f 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp @@ -831,9 +831,9 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol solverConstraint.m_cfm = cfm * solverConstraint.m_jacDiagABInv; } - if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + if (infoGlobal.m_solverMode & SOLVER_USE_ARTICULATED_WARMSTARTING) { - if (btFabs(cp.m_prevRHS) > 1e-5) + if (btFabs(cp.m_prevRHS) > 1e-5 && cp.m_prevRHS < 2* solverConstraint.m_rhs && solverConstraint.m_rhs < 2*cp.m_prevRHS) { solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse / cp.m_prevRHS * solverConstraint.m_rhs * infoGlobal.m_articulatedWarmstartingFactor; if (solverConstraint.m_appliedImpulse < 0) @@ -876,6 +876,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol else { solverConstraint.m_appliedImpulse = 0.f; + solverConstraint.m_appliedPushImpulse = 0.f; } } @@ -1395,7 +1396,9 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, cp.m_appliedImpulseLateral2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM); - } + solverConstraint.m_appliedImpulse = 0.f; + solverConstraint.m_appliedPushImpulse = 0.f; + } #endif //ENABLE_FRICTION } @@ -1603,11 +1606,29 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO writeBackSolverBodyToMultiBody(solverConstraint, infoGlobal.m_timeStep); } - if (infoGlobal.m_solverMode & SOLVER_USE_ARTICULATED_WARMSTARTING) + { BT_PROFILE("warm starting write back"); - writeBackMultiBodyContacts(0, numPoolConstraints); + for (int j = 0; j < numPoolConstraints; j++) + { + const btMultiBodySolverConstraint& solverConstraint = m_multiBodyNormalContactConstraints[j]; + btManifoldPoint* pt = (btManifoldPoint*)solverConstraint.m_originalContactPoint; + btAssert(pt); + pt->m_appliedImpulse = solverConstraint.m_appliedImpulse; + pt->m_prevRHS = solverConstraint.m_rhs; + pt->m_appliedImpulseLateral1 = m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_appliedImpulse; + + //printf("pt->m_appliedImpulseLateral1 = %f\n", pt->m_appliedImpulseLateral1); + if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) + { + pt->m_appliedImpulseLateral2 = m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex + 1].m_appliedImpulse; + } else + { + pt->m_appliedImpulseLateral2 = 0; + } + } } + #if 0 //multibody joint feedback { @@ -1711,18 +1732,6 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO return btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(bodies, numBodies, infoGlobal); } -void btMultiBodyConstraintSolver::writeBackMultiBodyContacts(int iBegin, int iEnd) -{ - for (int j = iBegin; j < iEnd; j++) - { - const btMultiBodySolverConstraint& solveManifold = m_multiBodyNormalContactConstraints[j]; - btManifoldPoint* pt = (btManifoldPoint*)solveManifold.m_originalContactPoint; - btAssert(pt); - pt->m_appliedImpulse = solveManifold.m_appliedImpulse; - pt->m_prevRHS = solveManifold.m_rhs; - } -} - void btMultiBodyConstraintSolver::solveMultiBodyGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher) { //printf("solveMultiBodyGroup: numBodies=%d, numConstraints=%d, numManifolds=%d, numMultiBodyConstraints=%d\n", numBodies, numConstraints, numManifolds, numMultiBodyConstraints); diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h index 2f5a6535c..f584360e2 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h @@ -87,7 +87,6 @@ protected: virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); void applyDeltaVee(btScalar * deltaV, btScalar impulse, int velocityIndex, int ndof); void writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint & constraint, btScalar deltaTime); - void writeBackMultiBodyContacts(int iBegin, int iEnd); public: BT_DECLARE_ALIGNED_ALLOCATOR(); From 270028363bb6b4148a9277508c398b14957f370c Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 24 Oct 2019 15:03:23 -0700 Subject: [PATCH 231/389] Fix some performance issues caused by unneccessarily small sdf grid size. --- examples/DeformableDemo/DeformableMultibody.cpp | 2 ++ examples/DeformableDemo/DeformableRigid.cpp | 2 ++ examples/DeformableDemo/PinchFriction.cpp | 15 ++++++++------- examples/DeformableDemo/VolumetricDeformable.cpp | 4 +++- .../btMultiBodyInplaceSolverIslandCallback.h | 8 +++++++- 5 files changed, 22 insertions(+), 9 deletions(-) diff --git a/examples/DeformableDemo/DeformableMultibody.cpp b/examples/DeformableDemo/DeformableMultibody.cpp index 7b9137cc9..40db119b9 100644 --- a/examples/DeformableDemo/DeformableMultibody.cpp +++ b/examples/DeformableDemo/DeformableMultibody.cpp @@ -113,6 +113,8 @@ void DeformableMultibody::initPhysics() btVector3 gravity = btVector3(0, -10, 0); m_dynamicsWorld->setGravity(gravity); getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; + getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25); + getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset(); m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); { diff --git a/examples/DeformableDemo/DeformableRigid.cpp b/examples/DeformableDemo/DeformableRigid.cpp index 748f1f4c8..9a3ca9403 100644 --- a/examples/DeformableDemo/DeformableRigid.cpp +++ b/examples/DeformableDemo/DeformableRigid.cpp @@ -154,6 +154,8 @@ void DeformableRigid::initPhysics() btVector3 gravity = btVector3(0, -10, 0); m_dynamicsWorld->setGravity(gravity); getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; + getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25); + getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset(); // getDeformableDynamicsWorld()->before_solver_callbacks.push_back(dynamics); m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); diff --git a/examples/DeformableDemo/PinchFriction.cpp b/examples/DeformableDemo/PinchFriction.cpp index 1cbc7e43d..bf0d57d0b 100644 --- a/examples/DeformableDemo/PinchFriction.cpp +++ b/examples/DeformableDemo/PinchFriction.cpp @@ -112,9 +112,9 @@ void dynamics2(btScalar time, btDeformableMultiBodyDynamicsWorld* world) if (rbs.size()<2) return; btRigidBody* rb0 = rbs[0]; - btScalar pressTime = 0.9; - btScalar liftTime = 10; - btScalar shiftTime = 3.5; + btScalar pressTime = 0.45; + btScalar liftTime = 5; + btScalar shiftTime = 1.75; btScalar holdTime = 4.5*1000; btScalar dropTime = 5.3*1000; btTransform rbTransform; @@ -124,9 +124,9 @@ void dynamics2(btScalar time, btDeformableMultiBodyDynamicsWorld* world) btVector3 initialTranslationLeft = btVector3(0.5,3,4); btVector3 initialTranslationRight = btVector3(0.5,3,-4); - btVector3 PinchFrictionVelocityLeft = btVector3(0,0,-1); - btVector3 PinchFrictionVelocityRight = btVector3(0,0,1); - btVector3 liftVelocity = btVector3(0,1,0); + btVector3 PinchFrictionVelocityLeft = btVector3(0,0,-2); + btVector3 PinchFrictionVelocityRight = btVector3(0,0,2); + btVector3 liftVelocity = btVector3(0,2,0); btVector3 shiftVelocity = btVector3(0,0,0); btVector3 holdVelocity = btVector3(0,0,0); btVector3 openVelocityLeft = btVector3(0,0,4); @@ -230,7 +230,8 @@ void PinchFriction::initPhysics() btVector3 gravity = btVector3(0, -10, 0); m_dynamicsWorld->setGravity(gravity); getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; - + getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25); + getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset(); getDeformableDynamicsWorld()->setSolverCallback(dynamics2); m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); diff --git a/examples/DeformableDemo/VolumetricDeformable.cpp b/examples/DeformableDemo/VolumetricDeformable.cpp index d3a37d5bf..7eaf9aa37 100644 --- a/examples/DeformableDemo/VolumetricDeformable.cpp +++ b/examples/DeformableDemo/VolumetricDeformable.cpp @@ -169,6 +169,8 @@ void VolumetricDeformable::initPhysics() btVector3 gravity = btVector3(0, -100, 0); m_dynamicsWorld->setGravity(gravity); getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; + getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25); + getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset(); m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); { @@ -223,7 +225,7 @@ void VolumetricDeformable::initPhysics() getDeformableDynamicsWorld()->addForce(psb, gravity_force); m_forces.push_back(gravity_force); - btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(30,100,0.02); + btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(30,100,0.05); getDeformableDynamicsWorld()->addForce(psb, neohookean); m_forces.push_back(neohookean); diff --git a/src/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h b/src/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h index 458e62a78..593f68d9a 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h @@ -188,7 +188,13 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager:: //} else { for (i = 0; i < numBodies; i++) - m_bodies.push_back(bodies[i]); + { + bool isSoftBodyType = (bodies[i]->getInternalType() & btCollisionObject::CO_SOFT_BODY); + if (!isSoftBodyType) + { + m_bodies.push_back(bodies[i]); + } + } for (i = 0; i < numManifolds; i++) m_manifolds.push_back(manifolds[i]); for (i = 0; i < numCurConstraints; i++) From 23dbea16f3158bd1382f89407c207dc327d2dccf Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 24 Oct 2019 15:28:21 -0700 Subject: [PATCH 232/389] initialize m_useSelfCollision --- examples/DeformableDemo/ClothFriction.cpp | 2 ++ examples/DeformableDemo/DeformableSelfCollision.cpp | 1 + src/BulletSoftBody/btSoftBody.cpp | 1 + 3 files changed, 4 insertions(+) diff --git a/examples/DeformableDemo/ClothFriction.cpp b/examples/DeformableDemo/ClothFriction.cpp index ef9c8da47..e62dab0d2 100644 --- a/examples/DeformableDemo/ClothFriction.cpp +++ b/examples/DeformableDemo/ClothFriction.cpp @@ -104,6 +104,8 @@ void ClothFriction::initPhysics() btVector3 gravity = btVector3(0, -10, 0); m_dynamicsWorld->setGravity(gravity); getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; + getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25); + getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset(); m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); diff --git a/examples/DeformableDemo/DeformableSelfCollision.cpp b/examples/DeformableDemo/DeformableSelfCollision.cpp index cb4f405c2..6b1d92611 100644 --- a/examples/DeformableDemo/DeformableSelfCollision.cpp +++ b/examples/DeformableDemo/DeformableSelfCollision.cpp @@ -166,6 +166,7 @@ void DeformableSelfCollision::initPhysics() psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; getDeformableDynamicsWorld()->addSoftBody(psb); + psb->setSelfCollision(true); btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(10,0.2, true); getDeformableDynamicsWorld()->addForce(psb, mass_spring); diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index c46f7a3b8..e4e8c0c41 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -119,6 +119,7 @@ void btSoftBody::initDefaults() m_dampingCoefficient = 1; m_sleepingThreshold = 0.1; m_useFaceContact = false; + m_useSelfCollision = false; m_collisionFlags = 0; } From 404e4b9187d9d437752f8629020c0094f20c18f1 Mon Sep 17 00:00:00 2001 From: Chuyuan Fu Date: Thu, 24 Oct 2019 15:53:18 -0700 Subject: [PATCH 233/389] align multibody warmstart default value with rigidbody --- src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h index 298fb102f..cc5314282 100644 --- a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h +++ b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h @@ -90,7 +90,7 @@ struct btContactSolverInfo : public btContactSolverInfoData m_splitImpulseTurnErp = 0.1f; m_linearSlop = btScalar(0.0); m_warmstartingFactor = btScalar(0.85); - m_articulatedWarmstartingFactor = btScalar(1); + m_articulatedWarmstartingFactor = btScalar(0.85); //m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD | SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | SOLVER_RANDMIZE_ORDER; m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD; // | SOLVER_RANDMIZE_ORDER; m_restingContactRestitutionThreshold = 2; //unused as of 2.81 From 3f3175e3147d5bec302cadb8b6c7ba622e5348db Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 28 Oct 2019 10:07:22 -0700 Subject: [PATCH 234/389] disable Extras BulletRobotics by default in cmake --- Extras/BulletRobotics/CMakeLists.txt | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/Extras/BulletRobotics/CMakeLists.txt b/Extras/BulletRobotics/CMakeLists.txt index 2fa6c4935..38e96775d 100644 --- a/Extras/BulletRobotics/CMakeLists.txt +++ b/Extras/BulletRobotics/CMakeLists.txt @@ -290,7 +290,6 @@ IF (INSTALL_EXTRA_LIBS) SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES FRAMEWORK true) SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES PUBLIC_HEADER "PhysicsClientC_API.h" ) ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) -ENDIF (INSTALL_EXTRA_LIBS) IF(NOT MSVC) CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/bullet_robotics.pc.cmake @@ -301,4 +300,6 @@ IF(NOT MSVC) DESTINATION ${PKGCONFIG_INSTALL_PREFIX} ) -ENDIF(NOT MSVC) \ No newline at end of file +ENDIF(NOT MSVC) +ENDIF (INSTALL_EXTRA_LIBS) + From 136607151ee2ea916239c62db761d49dc8969050 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 28 Oct 2019 12:53:59 -0700 Subject: [PATCH 235/389] use mult instead of max to combine friction properties use 0.5 friction for ground for a demo, and also a larger grid size update description of deformable algorithm disable SVD for now, has some issue with some compilers --- examples/DeformableDemo/DeformableContact.cpp | 5 +++-- src/.DS_Store | Bin 6148 -> 6148 bytes .../btDeformableMultiBodyDynamicsWorld.cpp | 17 +++++++++++------ .../btDeformableNeoHookeanForce.h | 3 ++- src/BulletSoftBody/btSoftBodyInternals.h | 8 ++++---- 5 files changed, 20 insertions(+), 13 deletions(-) diff --git a/examples/DeformableDemo/DeformableContact.cpp b/examples/DeformableDemo/DeformableContact.cpp index 2432d3e27..8712d6de8 100644 --- a/examples/DeformableDemo/DeformableContact.cpp +++ b/examples/DeformableDemo/DeformableContact.cpp @@ -105,7 +105,8 @@ void DeformableContact::initPhysics() btVector3 gravity = btVector3(0, -10, 0); m_dynamicsWorld->setGravity(gravity); getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; - + getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25); + getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset(); m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); { @@ -182,7 +183,7 @@ void DeformableContact::initPhysics() psb2->setTotalMass(1); psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb2->m_cfg.kCHR = 1; // collision hardness with rigid body - psb2->m_cfg.kDF = 0; + psb2->m_cfg.kDF = 0.5; psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; psb->translate(btVector3(3.5,0,0)); diff --git a/src/.DS_Store b/src/.DS_Store index ee616d543128a1988ca9f9dc9bb19e1f51a11544..26f6e2211eb869f996f693d2cd16705d092c3411 100644 GIT binary patch delta 707 zcmXYv&rcIU6vy9pmmj+;(kWsQby0&vP{2lwqJk+R3Zj8%fr5l)+Z|!!cDHu6E%DMA zh+f5Nki>a(_2`?J`21%}~Z)j9hZI?cJRU1pPmV(8L zlUdJl9Wldm!mmjd63cFJJncGDIbQK+)2^M*I3mfyX~RzEZNuZkwtd@rz(vC2D_*6W z7jDiQse(zyN_oL=aUZk_{ECl@gyr8?;TY8KO}m>zEZnlEb#F&!ci*XVgTslmo5^s; z6N{!#-!OzXndJ^Q?^NVSj{Bz>7k+%&Hd5S<-?JQZwon^5?id-qPyuhcrghii=1!#4 zwy%Bv0ZpIwIleMov`lY#&Jbztn3l6NTd;(cvN>xEqgPdSB0hcSu&y(OeNt-jXqPV~ z_AZb;$90X#%uv)S+<#KjSv@m@?CCR_#_E_*Ywo~#t)#OCHWAoEmwcPT_!0POm#!(Q z(i!Wf>Z(3K?Tkfhk`!vEeu~i;EfA+Htv)L`yuxd2VyiZogkZq&pauooe$z~sDNnY)IeD}(B*)5)N=Wg)XxWhe$Qz;7 PVa3l&l}tI&x-I_)AndO% delta 73 zcmZoMXfc=|#>B)qu~2NHo+2aD#(>?7lMO^zHuJOCGETn6Zn#;2gPmn!L-S^K4t@@x b!p(vl-m_tetras[j]; btMatrix3x3 P; firstPiola(psb->m_tetraScratches[j],P); - +#if USE_SVD btMatrix3x3 U, V; btVector3 sigma; singularValueDecomposition(P, U, sigma, V); @@ -194,6 +194,7 @@ public: Sigma[1][1] = sigma[1]; Sigma[2][2] = sigma[2]; P = U * Sigma * V.transpose(); +#endif // btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose(); btVector3 force_on_node0 = force_on_node123 * grad_N_hat_1st_col; diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index 6e20b3222..93aa1d3c0 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -1288,7 +1288,7 @@ struct btSoftColliders c.m_node = node; c.m_face = face; c.m_weights = w; - c.m_friction = btMax(psb[0]->m_cfg.kDF, psb[1]->m_cfg.kDF); + c.m_friction = btMax (psb[0]->m_cfg.kDF, psb[1]->m_cfg.kDF); c.m_cfm[0] = ma / ms * psb[0]->m_cfg.kSHR; c.m_cfm[1] = mb / ms * psb[1]->m_cfg.kSHR; psb[0]->m_scontacts.push_back(c); @@ -1346,7 +1346,7 @@ struct btSoftColliders c.m_bary = w; // todo xuchenhan@: this is assuming mass of all vertices are the same. Need to modify if mass are different for distinct vertices c.m_weights = btScalar(2)/(btScalar(1) + w.length2()) * w; - c.m_friction = btMax(psb[0]->m_cfg.kDF, psb[1]->m_cfg.kDF); + c.m_friction = psb[0]->m_cfg.kDF * psb[1]->m_cfg.kDF; // the effective inverse mass of the face as in https://graphics.stanford.edu/papers/cloth-sig02/cloth.pdf c.m_imf = c.m_bary[0]*c.m_weights[0] * n[0]->m_im + c.m_bary[1]*c.m_weights[1] * n[1]->m_im + c.m_bary[2]*c.m_weights[2] * n[2]->m_im; c.m_c0 = btScalar(1)/(ma + c.m_imf); @@ -1408,7 +1408,7 @@ struct btSoftColliders c.m_bary = w; // todo xuchenhan@: this is assuming mass of all vertices are the same. Need to modify if mass are different for distinct vertices c.m_weights = btScalar(2)/(btScalar(1) + w.length2()) * w; - c.m_friction = btMax(psb[0]->m_cfg.kDF, psb[1]->m_cfg.kDF); + c.m_friction = psb[0]->m_cfg.kDF * psb[1]->m_cfg.kDF; // the effective inverse mass of the face as in https://graphics.stanford.edu/papers/cloth-sig02/cloth.pdf c.m_imf = c.m_bary[0]*c.m_weights[0] * n[0]->m_im + c.m_bary[1]*c.m_weights[1] * n[1]->m_im + c.m_bary[2]*c.m_weights[2] * n[2]->m_im; c.m_c0 = btScalar(1)/(ma + c.m_imf); @@ -1462,7 +1462,7 @@ struct btSoftColliders c.m_bary = w; // todo xuchenhan@: this is assuming mass of all vertices are the same. Need to modify if mass are different for distinct vertices c.m_weights = btScalar(2)/(btScalar(1) + w.length2()) * w; - c.m_friction = btMax(psb[0]->m_cfg.kDF, psb[1]->m_cfg.kDF); + c.m_friction = psb[0]->m_cfg.kDF * psb[1]->m_cfg.kDF; // the effective inverse mass of the face as in https://graphics.stanford.edu/papers/cloth-sig02/cloth.pdf c.m_imf = c.m_bary[0]*c.m_weights[0] * n[0]->m_im + c.m_bary[1]*c.m_weights[1] * n[1]->m_im + c.m_bary[2]*c.m_weights[2] * n[2]->m_im; c.m_c0 = btScalar(1)/(ma + c.m_imf); From 0d4108f307d00518050a6187e413179c11534032 Mon Sep 17 00:00:00 2001 From: Krishnan Srinivasan Date: Tue, 29 Oct 2019 16:00:55 -0700 Subject: [PATCH 236/389] Fix call to convert_to_leg_model Fix call to convert_to_leg_model which is defined as a static method without an underscore in MinitaurExtendedEnv --- .../gym/pybullet_envs/minitaur/envs/minitaur_extended_env.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_extended_env.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_extended_env.py index 1449441dd..eda9b3195 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_extended_env.py +++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_extended_env.py @@ -122,7 +122,7 @@ class MinitaurExtendedEnv(MinitaurReactiveEnv): leg_model = [] if self._include_leg_model: raw_motor_angles = self.minitaur.GetMotorAngles() - leg_model = self._convert_to_leg_model(raw_motor_angles) + leg_model = self.convert_to_leg_model(raw_motor_angles) observation_list = ( [parent_observation] + history_states + history_actions + @@ -185,7 +185,7 @@ class MinitaurExtendedEnv(MinitaurReactiveEnv): if self._never_terminate: return False - leg_model = self._convert_to_leg_model(self.minitaur.GetMotorAngles()) + leg_model = self.convert_to_leg_model(self.minitaur.GetMotorAngles()) swing0 = leg_model[0] swing1 = leg_model[2] maximum_swing_angle = 0.8 From 7bffbb23511977683f4334809524d38c84487d49 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 29 Oct 2019 18:28:30 -0700 Subject: [PATCH 237/389] add check against FLT_EPSILON/DBL_EPSILON for sqrt and division to avoid nan. add max_iterations count in svd as safety termination condition --- src/LinearMath/btImplicitQRSVD.h | 48 ++++++++++++++++++++++++-------- 1 file changed, 37 insertions(+), 11 deletions(-) diff --git a/src/LinearMath/btImplicitQRSVD.h b/src/LinearMath/btImplicitQRSVD.h index cf96d4f72..54378b8a8 100644 --- a/src/LinearMath/btImplicitQRSVD.h +++ b/src/LinearMath/btImplicitQRSVD.h @@ -150,10 +150,14 @@ public: btScalar d = a * a + b * b; c = 1; s = 0; - if (d != 0) { - btScalar t = btScalar(1.0)/btSqrt(d); - c = a * t; - s = -b * t; + if (d > SIMD_EPSILON) { + btScalar sqrtd = btSqrt(d); + if (sqrtd>SIMD_EPSILON) + { + btScalar t = btScalar(1.0)/sqrtd; + c = a * t; + s = -b * t; + } } } @@ -167,7 +171,7 @@ public: btScalar d = a * a + b * b; c = 0; s = 1; - if (d != 0) { + if (d > SIMD_EPSILON) { btScalar t = btScalar(1.0)/btSqrt(d); s = a * t; c = b * t; @@ -432,10 +436,11 @@ inline void polarDecomposition(const btMatrix2x2& A, btScalar denominator = btSqrt(a*a+b*b); R.c = (btScalar)1; R.s = (btScalar)0; - if (denominator != 0) { + if (denominator > SIMD_EPSILON) { /* No need to use a tolerance here because x(0) and x(1) always have smaller magnitude then denominator, therefore overflow never happens. + In Bullet, we use a tolerance anyway. */ R.c = a / denominator; R.s = -b / denominator; @@ -485,7 +490,10 @@ inline void singularValueDecomposition( } else { btScalar tau = 0.5 * (x - z); - btScalar w = btSqrt(tau * tau + y * y); + btScalar val = tau * tau + y * y; + if (val > SIMD_EPSILON) + { + btScalar w = btSqrt(val); // w > y > 0 btScalar t; if (tau > 0) { @@ -508,6 +516,13 @@ inline void singularValueDecomposition( btScalar s2 = sine * sine; sigma(0,0) = c2 * x - csy + s2 * z; sigma(1,1) = s2 * x + csy + c2 * z; + } else + { + cosine = 1; + sine = 0; + sigma(0,0) = x; + sigma(1,1) = z; + } } // Sorting @@ -558,9 +573,15 @@ inline btScalar wilkinsonShift(const btScalar a1, const btScalar b1, const btSca { btScalar d = (btScalar)0.5 * (a1 - a2); btScalar bs = b1 * b1; - btScalar mu = a2 - copysign(bs / (btFabs(d) + btSqrt(d * d + bs)), d); + btScalar val = d * d + bs; + if (val>SIMD_EPSILON) + { + btScalar denom = btFabs(d) + btSqrt(val); + + btScalar mu = a2 - copySign(bs / (denom), d); // T mu = a2 - bs / ( d + sign_d*sqrt (d*d + bs)); return mu; + } } /** @@ -749,15 +770,20 @@ inline int singularValueDecomposition(const btMatrix3x3& A, btScalar beta_2 = B[1][2]; btScalar gamma_1 = alpha_1 * beta_1; btScalar gamma_2 = alpha_2 * beta_2; - tol *= btMax((btScalar)0.5 * btSqrt(alpha_1 * alpha_1 + alpha_2 * alpha_2 + alpha_3 * alpha_3 + beta_1 * beta_1 + beta_2 * beta_2), (btScalar)1); - + btScalar val = alpha_1 * alpha_1 + alpha_2 * alpha_2 + alpha_3 * alpha_3 + beta_1 * beta_1 + beta_2 * beta_2; + if (val > SIMD_EPSILON) + { + tol *= btMax((btScalar)0.5 * btSqrt(val), (btScalar)1); + } /** Do implicit shift QR until A^T A is block diagonal */ + int max_count = 100; while (btFabs(beta_2) > tol && btFabs(beta_1) > tol && btFabs(alpha_1) > tol && btFabs(alpha_2) > tol - && btFabs(alpha_3) > tol) { + && btFabs(alpha_3) > tol + && count < max_count) { mu = wilkinsonShift(alpha_2 * alpha_2 + beta_1 * beta_1, gamma_2, alpha_3 * alpha_3 + beta_2 * beta_2); r.compute(alpha_1 * alpha_1 - mu, gamma_1); From 938ac51da7485c68ccaeef2a69bbe1427ef47f82 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 29 Oct 2019 20:40:57 -0700 Subject: [PATCH 238/389] return a value in a degenerate svd case re-disable svd by default --- src/LinearMath/btImplicitQRSVD.h | 23 ++++++++++++----------- 1 file changed, 12 insertions(+), 11 deletions(-) diff --git a/src/LinearMath/btImplicitQRSVD.h b/src/LinearMath/btImplicitQRSVD.h index 54378b8a8..7b4cfaf21 100644 --- a/src/LinearMath/btImplicitQRSVD.h +++ b/src/LinearMath/btImplicitQRSVD.h @@ -571,17 +571,18 @@ inline void singularValueDecomposition( */ inline btScalar wilkinsonShift(const btScalar a1, const btScalar b1, const btScalar a2) { - btScalar d = (btScalar)0.5 * (a1 - a2); - btScalar bs = b1 * b1; - btScalar val = d * d + bs; - if (val>SIMD_EPSILON) - { - btScalar denom = btFabs(d) + btSqrt(val); - - btScalar mu = a2 - copySign(bs / (denom), d); - // T mu = a2 - bs / ( d + sign_d*sqrt (d*d + bs)); - return mu; - } + btScalar d = (btScalar)0.5 * (a1 - a2); + btScalar bs = b1 * b1; + btScalar val = d * d + bs; + if (val>SIMD_EPSILON) + { + btScalar denom = btFabs(d) + btSqrt(val); + + btScalar mu = a2 - copySign(bs / (denom), d); + // T mu = a2 - bs / ( d + sign_d*sqrt (d*d + bs)); + return mu; + } + return a2; } /** From 6dce8e4ff5c4563653fa626ee33529a17a5d90d5 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 29 Oct 2019 22:35:44 -0700 Subject: [PATCH 239/389] cull out most of the SVD calculation when stress is low --- .../btDeformableNeoHookeanForce.h | 36 +++++++++++-------- 1 file changed, 21 insertions(+), 15 deletions(-) diff --git a/src/BulletSoftBody/btDeformableNeoHookeanForce.h b/src/BulletSoftBody/btDeformableNeoHookeanForce.h index cbe959bdc..f607b8662 100644 --- a/src/BulletSoftBody/btDeformableNeoHookeanForce.h +++ b/src/BulletSoftBody/btDeformableNeoHookeanForce.h @@ -176,24 +176,30 @@ public: btMatrix3x3 P; firstPiola(psb->m_tetraScratches[j],P); #if USE_SVD - btMatrix3x3 U, V; - btVector3 sigma; - singularValueDecomposition(P, U, sigma, V); if (max_p > 0) { - sigma[0] = btMin(sigma[0], max_p); - sigma[1] = btMin(sigma[1], max_p); - sigma[2] = btMin(sigma[2], max_p); - sigma[0] = btMax(sigma[0], -max_p); - sigma[1] = btMax(sigma[1], -max_p); - sigma[2] = btMax(sigma[2], -max_p); + // since we want to clamp the principal stress to max_p, we only need to + // calculate SVD when sigma_0^2 + sigma_1^2 + sigma_2^2 > max_p * max_p + btScalar trPTP = (P[0].length2() + P[1].length2() + P[2].length2()); + if (trPTP > max_p * max_p) + { + btMatrix3x3 U, V; + btVector3 sigma; + singularValueDecomposition(P, U, sigma, V); + sigma[0] = btMin(sigma[0], max_p); + sigma[1] = btMin(sigma[1], max_p); + sigma[2] = btMin(sigma[2], max_p); + sigma[0] = btMax(sigma[0], -max_p); + sigma[1] = btMax(sigma[1], -max_p); + sigma[2] = btMax(sigma[2], -max_p); + btMatrix3x3 Sigma; + Sigma.setIdentity(); + Sigma[0][0] = sigma[0]; + Sigma[1][1] = sigma[1]; + Sigma[2][2] = sigma[2]; + P = U * Sigma * V.transpose(); + } } - btMatrix3x3 Sigma; - Sigma.setIdentity(); - Sigma[0][0] = sigma[0]; - Sigma[1][1] = sigma[1]; - Sigma[2][2] = sigma[2]; - P = U * Sigma * V.transpose(); #endif // btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose(); From 5a9b862ef5b33f440cbde2284bb039b6e26962d7 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 30 Oct 2019 10:32:14 -0700 Subject: [PATCH 240/389] bump up to Bullet version 2.89 and update serialization structures --- .../BulletFileLoader/autogenerated/bullet.h | 3025 +++++++++-------- VERSION | 2 +- examples/SharedMemory/PhysicsClientC_API.cpp | 8 + examples/SharedMemory/PhysicsClientC_API.h | 1 + .../PhysicsServerCommandProcessor.cpp | 6 + examples/SharedMemory/SharedMemoryCommands.h | 1 + examples/SharedMemory/SharedMemoryPublic.h | 1 + .../NarrowPhaseCollision/btManifoldPoint.h | 3 + .../btPersistentManifold.cpp | 5 +- .../btPersistentManifold.h | 7 +- .../ConstraintSolver/btContactSolverInfo.h | 14 +- .../Dynamics/btDiscreteDynamicsWorld.cpp | 4 +- .../Featherstone/btMultiBodyConstraint.cpp | 34 - .../btMultiBodyConstraintSolver.cpp | 176 +- .../btMultiBodyConstraintSolver.h | 7 +- src/LinearMath/btScalar.h | 12 +- src/LinearMath/btSerializer.cpp | 1198 +++---- src/LinearMath/btSerializer.h | 2 +- src/LinearMath/btSerializer64.cpp | 1197 +++---- 19 files changed, 2926 insertions(+), 2777 deletions(-) diff --git a/Extras/Serialize/BulletFileLoader/autogenerated/bullet.h b/Extras/Serialize/BulletFileLoader/autogenerated/bullet.h index 0c424d50a..e8f85ab1d 100644 --- a/Extras/Serialize/BulletFileLoader/autogenerated/bullet.h +++ b/Extras/Serialize/BulletFileLoader/autogenerated/bullet.h @@ -19,1472 +19,1563 @@ // Auto generated from Bullet/Extras/HeaderGenerator/bulletGenerate.py #ifndef __BULLET_H__ #define __BULLET_H__ -namespace Bullet -{ +namespace Bullet { + // put an empty struct in the case -typedef struct bInvalidHandle -{ +typedef struct bInvalidHandle { int unused; -} bInvalidHandle; - -class PointerArray; -class btPhysicsSystem; -class ListBase; -class btVector3FloatData; -class btVector3DoubleData; -class btQuaternionFloatData; -class btQuaternionDoubleData; -class btMatrix3x3FloatData; -class btMatrix3x3DoubleData; -class btTransformFloatData; -class btTransformDoubleData; -class btBvhSubtreeInfoData; -class btOptimizedBvhNodeFloatData; -class btOptimizedBvhNodeDoubleData; -class btQuantizedBvhNodeData; -class btQuantizedBvhFloatData; -class btQuantizedBvhDoubleData; -class btCollisionShapeData; -class btStaticPlaneShapeData; -class btConvexInternalShapeData; -class btPositionAndRadius; -class btMultiSphereShapeData; -class btIntIndexData; -class btShortIntIndexData; -class btShortIntIndexTripletData; -class btCharIndexTripletData; -class btMeshPartData; -class btStridingMeshInterfaceData; -class btTriangleMeshShapeData; -class btScaledTriangleMeshShapeData; -class btCompoundShapeChildData; -class btCompoundShapeData; -class btCylinderShapeData; -class btConeShapeData; -class btCapsuleShapeData; -class btTriangleInfoData; -class btTriangleInfoMapData; -class btPersistentManifoldDoubleData; -class btPersistentManifoldFloatData; -class btGImpactMeshShapeData; -class btConvexHullShapeData; -class btCollisionObjectDoubleData; -class btCollisionObjectFloatData; -class btContactSolverInfoDoubleData; -class btContactSolverInfoFloatData; -class btDynamicsWorldDoubleData; -class btDynamicsWorldFloatData; -class btRigidBodyFloatData; -class btRigidBodyDoubleData; -class btConstraintInfo1; -class btTypedConstraintFloatData; -class btTypedConstraintData; -class btTypedConstraintDoubleData; -class btPoint2PointConstraintFloatData; -class btPoint2PointConstraintDoubleData2; -class btPoint2PointConstraintDoubleData; -class btHingeConstraintDoubleData; -class btHingeConstraintFloatData; -class btHingeConstraintDoubleData2; -class btConeTwistConstraintDoubleData; -class btConeTwistConstraintData; -class btGeneric6DofConstraintData; -class btGeneric6DofConstraintDoubleData2; -class btGeneric6DofSpringConstraintData; -class btGeneric6DofSpringConstraintDoubleData2; -class btGeneric6DofSpring2ConstraintData; -class btGeneric6DofSpring2ConstraintDoubleData2; -class btSliderConstraintData; -class btSliderConstraintDoubleData; -class btGearConstraintFloatData; -class btGearConstraintDoubleData; -class SoftBodyMaterialData; -class SoftBodyNodeData; -class SoftBodyLinkData; -class SoftBodyFaceData; -class SoftBodyTetraData; -class SoftRigidAnchorData; -class SoftBodyConfigData; -class SoftBodyPoseData; -class SoftBodyClusterData; -class btSoftBodyJointData; -class btSoftBodyFloatData; -class btMultiBodyLinkDoubleData; -class btMultiBodyLinkFloatData; -class btMultiBodyDoubleData; -class btMultiBodyFloatData; -class btMultiBodyLinkColliderFloatData; -class btMultiBodyLinkColliderDoubleData; -// -------------------------------------------------- // -class PointerArray -{ -public: - int m_size; - int m_capacity; - void *m_data; -}; - -// -------------------------------------------------- // -class btPhysicsSystem -{ -public: - PointerArray m_collisionShapes; - PointerArray m_collisionObjects; - PointerArray m_constraints; -}; - -// -------------------------------------------------- // -class ListBase -{ -public: - void *first; - void *last; -}; - -// -------------------------------------------------- // -class btVector3FloatData -{ -public: - float m_floats[4]; -}; - -// -------------------------------------------------- // -class btVector3DoubleData -{ -public: - double m_floats[4]; -}; - -// -------------------------------------------------- // -class btQuaternionFloatData -{ -public: - float m_floats[4]; -}; - -// -------------------------------------------------- // -class btQuaternionDoubleData -{ -public: - double m_floats[4]; -}; - -// -------------------------------------------------- // -class btMatrix3x3FloatData -{ -public: - btVector3FloatData m_el[3]; -}; - -// -------------------------------------------------- // -class btMatrix3x3DoubleData -{ -public: - btVector3DoubleData m_el[3]; -}; - -// -------------------------------------------------- // -class btTransformFloatData -{ -public: - btMatrix3x3FloatData m_basis; - btVector3FloatData m_origin; -}; - -// -------------------------------------------------- // -class btTransformDoubleData -{ -public: - btMatrix3x3DoubleData m_basis; - btVector3DoubleData m_origin; -}; - -// -------------------------------------------------- // -class btBvhSubtreeInfoData -{ -public: - int m_rootNodeIndex; - int m_subtreeSize; - short m_quantizedAabbMin[3]; - short m_quantizedAabbMax[3]; -}; - -// -------------------------------------------------- // -class btOptimizedBvhNodeFloatData -{ -public: - btVector3FloatData m_aabbMinOrg; - btVector3FloatData m_aabbMaxOrg; - int m_escapeIndex; - int m_subPart; - int m_triangleIndex; - char m_pad[4]; -}; - -// -------------------------------------------------- // -class btOptimizedBvhNodeDoubleData -{ -public: - btVector3DoubleData m_aabbMinOrg; - btVector3DoubleData m_aabbMaxOrg; - int m_escapeIndex; - int m_subPart; - int m_triangleIndex; - char m_pad[4]; -}; - -// -------------------------------------------------- // -class btQuantizedBvhNodeData -{ -public: - short m_quantizedAabbMin[3]; - short m_quantizedAabbMax[3]; - int m_escapeIndexOrTriangleIndex; -}; - -// -------------------------------------------------- // -class btQuantizedBvhFloatData -{ -public: - btVector3FloatData m_bvhAabbMin; - btVector3FloatData m_bvhAabbMax; - btVector3FloatData m_bvhQuantization; - int m_curNodeIndex; - int m_useQuantization; - int m_numContiguousLeafNodes; - int m_numQuantizedContiguousNodes; - btOptimizedBvhNodeFloatData *m_contiguousNodesPtr; - btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr; - btBvhSubtreeInfoData *m_subTreeInfoPtr; - int m_traversalMode; - int m_numSubtreeHeaders; -}; - -// -------------------------------------------------- // -class btQuantizedBvhDoubleData -{ -public: - btVector3DoubleData m_bvhAabbMin; - btVector3DoubleData m_bvhAabbMax; - btVector3DoubleData m_bvhQuantization; - int m_curNodeIndex; - int m_useQuantization; - int m_numContiguousLeafNodes; - int m_numQuantizedContiguousNodes; - btOptimizedBvhNodeDoubleData *m_contiguousNodesPtr; - btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr; - int m_traversalMode; - int m_numSubtreeHeaders; - btBvhSubtreeInfoData *m_subTreeInfoPtr; -}; - -// -------------------------------------------------- // -class btCollisionShapeData -{ -public: - char *m_name; - int m_shapeType; - char m_padding[4]; -}; - -// -------------------------------------------------- // -class btStaticPlaneShapeData -{ -public: - btCollisionShapeData m_collisionShapeData; - btVector3FloatData m_localScaling; - btVector3FloatData m_planeNormal; - float m_planeConstant; - char m_pad[4]; -}; - -// -------------------------------------------------- // -class btConvexInternalShapeData -{ -public: - btCollisionShapeData m_collisionShapeData; - btVector3FloatData m_localScaling; - btVector3FloatData m_implicitShapeDimensions; - float m_collisionMargin; - int m_padding; -}; - -// -------------------------------------------------- // -class btPositionAndRadius -{ -public: - btVector3FloatData m_pos; - float m_radius; -}; - -// -------------------------------------------------- // -class btMultiSphereShapeData -{ -public: - btConvexInternalShapeData m_convexInternalShapeData; - btPositionAndRadius *m_localPositionArrayPtr; - int m_localPositionArraySize; - char m_padding[4]; -}; - -// -------------------------------------------------- // -class btIntIndexData -{ -public: - int m_value; -}; - -// -------------------------------------------------- // -class btShortIntIndexData -{ -public: - short m_value; - char m_pad[2]; -}; - -// -------------------------------------------------- // -class btShortIntIndexTripletData -{ -public: - short m_values[3]; - char m_pad[2]; -}; - -// -------------------------------------------------- // -class btCharIndexTripletData -{ -public: - char m_values[3]; - char m_pad; -}; - -// -------------------------------------------------- // -class btMeshPartData -{ -public: - btVector3FloatData *m_vertices3f; - btVector3DoubleData *m_vertices3d; - btIntIndexData *m_indices32; - btShortIntIndexTripletData *m_3indices16; - btCharIndexTripletData *m_3indices8; - btShortIntIndexData *m_indices16; - int m_numTriangles; - int m_numVertices; -}; - -// -------------------------------------------------- // -class btStridingMeshInterfaceData -{ -public: - btMeshPartData *m_meshPartsPtr; - btVector3FloatData m_scaling; - int m_numMeshParts; - char m_padding[4]; -}; - -// -------------------------------------------------- // -class btTriangleMeshShapeData -{ -public: - btCollisionShapeData m_collisionShapeData; - btStridingMeshInterfaceData m_meshInterface; - btQuantizedBvhFloatData *m_quantizedFloatBvh; - btQuantizedBvhDoubleData *m_quantizedDoubleBvh; - btTriangleInfoMapData *m_triangleInfoMap; - float m_collisionMargin; - char m_pad3[4]; -}; - -// -------------------------------------------------- // -class btScaledTriangleMeshShapeData -{ -public: - btTriangleMeshShapeData m_trimeshShapeData; - btVector3FloatData m_localScaling; -}; - -// -------------------------------------------------- // -class btCompoundShapeChildData -{ -public: - btTransformFloatData m_transform; - btCollisionShapeData *m_childShape; - int m_childShapeType; - float m_childMargin; -}; - -// -------------------------------------------------- // -class btCompoundShapeData -{ -public: - btCollisionShapeData m_collisionShapeData; - btCompoundShapeChildData *m_childShapePtr; - int m_numChildShapes; - float m_collisionMargin; -}; - -// -------------------------------------------------- // -class btCylinderShapeData -{ -public: - btConvexInternalShapeData m_convexInternalShapeData; - int m_upAxis; - char m_padding[4]; -}; - -// -------------------------------------------------- // -class btConeShapeData -{ -public: - btConvexInternalShapeData m_convexInternalShapeData; - int m_upIndex; - char m_padding[4]; -}; - -// -------------------------------------------------- // -class btCapsuleShapeData -{ -public: - btConvexInternalShapeData m_convexInternalShapeData; - int m_upAxis; - char m_padding[4]; -}; - -// -------------------------------------------------- // -class btTriangleInfoData -{ -public: - int m_flags; - float m_edgeV0V1Angle; - float m_edgeV1V2Angle; - float m_edgeV2V0Angle; -}; - -// -------------------------------------------------- // -class btTriangleInfoMapData -{ -public: - int *m_hashTablePtr; - int *m_nextPtr; - btTriangleInfoData *m_valueArrayPtr; - int *m_keyArrayPtr; - float m_convexEpsilon; - float m_planarEpsilon; - float m_equalVertexThreshold; - float m_edgeDistanceThreshold; - float m_zeroAreaThreshold; - int m_nextSize; - int m_hashTableSize; - int m_numValues; - int m_numKeys; - char m_padding[4]; -}; - -// -------------------------------------------------- // -class btPersistentManifoldDoubleData -{ -public: - btVector3DoubleData m_pointCacheLocalPointA[4]; - btVector3DoubleData m_pointCacheLocalPointB[4]; - btVector3DoubleData m_pointCachePositionWorldOnA[4]; - btVector3DoubleData m_pointCachePositionWorldOnB[4]; - btVector3DoubleData m_pointCacheNormalWorldOnB[4]; - btVector3DoubleData m_pointCacheLateralFrictionDir1[4]; - btVector3DoubleData m_pointCacheLateralFrictionDir2[4]; - double m_pointCacheDistance[4]; - double m_pointCacheAppliedImpulse[4]; - double m_pointCacheCombinedFriction[4]; - double m_pointCacheCombinedRollingFriction[4]; - double m_pointCacheCombinedSpinningFriction[4]; - double m_pointCacheCombinedRestitution[4]; - int m_pointCachePartId0[4]; - int m_pointCachePartId1[4]; - int m_pointCacheIndex0[4]; - int m_pointCacheIndex1[4]; - int m_pointCacheContactPointFlags[4]; - double m_pointCacheAppliedImpulseLateral1[4]; - double m_pointCacheAppliedImpulseLateral2[4]; - double m_pointCacheContactMotion1[4]; - double m_pointCacheContactMotion2[4]; - double m_pointCacheContactCFM[4]; - double m_pointCacheCombinedContactStiffness1[4]; - double m_pointCacheContactERP[4]; - double m_pointCacheCombinedContactDamping1[4]; - double m_pointCacheFrictionCFM[4]; - int m_pointCacheLifeTime[4]; - int m_numCachedPoints; - int m_companionIdA; - int m_companionIdB; - int m_index1a; - int m_objectType; - double m_contactBreakingThreshold; - double m_contactProcessingThreshold; - int m_padding; - btCollisionObjectDoubleData *m_body0; - btCollisionObjectDoubleData *m_body1; -}; - -// -------------------------------------------------- // -class btPersistentManifoldFloatData -{ -public: - btVector3FloatData m_pointCacheLocalPointA[4]; - btVector3FloatData m_pointCacheLocalPointB[4]; - btVector3FloatData m_pointCachePositionWorldOnA[4]; - btVector3FloatData m_pointCachePositionWorldOnB[4]; - btVector3FloatData m_pointCacheNormalWorldOnB[4]; - btVector3FloatData m_pointCacheLateralFrictionDir1[4]; - btVector3FloatData m_pointCacheLateralFrictionDir2[4]; - float m_pointCacheDistance[4]; - float m_pointCacheAppliedImpulse[4]; - float m_pointCacheCombinedFriction[4]; - float m_pointCacheCombinedRollingFriction[4]; - float m_pointCacheCombinedSpinningFriction[4]; - float m_pointCacheCombinedRestitution[4]; - int m_pointCachePartId0[4]; - int m_pointCachePartId1[4]; - int m_pointCacheIndex0[4]; - int m_pointCacheIndex1[4]; - int m_pointCacheContactPointFlags[4]; - float m_pointCacheAppliedImpulseLateral1[4]; - float m_pointCacheAppliedImpulseLateral2[4]; - float m_pointCacheContactMotion1[4]; - float m_pointCacheContactMotion2[4]; - float m_pointCacheContactCFM[4]; - float m_pointCacheCombinedContactStiffness1[4]; - float m_pointCacheContactERP[4]; - float m_pointCacheCombinedContactDamping1[4]; - float m_pointCacheFrictionCFM[4]; - int m_pointCacheLifeTime[4]; - int m_numCachedPoints; - int m_companionIdA; - int m_companionIdB; - int m_index1a; - int m_objectType; - float m_contactBreakingThreshold; - float m_contactProcessingThreshold; - int m_padding; - btCollisionObjectFloatData *m_body0; - btCollisionObjectFloatData *m_body1; -}; - -// -------------------------------------------------- // -class btGImpactMeshShapeData -{ -public: - btCollisionShapeData m_collisionShapeData; - btStridingMeshInterfaceData m_meshInterface; - btVector3FloatData m_localScaling; - float m_collisionMargin; - int m_gimpactSubType; -}; - -// -------------------------------------------------- // -class btConvexHullShapeData -{ -public: - btConvexInternalShapeData m_convexInternalShapeData; - btVector3FloatData *m_unscaledPointsFloatPtr; - btVector3DoubleData *m_unscaledPointsDoublePtr; - int m_numUnscaledPoints; - char m_padding3[4]; -}; - -// -------------------------------------------------- // -class btCollisionObjectDoubleData -{ -public: - void *m_broadphaseHandle; - void *m_collisionShape; - btCollisionShapeData *m_rootCollisionShape; - char *m_name; - btTransformDoubleData m_worldTransform; - btTransformDoubleData m_interpolationWorldTransform; - btVector3DoubleData m_interpolationLinearVelocity; - btVector3DoubleData m_interpolationAngularVelocity; - btVector3DoubleData m_anisotropicFriction; - double m_contactProcessingThreshold; - double m_deactivationTime; - double m_friction; - double m_rollingFriction; - double m_contactDamping; - double m_contactStiffness; - double m_restitution; - double m_hitFraction; - double m_ccdSweptSphereRadius; - double m_ccdMotionThreshold; - int m_hasAnisotropicFriction; - int m_collisionFlags; - int m_islandTag1; - int m_companionId; - int m_activationState1; - int m_internalType; - int m_checkCollideWith; - int m_collisionFilterGroup; - int m_collisionFilterMask; - int m_uniqueId; -}; - -// -------------------------------------------------- // -class btCollisionObjectFloatData -{ -public: - void *m_broadphaseHandle; - void *m_collisionShape; - btCollisionShapeData *m_rootCollisionShape; - char *m_name; - btTransformFloatData m_worldTransform; - btTransformFloatData m_interpolationWorldTransform; - btVector3FloatData m_interpolationLinearVelocity; - btVector3FloatData m_interpolationAngularVelocity; - btVector3FloatData m_anisotropicFriction; - float m_contactProcessingThreshold; - float m_deactivationTime; - float m_friction; - float m_rollingFriction; - float m_contactDamping; - float m_contactStiffness; - float m_restitution; - float m_hitFraction; - float m_ccdSweptSphereRadius; - float m_ccdMotionThreshold; - int m_hasAnisotropicFriction; - int m_collisionFlags; - int m_islandTag1; - int m_companionId; - int m_activationState1; - int m_internalType; - int m_checkCollideWith; - int m_collisionFilterGroup; - int m_collisionFilterMask; - int m_uniqueId; -}; - -// -------------------------------------------------- // -class btContactSolverInfoDoubleData -{ -public: - double m_tau; - double m_damping; - double m_friction; - double m_timeStep; - double m_restitution; - double m_maxErrorReduction; - double m_sor; - double m_erp; - double m_erp2; - double m_globalCfm; - double m_splitImpulsePenetrationThreshold; - double m_splitImpulseTurnErp; - double m_linearSlop; - double m_warmstartingFactor; - double m_maxGyroscopicForce; - double m_singleAxisRollingFrictionThreshold; - int m_numIterations; - int m_solverMode; - int m_restingContactRestitutionThreshold; - int m_minimumSolverBatchSize; - int m_splitImpulse; - char m_padding[4]; -}; - -// -------------------------------------------------- // -class btContactSolverInfoFloatData -{ -public: - float m_tau; - float m_damping; - float m_friction; - float m_timeStep; - float m_restitution; - float m_maxErrorReduction; - float m_sor; - float m_erp; - float m_erp2; - float m_globalCfm; - float m_splitImpulsePenetrationThreshold; - float m_splitImpulseTurnErp; - float m_linearSlop; - float m_warmstartingFactor; - float m_maxGyroscopicForce; - float m_singleAxisRollingFrictionThreshold; - int m_numIterations; - int m_solverMode; - int m_restingContactRestitutionThreshold; - int m_minimumSolverBatchSize; - int m_splitImpulse; - char m_padding[4]; -}; - -// -------------------------------------------------- // -class btDynamicsWorldDoubleData -{ -public: - btContactSolverInfoDoubleData m_solverInfo; - btVector3DoubleData m_gravity; -}; - -// -------------------------------------------------- // -class btDynamicsWorldFloatData -{ -public: - btContactSolverInfoFloatData m_solverInfo; - btVector3FloatData m_gravity; -}; - -// -------------------------------------------------- // -class btRigidBodyFloatData -{ -public: - btCollisionObjectFloatData m_collisionObjectData; - btMatrix3x3FloatData m_invInertiaTensorWorld; - btVector3FloatData m_linearVelocity; - btVector3FloatData m_angularVelocity; - btVector3FloatData m_angularFactor; - btVector3FloatData m_linearFactor; - btVector3FloatData m_gravity; - btVector3FloatData m_gravity_acceleration; - btVector3FloatData m_invInertiaLocal; - btVector3FloatData m_totalForce; - btVector3FloatData m_totalTorque; - float m_inverseMass; - float m_linearDamping; - float m_angularDamping; - float m_additionalDampingFactor; - float m_additionalLinearDampingThresholdSqr; - float m_additionalAngularDampingThresholdSqr; - float m_additionalAngularDampingFactor; - float m_linearSleepingThreshold; - float m_angularSleepingThreshold; - int m_additionalDamping; -}; - -// -------------------------------------------------- // -class btRigidBodyDoubleData -{ -public: - btCollisionObjectDoubleData m_collisionObjectData; - btMatrix3x3DoubleData m_invInertiaTensorWorld; - btVector3DoubleData m_linearVelocity; - btVector3DoubleData m_angularVelocity; - btVector3DoubleData m_angularFactor; - btVector3DoubleData m_linearFactor; - btVector3DoubleData m_gravity; - btVector3DoubleData m_gravity_acceleration; - btVector3DoubleData m_invInertiaLocal; - btVector3DoubleData m_totalForce; - btVector3DoubleData m_totalTorque; - double m_inverseMass; - double m_linearDamping; - double m_angularDamping; - double m_additionalDampingFactor; - double m_additionalLinearDampingThresholdSqr; - double m_additionalAngularDampingThresholdSqr; - double m_additionalAngularDampingFactor; - double m_linearSleepingThreshold; - double m_angularSleepingThreshold; - int m_additionalDamping; - char m_padding[4]; -}; - -// -------------------------------------------------- // -class btConstraintInfo1 -{ -public: - int m_numConstraintRows; - int nub; -}; - -// -------------------------------------------------- // -class btTypedConstraintFloatData -{ -public: - btRigidBodyFloatData *m_rbA; - btRigidBodyFloatData *m_rbB; - char *m_name; - int m_objectType; - int m_userConstraintType; - int m_userConstraintId; - int m_needsFeedback; - float m_appliedImpulse; - float m_dbgDrawSize; - int m_disableCollisionsBetweenLinkedBodies; - int m_overrideNumSolverIterations; - float m_breakingImpulseThreshold; - int m_isEnabled; -}; - -// -------------------------------------------------- // -class btTypedConstraintData -{ -public: - bInvalidHandle *m_rbA; - bInvalidHandle *m_rbB; - char *m_name; - int m_objectType; - int m_userConstraintType; - int m_userConstraintId; - int m_needsFeedback; - float m_appliedImpulse; - float m_dbgDrawSize; - int m_disableCollisionsBetweenLinkedBodies; - int m_overrideNumSolverIterations; - float m_breakingImpulseThreshold; - int m_isEnabled; -}; - -// -------------------------------------------------- // -class btTypedConstraintDoubleData -{ -public: - btRigidBodyDoubleData *m_rbA; - btRigidBodyDoubleData *m_rbB; - char *m_name; - int m_objectType; - int m_userConstraintType; - int m_userConstraintId; - int m_needsFeedback; - double m_appliedImpulse; - double m_dbgDrawSize; - int m_disableCollisionsBetweenLinkedBodies; - int m_overrideNumSolverIterations; - double m_breakingImpulseThreshold; - int m_isEnabled; - char padding[4]; -}; - -// -------------------------------------------------- // -class btPoint2PointConstraintFloatData -{ -public: - btTypedConstraintData m_typeConstraintData; - btVector3FloatData m_pivotInA; - btVector3FloatData m_pivotInB; -}; - -// -------------------------------------------------- // -class btPoint2PointConstraintDoubleData2 -{ -public: - btTypedConstraintDoubleData m_typeConstraintData; - btVector3DoubleData m_pivotInA; - btVector3DoubleData m_pivotInB; -}; - -// -------------------------------------------------- // -class btPoint2PointConstraintDoubleData -{ -public: - btTypedConstraintData m_typeConstraintData; - btVector3DoubleData m_pivotInA; - btVector3DoubleData m_pivotInB; -}; - -// -------------------------------------------------- // -class btHingeConstraintDoubleData -{ -public: - btTypedConstraintData m_typeConstraintData; - btTransformDoubleData m_rbAFrame; - btTransformDoubleData m_rbBFrame; - int m_useReferenceFrameA; - int m_angularOnly; - int m_enableAngularMotor; - float m_motorTargetVelocity; - float m_maxMotorImpulse; - float m_lowerLimit; - float m_upperLimit; - float m_limitSoftness; - float m_biasFactor; - float m_relaxationFactor; -}; - -// -------------------------------------------------- // -class btHingeConstraintFloatData -{ -public: - btTypedConstraintData m_typeConstraintData; - btTransformFloatData m_rbAFrame; - btTransformFloatData m_rbBFrame; - int m_useReferenceFrameA; - int m_angularOnly; - int m_enableAngularMotor; - float m_motorTargetVelocity; - float m_maxMotorImpulse; - float m_lowerLimit; - float m_upperLimit; - float m_limitSoftness; - float m_biasFactor; - float m_relaxationFactor; -}; - -// -------------------------------------------------- // -class btHingeConstraintDoubleData2 -{ -public: - btTypedConstraintDoubleData m_typeConstraintData; - btTransformDoubleData m_rbAFrame; - btTransformDoubleData m_rbBFrame; - int m_useReferenceFrameA; - int m_angularOnly; - int m_enableAngularMotor; - double m_motorTargetVelocity; - double m_maxMotorImpulse; - double m_lowerLimit; - double m_upperLimit; - double m_limitSoftness; - double m_biasFactor; - double m_relaxationFactor; - char m_padding1[4]; -}; - -// -------------------------------------------------- // -class btConeTwistConstraintDoubleData -{ -public: - btTypedConstraintDoubleData m_typeConstraintData; - btTransformDoubleData m_rbAFrame; - btTransformDoubleData m_rbBFrame; - double m_swingSpan1; - double m_swingSpan2; - double m_twistSpan; - double m_limitSoftness; - double m_biasFactor; - double m_relaxationFactor; - double m_damping; -}; - -// -------------------------------------------------- // -class btConeTwistConstraintData -{ -public: - btTypedConstraintData m_typeConstraintData; - btTransformFloatData m_rbAFrame; - btTransformFloatData m_rbBFrame; - float m_swingSpan1; - float m_swingSpan2; - float m_twistSpan; - float m_limitSoftness; - float m_biasFactor; - float m_relaxationFactor; - float m_damping; - char m_pad[4]; -}; - -// -------------------------------------------------- // -class btGeneric6DofConstraintData -{ -public: - btTypedConstraintData m_typeConstraintData; - btTransformFloatData m_rbAFrame; - btTransformFloatData m_rbBFrame; - btVector3FloatData m_linearUpperLimit; - btVector3FloatData m_linearLowerLimit; - btVector3FloatData m_angularUpperLimit; - btVector3FloatData m_angularLowerLimit; - int m_useLinearReferenceFrameA; - int m_useOffsetForConstraintFrame; -}; - -// -------------------------------------------------- // -class btGeneric6DofConstraintDoubleData2 -{ -public: - btTypedConstraintDoubleData m_typeConstraintData; - btTransformDoubleData m_rbAFrame; - btTransformDoubleData m_rbBFrame; - btVector3DoubleData m_linearUpperLimit; - btVector3DoubleData m_linearLowerLimit; - btVector3DoubleData m_angularUpperLimit; - btVector3DoubleData m_angularLowerLimit; - int m_useLinearReferenceFrameA; - int m_useOffsetForConstraintFrame; -}; - -// -------------------------------------------------- // -class btGeneric6DofSpringConstraintData -{ -public: - btGeneric6DofConstraintData m_6dofData; - int m_springEnabled[6]; - float m_equilibriumPoint[6]; - float m_springStiffness[6]; - float m_springDamping[6]; -}; - -// -------------------------------------------------- // -class btGeneric6DofSpringConstraintDoubleData2 -{ -public: - btGeneric6DofConstraintDoubleData2 m_6dofData; - int m_springEnabled[6]; - double m_equilibriumPoint[6]; - double m_springStiffness[6]; - double m_springDamping[6]; -}; - -// -------------------------------------------------- // -class btGeneric6DofSpring2ConstraintData -{ -public: - btTypedConstraintData m_typeConstraintData; - btTransformFloatData m_rbAFrame; - btTransformFloatData m_rbBFrame; - btVector3FloatData m_linearUpperLimit; - btVector3FloatData m_linearLowerLimit; - btVector3FloatData m_linearBounce; - btVector3FloatData m_linearStopERP; - btVector3FloatData m_linearStopCFM; - btVector3FloatData m_linearMotorERP; - btVector3FloatData m_linearMotorCFM; - btVector3FloatData m_linearTargetVelocity; - btVector3FloatData m_linearMaxMotorForce; - btVector3FloatData m_linearServoTarget; - btVector3FloatData m_linearSpringStiffness; - btVector3FloatData m_linearSpringDamping; - btVector3FloatData m_linearEquilibriumPoint; - char m_linearEnableMotor[4]; - char m_linearServoMotor[4]; - char m_linearEnableSpring[4]; - char m_linearSpringStiffnessLimited[4]; - char m_linearSpringDampingLimited[4]; - char m_padding1[4]; - btVector3FloatData m_angularUpperLimit; - btVector3FloatData m_angularLowerLimit; - btVector3FloatData m_angularBounce; - btVector3FloatData m_angularStopERP; - btVector3FloatData m_angularStopCFM; - btVector3FloatData m_angularMotorERP; - btVector3FloatData m_angularMotorCFM; - btVector3FloatData m_angularTargetVelocity; - btVector3FloatData m_angularMaxMotorForce; - btVector3FloatData m_angularServoTarget; - btVector3FloatData m_angularSpringStiffness; - btVector3FloatData m_angularSpringDamping; - btVector3FloatData m_angularEquilibriumPoint; - char m_angularEnableMotor[4]; - char m_angularServoMotor[4]; - char m_angularEnableSpring[4]; - char m_angularSpringStiffnessLimited[4]; - char m_angularSpringDampingLimited[4]; - int m_rotateOrder; -}; - -// -------------------------------------------------- // -class btGeneric6DofSpring2ConstraintDoubleData2 -{ -public: - btTypedConstraintDoubleData m_typeConstraintData; - btTransformDoubleData m_rbAFrame; - btTransformDoubleData m_rbBFrame; - btVector3DoubleData m_linearUpperLimit; - btVector3DoubleData m_linearLowerLimit; - btVector3DoubleData m_linearBounce; - btVector3DoubleData m_linearStopERP; - btVector3DoubleData m_linearStopCFM; - btVector3DoubleData m_linearMotorERP; - btVector3DoubleData m_linearMotorCFM; - btVector3DoubleData m_linearTargetVelocity; - btVector3DoubleData m_linearMaxMotorForce; - btVector3DoubleData m_linearServoTarget; - btVector3DoubleData m_linearSpringStiffness; - btVector3DoubleData m_linearSpringDamping; - btVector3DoubleData m_linearEquilibriumPoint; - char m_linearEnableMotor[4]; - char m_linearServoMotor[4]; - char m_linearEnableSpring[4]; - char m_linearSpringStiffnessLimited[4]; - char m_linearSpringDampingLimited[4]; - char m_padding1[4]; - btVector3DoubleData m_angularUpperLimit; - btVector3DoubleData m_angularLowerLimit; - btVector3DoubleData m_angularBounce; - btVector3DoubleData m_angularStopERP; - btVector3DoubleData m_angularStopCFM; - btVector3DoubleData m_angularMotorERP; - btVector3DoubleData m_angularMotorCFM; - btVector3DoubleData m_angularTargetVelocity; - btVector3DoubleData m_angularMaxMotorForce; - btVector3DoubleData m_angularServoTarget; - btVector3DoubleData m_angularSpringStiffness; - btVector3DoubleData m_angularSpringDamping; - btVector3DoubleData m_angularEquilibriumPoint; - char m_angularEnableMotor[4]; - char m_angularServoMotor[4]; - char m_angularEnableSpring[4]; - char m_angularSpringStiffnessLimited[4]; - char m_angularSpringDampingLimited[4]; - int m_rotateOrder; -}; - -// -------------------------------------------------- // -class btSliderConstraintData -{ -public: - btTypedConstraintData m_typeConstraintData; - btTransformFloatData m_rbAFrame; - btTransformFloatData m_rbBFrame; - float m_linearUpperLimit; - float m_linearLowerLimit; - float m_angularUpperLimit; - float m_angularLowerLimit; - int m_useLinearReferenceFrameA; - int m_useOffsetForConstraintFrame; -}; - -// -------------------------------------------------- // -class btSliderConstraintDoubleData -{ -public: - btTypedConstraintDoubleData m_typeConstraintData; - btTransformDoubleData m_rbAFrame; - btTransformDoubleData m_rbBFrame; - double m_linearUpperLimit; - double m_linearLowerLimit; - double m_angularUpperLimit; - double m_angularLowerLimit; - int m_useLinearReferenceFrameA; - int m_useOffsetForConstraintFrame; -}; - -// -------------------------------------------------- // -class btGearConstraintFloatData -{ -public: - btTypedConstraintFloatData m_typeConstraintData; - btVector3FloatData m_axisInA; - btVector3FloatData m_axisInB; - float m_ratio; - char m_padding[4]; -}; - -// -------------------------------------------------- // -class btGearConstraintDoubleData -{ -public: - btTypedConstraintDoubleData m_typeConstraintData; - btVector3DoubleData m_axisInA; - btVector3DoubleData m_axisInB; - double m_ratio; -}; - -// -------------------------------------------------- // -class SoftBodyMaterialData -{ -public: - float m_linearStiffness; - float m_angularStiffness; - float m_volumeStiffness; - int m_flags; -}; - -// -------------------------------------------------- // -class SoftBodyNodeData -{ -public: - SoftBodyMaterialData *m_material; - btVector3FloatData m_position; - btVector3FloatData m_previousPosition; - btVector3FloatData m_velocity; - btVector3FloatData m_accumulatedForce; - btVector3FloatData m_normal; - float m_inverseMass; - float m_area; - int m_attach; - int m_pad; -}; - -// -------------------------------------------------- // -class SoftBodyLinkData -{ -public: - SoftBodyMaterialData *m_material; - int m_nodeIndices[2]; - float m_restLength; - int m_bbending; -}; - -// -------------------------------------------------- // -class SoftBodyFaceData -{ -public: - btVector3FloatData m_normal; - SoftBodyMaterialData *m_material; - int m_nodeIndices[3]; - float m_restArea; -}; - -// -------------------------------------------------- // -class SoftBodyTetraData -{ -public: - btVector3FloatData m_c0[4]; - SoftBodyMaterialData *m_material; - int m_nodeIndices[4]; - float m_restVolume; - float m_c1; - float m_c2; - int m_pad; -}; - -// -------------------------------------------------- // -class SoftRigidAnchorData -{ -public: - btMatrix3x3FloatData m_c0; - btVector3FloatData m_c1; - btVector3FloatData m_localFrame; - bInvalidHandle *m_rigidBody; - int m_nodeIndex; - float m_c2; -}; - -// -------------------------------------------------- // -class SoftBodyConfigData -{ -public: - int m_aeroModel; - float m_baumgarte; - float m_damping; - float m_drag; - float m_lift; - float m_pressure; - float m_volume; - float m_dynamicFriction; - float m_poseMatch; - float m_rigidContactHardness; - float m_kineticContactHardness; - float m_softContactHardness; - float m_anchorHardness; - float m_softRigidClusterHardness; - float m_softKineticClusterHardness; - float m_softSoftClusterHardness; - float m_softRigidClusterImpulseSplit; - float m_softKineticClusterImpulseSplit; - float m_softSoftClusterImpulseSplit; - float m_maxVolume; - float m_timeScale; - int m_velocityIterations; - int m_positionIterations; - int m_driftIterations; - int m_clusterIterations; - int m_collisionFlags; -}; - -// -------------------------------------------------- // -class SoftBodyPoseData -{ -public: - btMatrix3x3FloatData m_rot; - btMatrix3x3FloatData m_scale; - btMatrix3x3FloatData m_aqq; - btVector3FloatData m_com; - btVector3FloatData *m_positions; - float *m_weights; - int m_numPositions; - int m_numWeigts; - int m_bvolume; - int m_bframe; - float m_restVolume; - int m_pad; -}; - -// -------------------------------------------------- // -class SoftBodyClusterData -{ -public: - btTransformFloatData m_framexform; - btMatrix3x3FloatData m_locii; - btMatrix3x3FloatData m_invwi; - btVector3FloatData m_com; - btVector3FloatData m_vimpulses[2]; - btVector3FloatData m_dimpulses[2]; - btVector3FloatData m_lv; - btVector3FloatData m_av; - btVector3FloatData *m_framerefs; - int *m_nodeIndices; - float *m_masses; - int m_numFrameRefs; - int m_numNodes; - int m_numMasses; - float m_idmass; - float m_imass; - int m_nvimpulses; - int m_ndimpulses; - float m_ndamping; - float m_ldamping; - float m_adamping; - float m_matching; - float m_maxSelfCollisionImpulse; - float m_selfCollisionImpulseFactor; - int m_containsAnchor; - int m_collide; - int m_clusterIndex; -}; - -// -------------------------------------------------- // -class btSoftBodyJointData -{ -public: - void *m_bodyA; - void *m_bodyB; - btVector3FloatData m_refs[2]; - float m_cfm; - float m_erp; - float m_split; - int m_delete; - btVector3FloatData m_relPosition[2]; - int m_bodyAtype; - int m_bodyBtype; - int m_jointType; - int m_pad; -}; - -// -------------------------------------------------- // -class btSoftBodyFloatData -{ -public: - btCollisionObjectFloatData m_collisionObjectData; - SoftBodyPoseData *m_pose; - SoftBodyMaterialData **m_materials; - SoftBodyNodeData *m_nodes; - SoftBodyLinkData *m_links; - SoftBodyFaceData *m_faces; - SoftBodyTetraData *m_tetrahedra; - SoftRigidAnchorData *m_anchors; - SoftBodyClusterData *m_clusters; - btSoftBodyJointData *m_joints; - int m_numMaterials; - int m_numNodes; - int m_numLinks; - int m_numFaces; - int m_numTetrahedra; - int m_numAnchors; - int m_numClusters; - int m_numJoints; - SoftBodyConfigData m_config; -}; - -// -------------------------------------------------- // -class btMultiBodyLinkDoubleData -{ -public: - btQuaternionDoubleData m_zeroRotParentToThis; - btVector3DoubleData m_parentComToThisPivotOffset; - btVector3DoubleData m_thisPivotToThisComOffset; - btVector3DoubleData m_jointAxisTop[6]; - btVector3DoubleData m_jointAxisBottom[6]; - btVector3DoubleData m_linkInertia; - btVector3DoubleData m_absFrameTotVelocityTop; - btVector3DoubleData m_absFrameTotVelocityBottom; - btVector3DoubleData m_absFrameLocVelocityTop; - btVector3DoubleData m_absFrameLocVelocityBottom; - double m_linkMass; - int m_parentIndex; - int m_jointType; - int m_dofCount; - int m_posVarCount; - double m_jointPos[7]; - double m_jointVel[6]; - double m_jointTorque[6]; - double m_jointDamping; - double m_jointFriction; - double m_jointLowerLimit; - double m_jointUpperLimit; - double m_jointMaxForce; - double m_jointMaxVelocity; - char *m_linkName; - char *m_jointName; - btCollisionObjectDoubleData *m_linkCollider; - char *m_paddingPtr; -}; - -// -------------------------------------------------- // -class btMultiBodyLinkFloatData -{ -public: - btQuaternionFloatData m_zeroRotParentToThis; - btVector3FloatData m_parentComToThisPivotOffset; - btVector3FloatData m_thisPivotToThisComOffset; - btVector3FloatData m_jointAxisTop[6]; - btVector3FloatData m_jointAxisBottom[6]; - btVector3FloatData m_linkInertia; - btVector3FloatData m_absFrameTotVelocityTop; - btVector3FloatData m_absFrameTotVelocityBottom; - btVector3FloatData m_absFrameLocVelocityTop; - btVector3FloatData m_absFrameLocVelocityBottom; - int m_dofCount; - float m_linkMass; - int m_parentIndex; - int m_jointType; - float m_jointPos[7]; - float m_jointVel[6]; - float m_jointTorque[6]; - int m_posVarCount; - float m_jointDamping; - float m_jointFriction; - float m_jointLowerLimit; - float m_jointUpperLimit; - float m_jointMaxForce; - float m_jointMaxVelocity; - char *m_linkName; - char *m_jointName; - btCollisionObjectFloatData *m_linkCollider; - char *m_paddingPtr; -}; - -// -------------------------------------------------- // -class btMultiBodyDoubleData -{ -public: - btVector3DoubleData m_baseWorldPosition; - btQuaternionDoubleData m_baseWorldOrientation; - btVector3DoubleData m_baseLinearVelocity; - btVector3DoubleData m_baseAngularVelocity; - btVector3DoubleData m_baseInertia; - double m_baseMass; - int m_numLinks; - char m_padding[4]; - char *m_baseName; - btMultiBodyLinkDoubleData *m_links; - btCollisionObjectDoubleData *m_baseCollider; -}; - -// -------------------------------------------------- // -class btMultiBodyFloatData -{ -public: - btVector3FloatData m_baseWorldPosition; - btQuaternionFloatData m_baseWorldOrientation; - btVector3FloatData m_baseLinearVelocity; - btVector3FloatData m_baseAngularVelocity; - btVector3FloatData m_baseInertia; - float m_baseMass; - int m_numLinks; - char *m_baseName; - btMultiBodyLinkFloatData *m_links; - btCollisionObjectFloatData *m_baseCollider; -}; - -// -------------------------------------------------- // -class btMultiBodyLinkColliderFloatData -{ -public: - btCollisionObjectFloatData m_colObjData; - btMultiBodyFloatData *m_multiBody; - int m_link; - char m_padding[4]; -}; - -// -------------------------------------------------- // -class btMultiBodyLinkColliderDoubleData -{ -public: - btCollisionObjectDoubleData m_colObjData; - btMultiBodyDoubleData *m_multiBody; - int m_link; - char m_padding[4]; -}; - -} // namespace Bullet -#endif //__BULLET_H__ \ No newline at end of file +}bInvalidHandle; + + class PointerArray; + class btPhysicsSystem; + class ListBase; + class btVector3FloatData; + class btVector3DoubleData; + class btQuaternionFloatData; + class btQuaternionDoubleData; + class btMatrix3x3FloatData; + class btMatrix3x3DoubleData; + class btTransformFloatData; + class btTransformDoubleData; + class btBvhSubtreeInfoData; + class btOptimizedBvhNodeFloatData; + class btOptimizedBvhNodeDoubleData; + class btQuantizedBvhNodeData; + class btQuantizedBvhFloatData; + class btQuantizedBvhDoubleData; + class btCollisionShapeData; + class btStaticPlaneShapeData; + class btConvexInternalShapeData; + class btPositionAndRadius; + class btMultiSphereShapeData; + class btIntIndexData; + class btShortIntIndexData; + class btShortIntIndexTripletData; + class btCharIndexTripletData; + class btMeshPartData; + class btStridingMeshInterfaceData; + class btTriangleMeshShapeData; + class btScaledTriangleMeshShapeData; + class btCompoundShapeChildData; + class btCompoundShapeData; + class btCylinderShapeData; + class btConeShapeData; + class btCapsuleShapeData; + class btTriangleInfoData; + class btTriangleInfoMapData; + class btPersistentManifoldDoubleData; + class btPersistentManifoldFloatData; + class btGImpactMeshShapeData; + class btConvexHullShapeData; + class btCollisionObjectDoubleData; + class btCollisionObjectFloatData; + class btContactSolverInfoDoubleData; + class btContactSolverInfoFloatData; + class btDynamicsWorldDoubleData; + class btDynamicsWorldFloatData; + class btRigidBodyFloatData; + class btRigidBodyDoubleData; + class btConstraintInfo1; + class btTypedConstraintFloatData; + class btTypedConstraintData; + class btTypedConstraintDoubleData; + class btPoint2PointConstraintFloatData; + class btPoint2PointConstraintDoubleData2; + class btPoint2PointConstraintDoubleData; + class btHingeConstraintDoubleData; + class btHingeConstraintFloatData; + class btHingeConstraintDoubleData2; + class btConeTwistConstraintDoubleData; + class btConeTwistConstraintData; + class btGeneric6DofConstraintData; + class btGeneric6DofConstraintDoubleData2; + class btGeneric6DofSpringConstraintData; + class btGeneric6DofSpringConstraintDoubleData2; + class btGeneric6DofSpring2ConstraintData; + class btGeneric6DofSpring2ConstraintDoubleData2; + class btSliderConstraintData; + class btSliderConstraintDoubleData; + class btGearConstraintFloatData; + class btGearConstraintDoubleData; + class SoftBodyMaterialData; + class SoftBodyNodeData; + class SoftBodyLinkData; + class SoftBodyFaceData; + class SoftBodyTetraData; + class SoftRigidAnchorData; + class SoftBodyConfigData; + class SoftBodyPoseData; + class SoftBodyClusterData; + class btSoftBodyJointData; + class btSoftBodyFloatData; + class btMultiBodyLinkDoubleData; + class btMultiBodyLinkFloatData; + class btMultiBodyDoubleData; + class btMultiBodyFloatData; + class btMultiBodyLinkColliderFloatData; + class btMultiBodyLinkColliderDoubleData; +// -------------------------------------------------- // + class PointerArray + { + public: + int m_size; + int m_capacity; + void *m_data; + }; + + +// -------------------------------------------------- // + class btPhysicsSystem + { + public: + PointerArray m_collisionShapes; + PointerArray m_collisionObjects; + PointerArray m_constraints; + }; + + +// -------------------------------------------------- // + class ListBase + { + public: + void *first; + void *last; + }; + + +// -------------------------------------------------- // + class btVector3FloatData + { + public: + float m_floats[4]; + }; + + +// -------------------------------------------------- // + class btVector3DoubleData + { + public: + double m_floats[4]; + }; + + +// -------------------------------------------------- // + class btQuaternionFloatData + { + public: + float m_floats[4]; + }; + + +// -------------------------------------------------- // + class btQuaternionDoubleData + { + public: + double m_floats[4]; + }; + + +// -------------------------------------------------- // + class btMatrix3x3FloatData + { + public: + btVector3FloatData m_el[3]; + }; + + +// -------------------------------------------------- // + class btMatrix3x3DoubleData + { + public: + btVector3DoubleData m_el[3]; + }; + + +// -------------------------------------------------- // + class btTransformFloatData + { + public: + btMatrix3x3FloatData m_basis; + btVector3FloatData m_origin; + }; + + +// -------------------------------------------------- // + class btTransformDoubleData + { + public: + btMatrix3x3DoubleData m_basis; + btVector3DoubleData m_origin; + }; + + +// -------------------------------------------------- // + class btBvhSubtreeInfoData + { + public: + int m_rootNodeIndex; + int m_subtreeSize; + short m_quantizedAabbMin[3]; + short m_quantizedAabbMax[3]; + }; + + +// -------------------------------------------------- // + class btOptimizedBvhNodeFloatData + { + public: + btVector3FloatData m_aabbMinOrg; + btVector3FloatData m_aabbMaxOrg; + int m_escapeIndex; + int m_subPart; + int m_triangleIndex; + char m_pad[4]; + }; + + +// -------------------------------------------------- // + class btOptimizedBvhNodeDoubleData + { + public: + btVector3DoubleData m_aabbMinOrg; + btVector3DoubleData m_aabbMaxOrg; + int m_escapeIndex; + int m_subPart; + int m_triangleIndex; + char m_pad[4]; + }; + + +// -------------------------------------------------- // + class btQuantizedBvhNodeData + { + public: + short m_quantizedAabbMin[3]; + short m_quantizedAabbMax[3]; + int m_escapeIndexOrTriangleIndex; + }; + + +// -------------------------------------------------- // + class btQuantizedBvhFloatData + { + public: + btVector3FloatData m_bvhAabbMin; + btVector3FloatData m_bvhAabbMax; + btVector3FloatData m_bvhQuantization; + int m_curNodeIndex; + int m_useQuantization; + int m_numContiguousLeafNodes; + int m_numQuantizedContiguousNodes; + btOptimizedBvhNodeFloatData *m_contiguousNodesPtr; + btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr; + btBvhSubtreeInfoData *m_subTreeInfoPtr; + int m_traversalMode; + int m_numSubtreeHeaders; + }; + + +// -------------------------------------------------- // + class btQuantizedBvhDoubleData + { + public: + btVector3DoubleData m_bvhAabbMin; + btVector3DoubleData m_bvhAabbMax; + btVector3DoubleData m_bvhQuantization; + int m_curNodeIndex; + int m_useQuantization; + int m_numContiguousLeafNodes; + int m_numQuantizedContiguousNodes; + btOptimizedBvhNodeDoubleData *m_contiguousNodesPtr; + btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr; + int m_traversalMode; + int m_numSubtreeHeaders; + btBvhSubtreeInfoData *m_subTreeInfoPtr; + }; + + +// -------------------------------------------------- // + class btCollisionShapeData + { + public: + char *m_name; + int m_shapeType; + char m_padding[4]; + }; + + +// -------------------------------------------------- // + class btStaticPlaneShapeData + { + public: + btCollisionShapeData m_collisionShapeData; + btVector3FloatData m_localScaling; + btVector3FloatData m_planeNormal; + float m_planeConstant; + char m_pad[4]; + }; + + +// -------------------------------------------------- // + class btConvexInternalShapeData + { + public: + btCollisionShapeData m_collisionShapeData; + btVector3FloatData m_localScaling; + btVector3FloatData m_implicitShapeDimensions; + float m_collisionMargin; + int m_padding; + }; + + +// -------------------------------------------------- // + class btPositionAndRadius + { + public: + btVector3FloatData m_pos; + float m_radius; + }; + + +// -------------------------------------------------- // + class btMultiSphereShapeData + { + public: + btConvexInternalShapeData m_convexInternalShapeData; + btPositionAndRadius *m_localPositionArrayPtr; + int m_localPositionArraySize; + char m_padding[4]; + }; + + +// -------------------------------------------------- // + class btIntIndexData + { + public: + int m_value; + }; + + +// -------------------------------------------------- // + class btShortIntIndexData + { + public: + short m_value; + char m_pad[2]; + }; + + +// -------------------------------------------------- // + class btShortIntIndexTripletData + { + public: + short m_values[3]; + char m_pad[2]; + }; + + +// -------------------------------------------------- // + class btCharIndexTripletData + { + public: + char m_values[3]; + char m_pad; + }; + + +// -------------------------------------------------- // + class btMeshPartData + { + public: + btVector3FloatData *m_vertices3f; + btVector3DoubleData *m_vertices3d; + btIntIndexData *m_indices32; + btShortIntIndexTripletData *m_3indices16; + btCharIndexTripletData *m_3indices8; + btShortIntIndexData *m_indices16; + int m_numTriangles; + int m_numVertices; + }; + + +// -------------------------------------------------- // + class btStridingMeshInterfaceData + { + public: + btMeshPartData *m_meshPartsPtr; + btVector3FloatData m_scaling; + int m_numMeshParts; + char m_padding[4]; + }; + + +// -------------------------------------------------- // + class btTriangleMeshShapeData + { + public: + btCollisionShapeData m_collisionShapeData; + btStridingMeshInterfaceData m_meshInterface; + btQuantizedBvhFloatData *m_quantizedFloatBvh; + btQuantizedBvhDoubleData *m_quantizedDoubleBvh; + btTriangleInfoMapData *m_triangleInfoMap; + float m_collisionMargin; + char m_pad3[4]; + }; + + +// -------------------------------------------------- // + class btScaledTriangleMeshShapeData + { + public: + btTriangleMeshShapeData m_trimeshShapeData; + btVector3FloatData m_localScaling; + }; + + +// -------------------------------------------------- // + class btCompoundShapeChildData + { + public: + btTransformFloatData m_transform; + btCollisionShapeData *m_childShape; + int m_childShapeType; + float m_childMargin; + }; + + +// -------------------------------------------------- // + class btCompoundShapeData + { + public: + btCollisionShapeData m_collisionShapeData; + btCompoundShapeChildData *m_childShapePtr; + int m_numChildShapes; + float m_collisionMargin; + }; + + +// -------------------------------------------------- // + class btCylinderShapeData + { + public: + btConvexInternalShapeData m_convexInternalShapeData; + int m_upAxis; + char m_padding[4]; + }; + + +// -------------------------------------------------- // + class btConeShapeData + { + public: + btConvexInternalShapeData m_convexInternalShapeData; + int m_upIndex; + char m_padding[4]; + }; + + +// -------------------------------------------------- // + class btCapsuleShapeData + { + public: + btConvexInternalShapeData m_convexInternalShapeData; + int m_upAxis; + char m_padding[4]; + }; + + +// -------------------------------------------------- // + class btTriangleInfoData + { + public: + int m_flags; + float m_edgeV0V1Angle; + float m_edgeV1V2Angle; + float m_edgeV2V0Angle; + }; + + +// -------------------------------------------------- // + class btTriangleInfoMapData + { + public: + int *m_hashTablePtr; + int *m_nextPtr; + btTriangleInfoData *m_valueArrayPtr; + int *m_keyArrayPtr; + float m_convexEpsilon; + float m_planarEpsilon; + float m_equalVertexThreshold; + float m_edgeDistanceThreshold; + float m_zeroAreaThreshold; + int m_nextSize; + int m_hashTableSize; + int m_numValues; + int m_numKeys; + char m_padding[4]; + }; + + +// -------------------------------------------------- // + class btPersistentManifoldDoubleData + { + public: + btVector3DoubleData m_pointCacheLocalPointA[4]; + btVector3DoubleData m_pointCacheLocalPointB[4]; + btVector3DoubleData m_pointCachePositionWorldOnA[4]; + btVector3DoubleData m_pointCachePositionWorldOnB[4]; + btVector3DoubleData m_pointCacheNormalWorldOnB[4]; + btVector3DoubleData m_pointCacheLateralFrictionDir1[4]; + btVector3DoubleData m_pointCacheLateralFrictionDir2[4]; + double m_pointCacheDistance[4]; + double m_pointCacheAppliedImpulse[4]; + double m_pointCachePrevRHS[4]; + double m_pointCacheCombinedFriction[4]; + double m_pointCacheCombinedRollingFriction[4]; + double m_pointCacheCombinedSpinningFriction[4]; + double m_pointCacheCombinedRestitution[4]; + int m_pointCachePartId0[4]; + int m_pointCachePartId1[4]; + int m_pointCacheIndex0[4]; + int m_pointCacheIndex1[4]; + int m_pointCacheContactPointFlags[4]; + double m_pointCacheAppliedImpulseLateral1[4]; + double m_pointCacheAppliedImpulseLateral2[4]; + double m_pointCacheContactMotion1[4]; + double m_pointCacheContactMotion2[4]; + double m_pointCacheContactCFM[4]; + double m_pointCacheCombinedContactStiffness1[4]; + double m_pointCacheContactERP[4]; + double m_pointCacheCombinedContactDamping1[4]; + double m_pointCacheFrictionCFM[4]; + int m_pointCacheLifeTime[4]; + int m_numCachedPoints; + int m_companionIdA; + int m_companionIdB; + int m_index1a; + int m_objectType; + double m_contactBreakingThreshold; + double m_contactProcessingThreshold; + int m_padding; + btCollisionObjectDoubleData *m_body0; + btCollisionObjectDoubleData *m_body1; + }; + + +// -------------------------------------------------- // + class btPersistentManifoldFloatData + { + public: + btVector3FloatData m_pointCacheLocalPointA[4]; + btVector3FloatData m_pointCacheLocalPointB[4]; + btVector3FloatData m_pointCachePositionWorldOnA[4]; + btVector3FloatData m_pointCachePositionWorldOnB[4]; + btVector3FloatData m_pointCacheNormalWorldOnB[4]; + btVector3FloatData m_pointCacheLateralFrictionDir1[4]; + btVector3FloatData m_pointCacheLateralFrictionDir2[4]; + float m_pointCacheDistance[4]; + float m_pointCacheAppliedImpulse[4]; + float m_pointCachePrevRHS[4]; + float m_pointCacheCombinedFriction[4]; + float m_pointCacheCombinedRollingFriction[4]; + float m_pointCacheCombinedSpinningFriction[4]; + float m_pointCacheCombinedRestitution[4]; + int m_pointCachePartId0[4]; + int m_pointCachePartId1[4]; + int m_pointCacheIndex0[4]; + int m_pointCacheIndex1[4]; + int m_pointCacheContactPointFlags[4]; + float m_pointCacheAppliedImpulseLateral1[4]; + float m_pointCacheAppliedImpulseLateral2[4]; + float m_pointCacheContactMotion1[4]; + float m_pointCacheContactMotion2[4]; + float m_pointCacheContactCFM[4]; + float m_pointCacheCombinedContactStiffness1[4]; + float m_pointCacheContactERP[4]; + float m_pointCacheCombinedContactDamping1[4]; + float m_pointCacheFrictionCFM[4]; + int m_pointCacheLifeTime[4]; + int m_numCachedPoints; + int m_companionIdA; + int m_companionIdB; + int m_index1a; + int m_objectType; + float m_contactBreakingThreshold; + float m_contactProcessingThreshold; + int m_padding; + btCollisionObjectFloatData *m_body0; + btCollisionObjectFloatData *m_body1; + }; + + +// -------------------------------------------------- // + class btGImpactMeshShapeData + { + public: + btCollisionShapeData m_collisionShapeData; + btStridingMeshInterfaceData m_meshInterface; + btVector3FloatData m_localScaling; + float m_collisionMargin; + int m_gimpactSubType; + }; + + +// -------------------------------------------------- // + class btConvexHullShapeData + { + public: + btConvexInternalShapeData m_convexInternalShapeData; + btVector3FloatData *m_unscaledPointsFloatPtr; + btVector3DoubleData *m_unscaledPointsDoublePtr; + int m_numUnscaledPoints; + char m_padding3[4]; + }; + + +// -------------------------------------------------- // + class btCollisionObjectDoubleData + { + public: + void *m_broadphaseHandle; + void *m_collisionShape; + btCollisionShapeData *m_rootCollisionShape; + char *m_name; + btTransformDoubleData m_worldTransform; + btTransformDoubleData m_interpolationWorldTransform; + btVector3DoubleData m_interpolationLinearVelocity; + btVector3DoubleData m_interpolationAngularVelocity; + btVector3DoubleData m_anisotropicFriction; + double m_contactProcessingThreshold; + double m_deactivationTime; + double m_friction; + double m_rollingFriction; + double m_contactDamping; + double m_contactStiffness; + double m_restitution; + double m_hitFraction; + double m_ccdSweptSphereRadius; + double m_ccdMotionThreshold; + int m_hasAnisotropicFriction; + int m_collisionFlags; + int m_islandTag1; + int m_companionId; + int m_activationState1; + int m_internalType; + int m_checkCollideWith; + int m_collisionFilterGroup; + int m_collisionFilterMask; + int m_uniqueId; + }; + + +// -------------------------------------------------- // + class btCollisionObjectFloatData + { + public: + void *m_broadphaseHandle; + void *m_collisionShape; + btCollisionShapeData *m_rootCollisionShape; + char *m_name; + btTransformFloatData m_worldTransform; + btTransformFloatData m_interpolationWorldTransform; + btVector3FloatData m_interpolationLinearVelocity; + btVector3FloatData m_interpolationAngularVelocity; + btVector3FloatData m_anisotropicFriction; + float m_contactProcessingThreshold; + float m_deactivationTime; + float m_friction; + float m_rollingFriction; + float m_contactDamping; + float m_contactStiffness; + float m_restitution; + float m_hitFraction; + float m_ccdSweptSphereRadius; + float m_ccdMotionThreshold; + int m_hasAnisotropicFriction; + int m_collisionFlags; + int m_islandTag1; + int m_companionId; + int m_activationState1; + int m_internalType; + int m_checkCollideWith; + int m_collisionFilterGroup; + int m_collisionFilterMask; + int m_uniqueId; + }; + + +// -------------------------------------------------- // + class btContactSolverInfoDoubleData + { + public: + double m_tau; + double m_damping; + double m_friction; + double m_timeStep; + double m_restitution; + double m_maxErrorReduction; + double m_sor; + double m_erp; + double m_erp2; + double m_globalCfm; + double m_splitImpulsePenetrationThreshold; + double m_splitImpulseTurnErp; + double m_linearSlop; + double m_warmstartingFactor; + double m_articulatedWarmstartingFactor; + double m_maxGyroscopicForce; + double m_singleAxisRollingFrictionThreshold; + int m_numIterations; + int m_solverMode; + int m_restingContactRestitutionThreshold; + int m_minimumSolverBatchSize; + int m_splitImpulse; + char m_padding[4]; + }; + + +// -------------------------------------------------- // + class btContactSolverInfoFloatData + { + public: + float m_tau; + float m_damping; + float m_friction; + float m_timeStep; + float m_restitution; + float m_maxErrorReduction; + float m_sor; + float m_erp; + float m_erp2; + float m_globalCfm; + float m_splitImpulsePenetrationThreshold; + float m_splitImpulseTurnErp; + float m_linearSlop; + float m_warmstartingFactor; + float m_articulatedWarmstartingFactor; + float m_maxGyroscopicForce; + float m_singleAxisRollingFrictionThreshold; + int m_numIterations; + int m_solverMode; + int m_restingContactRestitutionThreshold; + int m_minimumSolverBatchSize; + int m_splitImpulse; + char m_padding[4]; + }; + + +// -------------------------------------------------- // + class btDynamicsWorldDoubleData + { + public: + btContactSolverInfoDoubleData m_solverInfo; + btVector3DoubleData m_gravity; + }; + + +// -------------------------------------------------- // + class btDynamicsWorldFloatData + { + public: + btContactSolverInfoFloatData m_solverInfo; + btVector3FloatData m_gravity; + }; + + +// -------------------------------------------------- // + class btRigidBodyFloatData + { + public: + btCollisionObjectFloatData m_collisionObjectData; + btMatrix3x3FloatData m_invInertiaTensorWorld; + btVector3FloatData m_linearVelocity; + btVector3FloatData m_angularVelocity; + btVector3FloatData m_angularFactor; + btVector3FloatData m_linearFactor; + btVector3FloatData m_gravity; + btVector3FloatData m_gravity_acceleration; + btVector3FloatData m_invInertiaLocal; + btVector3FloatData m_totalForce; + btVector3FloatData m_totalTorque; + float m_inverseMass; + float m_linearDamping; + float m_angularDamping; + float m_additionalDampingFactor; + float m_additionalLinearDampingThresholdSqr; + float m_additionalAngularDampingThresholdSqr; + float m_additionalAngularDampingFactor; + float m_linearSleepingThreshold; + float m_angularSleepingThreshold; + int m_additionalDamping; + }; + + +// -------------------------------------------------- // + class btRigidBodyDoubleData + { + public: + btCollisionObjectDoubleData m_collisionObjectData; + btMatrix3x3DoubleData m_invInertiaTensorWorld; + btVector3DoubleData m_linearVelocity; + btVector3DoubleData m_angularVelocity; + btVector3DoubleData m_angularFactor; + btVector3DoubleData m_linearFactor; + btVector3DoubleData m_gravity; + btVector3DoubleData m_gravity_acceleration; + btVector3DoubleData m_invInertiaLocal; + btVector3DoubleData m_totalForce; + btVector3DoubleData m_totalTorque; + double m_inverseMass; + double m_linearDamping; + double m_angularDamping; + double m_additionalDampingFactor; + double m_additionalLinearDampingThresholdSqr; + double m_additionalAngularDampingThresholdSqr; + double m_additionalAngularDampingFactor; + double m_linearSleepingThreshold; + double m_angularSleepingThreshold; + int m_additionalDamping; + char m_padding[4]; + }; + + +// -------------------------------------------------- // + class btConstraintInfo1 + { + public: + int m_numConstraintRows; + int nub; + }; + + +// -------------------------------------------------- // + class btTypedConstraintFloatData + { + public: + btRigidBodyFloatData *m_rbA; + btRigidBodyFloatData *m_rbB; + char *m_name; + int m_objectType; + int m_userConstraintType; + int m_userConstraintId; + int m_needsFeedback; + float m_appliedImpulse; + float m_dbgDrawSize; + int m_disableCollisionsBetweenLinkedBodies; + int m_overrideNumSolverIterations; + float m_breakingImpulseThreshold; + int m_isEnabled; + }; + + +// -------------------------------------------------- // + class btTypedConstraintData + { + public: + bInvalidHandle *m_rbA; + bInvalidHandle *m_rbB; + char *m_name; + int m_objectType; + int m_userConstraintType; + int m_userConstraintId; + int m_needsFeedback; + float m_appliedImpulse; + float m_dbgDrawSize; + int m_disableCollisionsBetweenLinkedBodies; + int m_overrideNumSolverIterations; + float m_breakingImpulseThreshold; + int m_isEnabled; + }; + + +// -------------------------------------------------- // + class btTypedConstraintDoubleData + { + public: + btRigidBodyDoubleData *m_rbA; + btRigidBodyDoubleData *m_rbB; + char *m_name; + int m_objectType; + int m_userConstraintType; + int m_userConstraintId; + int m_needsFeedback; + double m_appliedImpulse; + double m_dbgDrawSize; + int m_disableCollisionsBetweenLinkedBodies; + int m_overrideNumSolverIterations; + double m_breakingImpulseThreshold; + int m_isEnabled; + char padding[4]; + }; + + +// -------------------------------------------------- // + class btPoint2PointConstraintFloatData + { + public: + btTypedConstraintData m_typeConstraintData; + btVector3FloatData m_pivotInA; + btVector3FloatData m_pivotInB; + }; + + +// -------------------------------------------------- // + class btPoint2PointConstraintDoubleData2 + { + public: + btTypedConstraintDoubleData m_typeConstraintData; + btVector3DoubleData m_pivotInA; + btVector3DoubleData m_pivotInB; + }; + + +// -------------------------------------------------- // + class btPoint2PointConstraintDoubleData + { + public: + btTypedConstraintData m_typeConstraintData; + btVector3DoubleData m_pivotInA; + btVector3DoubleData m_pivotInB; + }; + + +// -------------------------------------------------- // + class btHingeConstraintDoubleData + { + public: + btTypedConstraintData m_typeConstraintData; + btTransformDoubleData m_rbAFrame; + btTransformDoubleData m_rbBFrame; + int m_useReferenceFrameA; + int m_angularOnly; + int m_enableAngularMotor; + float m_motorTargetVelocity; + float m_maxMotorImpulse; + float m_lowerLimit; + float m_upperLimit; + float m_limitSoftness; + float m_biasFactor; + float m_relaxationFactor; + }; + + +// -------------------------------------------------- // + class btHingeConstraintFloatData + { + public: + btTypedConstraintData m_typeConstraintData; + btTransformFloatData m_rbAFrame; + btTransformFloatData m_rbBFrame; + int m_useReferenceFrameA; + int m_angularOnly; + int m_enableAngularMotor; + float m_motorTargetVelocity; + float m_maxMotorImpulse; + float m_lowerLimit; + float m_upperLimit; + float m_limitSoftness; + float m_biasFactor; + float m_relaxationFactor; + }; + + +// -------------------------------------------------- // + class btHingeConstraintDoubleData2 + { + public: + btTypedConstraintDoubleData m_typeConstraintData; + btTransformDoubleData m_rbAFrame; + btTransformDoubleData m_rbBFrame; + int m_useReferenceFrameA; + int m_angularOnly; + int m_enableAngularMotor; + double m_motorTargetVelocity; + double m_maxMotorImpulse; + double m_lowerLimit; + double m_upperLimit; + double m_limitSoftness; + double m_biasFactor; + double m_relaxationFactor; + char m_padding1[4]; + }; + + +// -------------------------------------------------- // + class btConeTwistConstraintDoubleData + { + public: + btTypedConstraintDoubleData m_typeConstraintData; + btTransformDoubleData m_rbAFrame; + btTransformDoubleData m_rbBFrame; + double m_swingSpan1; + double m_swingSpan2; + double m_twistSpan; + double m_limitSoftness; + double m_biasFactor; + double m_relaxationFactor; + double m_damping; + }; + + +// -------------------------------------------------- // + class btConeTwistConstraintData + { + public: + btTypedConstraintData m_typeConstraintData; + btTransformFloatData m_rbAFrame; + btTransformFloatData m_rbBFrame; + float m_swingSpan1; + float m_swingSpan2; + float m_twistSpan; + float m_limitSoftness; + float m_biasFactor; + float m_relaxationFactor; + float m_damping; + char m_pad[4]; + }; + + +// -------------------------------------------------- // + class btGeneric6DofConstraintData + { + public: + btTypedConstraintData m_typeConstraintData; + btTransformFloatData m_rbAFrame; + btTransformFloatData m_rbBFrame; + btVector3FloatData m_linearUpperLimit; + btVector3FloatData m_linearLowerLimit; + btVector3FloatData m_angularUpperLimit; + btVector3FloatData m_angularLowerLimit; + int m_useLinearReferenceFrameA; + int m_useOffsetForConstraintFrame; + }; + + +// -------------------------------------------------- // + class btGeneric6DofConstraintDoubleData2 + { + public: + btTypedConstraintDoubleData m_typeConstraintData; + btTransformDoubleData m_rbAFrame; + btTransformDoubleData m_rbBFrame; + btVector3DoubleData m_linearUpperLimit; + btVector3DoubleData m_linearLowerLimit; + btVector3DoubleData m_angularUpperLimit; + btVector3DoubleData m_angularLowerLimit; + int m_useLinearReferenceFrameA; + int m_useOffsetForConstraintFrame; + }; + + +// -------------------------------------------------- // + class btGeneric6DofSpringConstraintData + { + public: + btGeneric6DofConstraintData m_6dofData; + int m_springEnabled[6]; + float m_equilibriumPoint[6]; + float m_springStiffness[6]; + float m_springDamping[6]; + }; + + +// -------------------------------------------------- // + class btGeneric6DofSpringConstraintDoubleData2 + { + public: + btGeneric6DofConstraintDoubleData2 m_6dofData; + int m_springEnabled[6]; + double m_equilibriumPoint[6]; + double m_springStiffness[6]; + double m_springDamping[6]; + }; + + +// -------------------------------------------------- // + class btGeneric6DofSpring2ConstraintData + { + public: + btTypedConstraintData m_typeConstraintData; + btTransformFloatData m_rbAFrame; + btTransformFloatData m_rbBFrame; + btVector3FloatData m_linearUpperLimit; + btVector3FloatData m_linearLowerLimit; + btVector3FloatData m_linearBounce; + btVector3FloatData m_linearStopERP; + btVector3FloatData m_linearStopCFM; + btVector3FloatData m_linearMotorERP; + btVector3FloatData m_linearMotorCFM; + btVector3FloatData m_linearTargetVelocity; + btVector3FloatData m_linearMaxMotorForce; + btVector3FloatData m_linearServoTarget; + btVector3FloatData m_linearSpringStiffness; + btVector3FloatData m_linearSpringDamping; + btVector3FloatData m_linearEquilibriumPoint; + char m_linearEnableMotor[4]; + char m_linearServoMotor[4]; + char m_linearEnableSpring[4]; + char m_linearSpringStiffnessLimited[4]; + char m_linearSpringDampingLimited[4]; + char m_padding1[4]; + btVector3FloatData m_angularUpperLimit; + btVector3FloatData m_angularLowerLimit; + btVector3FloatData m_angularBounce; + btVector3FloatData m_angularStopERP; + btVector3FloatData m_angularStopCFM; + btVector3FloatData m_angularMotorERP; + btVector3FloatData m_angularMotorCFM; + btVector3FloatData m_angularTargetVelocity; + btVector3FloatData m_angularMaxMotorForce; + btVector3FloatData m_angularServoTarget; + btVector3FloatData m_angularSpringStiffness; + btVector3FloatData m_angularSpringDamping; + btVector3FloatData m_angularEquilibriumPoint; + char m_angularEnableMotor[4]; + char m_angularServoMotor[4]; + char m_angularEnableSpring[4]; + char m_angularSpringStiffnessLimited[4]; + char m_angularSpringDampingLimited[4]; + int m_rotateOrder; + }; + + +// -------------------------------------------------- // + class btGeneric6DofSpring2ConstraintDoubleData2 + { + public: + btTypedConstraintDoubleData m_typeConstraintData; + btTransformDoubleData m_rbAFrame; + btTransformDoubleData m_rbBFrame; + btVector3DoubleData m_linearUpperLimit; + btVector3DoubleData m_linearLowerLimit; + btVector3DoubleData m_linearBounce; + btVector3DoubleData m_linearStopERP; + btVector3DoubleData m_linearStopCFM; + btVector3DoubleData m_linearMotorERP; + btVector3DoubleData m_linearMotorCFM; + btVector3DoubleData m_linearTargetVelocity; + btVector3DoubleData m_linearMaxMotorForce; + btVector3DoubleData m_linearServoTarget; + btVector3DoubleData m_linearSpringStiffness; + btVector3DoubleData m_linearSpringDamping; + btVector3DoubleData m_linearEquilibriumPoint; + char m_linearEnableMotor[4]; + char m_linearServoMotor[4]; + char m_linearEnableSpring[4]; + char m_linearSpringStiffnessLimited[4]; + char m_linearSpringDampingLimited[4]; + char m_padding1[4]; + btVector3DoubleData m_angularUpperLimit; + btVector3DoubleData m_angularLowerLimit; + btVector3DoubleData m_angularBounce; + btVector3DoubleData m_angularStopERP; + btVector3DoubleData m_angularStopCFM; + btVector3DoubleData m_angularMotorERP; + btVector3DoubleData m_angularMotorCFM; + btVector3DoubleData m_angularTargetVelocity; + btVector3DoubleData m_angularMaxMotorForce; + btVector3DoubleData m_angularServoTarget; + btVector3DoubleData m_angularSpringStiffness; + btVector3DoubleData m_angularSpringDamping; + btVector3DoubleData m_angularEquilibriumPoint; + char m_angularEnableMotor[4]; + char m_angularServoMotor[4]; + char m_angularEnableSpring[4]; + char m_angularSpringStiffnessLimited[4]; + char m_angularSpringDampingLimited[4]; + int m_rotateOrder; + }; + + +// -------------------------------------------------- // + class btSliderConstraintData + { + public: + btTypedConstraintData m_typeConstraintData; + btTransformFloatData m_rbAFrame; + btTransformFloatData m_rbBFrame; + float m_linearUpperLimit; + float m_linearLowerLimit; + float m_angularUpperLimit; + float m_angularLowerLimit; + int m_useLinearReferenceFrameA; + int m_useOffsetForConstraintFrame; + }; + + +// -------------------------------------------------- // + class btSliderConstraintDoubleData + { + public: + btTypedConstraintDoubleData m_typeConstraintData; + btTransformDoubleData m_rbAFrame; + btTransformDoubleData m_rbBFrame; + double m_linearUpperLimit; + double m_linearLowerLimit; + double m_angularUpperLimit; + double m_angularLowerLimit; + int m_useLinearReferenceFrameA; + int m_useOffsetForConstraintFrame; + }; + + +// -------------------------------------------------- // + class btGearConstraintFloatData + { + public: + btTypedConstraintFloatData m_typeConstraintData; + btVector3FloatData m_axisInA; + btVector3FloatData m_axisInB; + float m_ratio; + char m_padding[4]; + }; + + +// -------------------------------------------------- // + class btGearConstraintDoubleData + { + public: + btTypedConstraintDoubleData m_typeConstraintData; + btVector3DoubleData m_axisInA; + btVector3DoubleData m_axisInB; + double m_ratio; + }; + + +// -------------------------------------------------- // + class SoftBodyMaterialData + { + public: + float m_linearStiffness; + float m_angularStiffness; + float m_volumeStiffness; + int m_flags; + }; + + +// -------------------------------------------------- // + class SoftBodyNodeData + { + public: + SoftBodyMaterialData *m_material; + btVector3FloatData m_position; + btVector3FloatData m_previousPosition; + btVector3FloatData m_velocity; + btVector3FloatData m_accumulatedForce; + btVector3FloatData m_normal; + float m_inverseMass; + float m_area; + int m_attach; + int m_pad; + }; + + +// -------------------------------------------------- // + class SoftBodyLinkData + { + public: + SoftBodyMaterialData *m_material; + int m_nodeIndices[2]; + float m_restLength; + int m_bbending; + }; + + +// -------------------------------------------------- // + class SoftBodyFaceData + { + public: + btVector3FloatData m_normal; + SoftBodyMaterialData *m_material; + int m_nodeIndices[3]; + float m_restArea; + }; + + +// -------------------------------------------------- // + class SoftBodyTetraData + { + public: + btVector3FloatData m_c0[4]; + SoftBodyMaterialData *m_material; + int m_nodeIndices[4]; + float m_restVolume; + float m_c1; + float m_c2; + int m_pad; + }; + + +// -------------------------------------------------- // + class SoftRigidAnchorData + { + public: + btMatrix3x3FloatData m_c0; + btVector3FloatData m_c1; + btVector3FloatData m_localFrame; + bInvalidHandle *m_rigidBody; + int m_nodeIndex; + float m_c2; + }; + + +// -------------------------------------------------- // + class SoftBodyConfigData + { + public: + int m_aeroModel; + float m_baumgarte; + float m_damping; + float m_drag; + float m_lift; + float m_pressure; + float m_volume; + float m_dynamicFriction; + float m_poseMatch; + float m_rigidContactHardness; + float m_kineticContactHardness; + float m_softContactHardness; + float m_anchorHardness; + float m_softRigidClusterHardness; + float m_softKineticClusterHardness; + float m_softSoftClusterHardness; + float m_softRigidClusterImpulseSplit; + float m_softKineticClusterImpulseSplit; + float m_softSoftClusterImpulseSplit; + float m_maxVolume; + float m_timeScale; + int m_velocityIterations; + int m_positionIterations; + int m_driftIterations; + int m_clusterIterations; + int m_collisionFlags; + }; + + +// -------------------------------------------------- // + class SoftBodyPoseData + { + public: + btMatrix3x3FloatData m_rot; + btMatrix3x3FloatData m_scale; + btMatrix3x3FloatData m_aqq; + btVector3FloatData m_com; + btVector3FloatData *m_positions; + float *m_weights; + int m_numPositions; + int m_numWeigts; + int m_bvolume; + int m_bframe; + float m_restVolume; + int m_pad; + }; + + +// -------------------------------------------------- // + class SoftBodyClusterData + { + public: + btTransformFloatData m_framexform; + btMatrix3x3FloatData m_locii; + btMatrix3x3FloatData m_invwi; + btVector3FloatData m_com; + btVector3FloatData m_vimpulses[2]; + btVector3FloatData m_dimpulses[2]; + btVector3FloatData m_lv; + btVector3FloatData m_av; + btVector3FloatData *m_framerefs; + int *m_nodeIndices; + float *m_masses; + int m_numFrameRefs; + int m_numNodes; + int m_numMasses; + float m_idmass; + float m_imass; + int m_nvimpulses; + int m_ndimpulses; + float m_ndamping; + float m_ldamping; + float m_adamping; + float m_matching; + float m_maxSelfCollisionImpulse; + float m_selfCollisionImpulseFactor; + int m_containsAnchor; + int m_collide; + int m_clusterIndex; + }; + + +// -------------------------------------------------- // + class btSoftBodyJointData + { + public: + void *m_bodyA; + void *m_bodyB; + btVector3FloatData m_refs[2]; + float m_cfm; + float m_erp; + float m_split; + int m_delete; + btVector3FloatData m_relPosition[2]; + int m_bodyAtype; + int m_bodyBtype; + int m_jointType; + int m_pad; + }; + + +// -------------------------------------------------- // + class btSoftBodyFloatData + { + public: + btCollisionObjectFloatData m_collisionObjectData; + SoftBodyPoseData *m_pose; + SoftBodyMaterialData **m_materials; + SoftBodyNodeData *m_nodes; + SoftBodyLinkData *m_links; + SoftBodyFaceData *m_faces; + SoftBodyTetraData *m_tetrahedra; + SoftRigidAnchorData *m_anchors; + SoftBodyClusterData *m_clusters; + btSoftBodyJointData *m_joints; + int m_numMaterials; + int m_numNodes; + int m_numLinks; + int m_numFaces; + int m_numTetrahedra; + int m_numAnchors; + int m_numClusters; + int m_numJoints; + SoftBodyConfigData m_config; + }; + + +// -------------------------------------------------- // + class btMultiBodyLinkDoubleData + { + public: + btQuaternionDoubleData m_zeroRotParentToThis; + btVector3DoubleData m_parentComToThisPivotOffset; + btVector3DoubleData m_thisPivotToThisComOffset; + btVector3DoubleData m_jointAxisTop[6]; + btVector3DoubleData m_jointAxisBottom[6]; + btVector3DoubleData m_linkInertia; + btVector3DoubleData m_absFrameTotVelocityTop; + btVector3DoubleData m_absFrameTotVelocityBottom; + btVector3DoubleData m_absFrameLocVelocityTop; + btVector3DoubleData m_absFrameLocVelocityBottom; + double m_linkMass; + int m_parentIndex; + int m_jointType; + int m_dofCount; + int m_posVarCount; + double m_jointPos[7]; + double m_jointVel[6]; + double m_jointTorque[6]; + double m_jointDamping; + double m_jointFriction; + double m_jointLowerLimit; + double m_jointUpperLimit; + double m_jointMaxForce; + double m_jointMaxVelocity; + char *m_linkName; + char *m_jointName; + btCollisionObjectDoubleData *m_linkCollider; + char *m_paddingPtr; + }; + + +// -------------------------------------------------- // + class btMultiBodyLinkFloatData + { + public: + btQuaternionFloatData m_zeroRotParentToThis; + btVector3FloatData m_parentComToThisPivotOffset; + btVector3FloatData m_thisPivotToThisComOffset; + btVector3FloatData m_jointAxisTop[6]; + btVector3FloatData m_jointAxisBottom[6]; + btVector3FloatData m_linkInertia; + btVector3FloatData m_absFrameTotVelocityTop; + btVector3FloatData m_absFrameTotVelocityBottom; + btVector3FloatData m_absFrameLocVelocityTop; + btVector3FloatData m_absFrameLocVelocityBottom; + int m_dofCount; + float m_linkMass; + int m_parentIndex; + int m_jointType; + float m_jointPos[7]; + float m_jointVel[6]; + float m_jointTorque[6]; + int m_posVarCount; + float m_jointDamping; + float m_jointFriction; + float m_jointLowerLimit; + float m_jointUpperLimit; + float m_jointMaxForce; + float m_jointMaxVelocity; + char *m_linkName; + char *m_jointName; + btCollisionObjectFloatData *m_linkCollider; + char *m_paddingPtr; + }; + + +// -------------------------------------------------- // + class btMultiBodyDoubleData + { + public: + btVector3DoubleData m_baseWorldPosition; + btQuaternionDoubleData m_baseWorldOrientation; + btVector3DoubleData m_baseLinearVelocity; + btVector3DoubleData m_baseAngularVelocity; + btVector3DoubleData m_baseInertia; + double m_baseMass; + int m_numLinks; + char m_padding[4]; + char *m_baseName; + btMultiBodyLinkDoubleData *m_links; + btCollisionObjectDoubleData *m_baseCollider; + }; + + +// -------------------------------------------------- // + class btMultiBodyFloatData + { + public: + btVector3FloatData m_baseWorldPosition; + btQuaternionFloatData m_baseWorldOrientation; + btVector3FloatData m_baseLinearVelocity; + btVector3FloatData m_baseAngularVelocity; + btVector3FloatData m_baseInertia; + float m_baseMass; + int m_numLinks; + char *m_baseName; + btMultiBodyLinkFloatData *m_links; + btCollisionObjectFloatData *m_baseCollider; + }; + + +// -------------------------------------------------- // + class btMultiBodyLinkColliderFloatData + { + public: + btCollisionObjectFloatData m_colObjData; + btMultiBodyFloatData *m_multiBody; + int m_link; + char m_padding[4]; + }; + + +// -------------------------------------------------- // + class btMultiBodyLinkColliderDoubleData + { + public: + btCollisionObjectDoubleData m_colObjData; + btMultiBodyDoubleData *m_multiBody; + int m_link; + char m_padding[4]; + }; + + +} +#endif//__BULLET_H__ \ No newline at end of file diff --git a/VERSION b/VERSION index 663ae72bc..55a1cdef1 100644 --- a/VERSION +++ b/VERSION @@ -1 +1 @@ -2.88 +2.89 diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 085a0384b..9677197ca 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -752,6 +752,14 @@ B3_SHARED_API int b3PhysicsParamSetWarmStartingFactor(b3SharedMemoryCommandHandl return 0; } +B3_SHARED_API int b3PhysicsParamSetArticulatedWarmStartingFactor(b3SharedMemoryCommandHandle commandHandle, double warmStartingFactor) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; + b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS); + command->m_physSimParamArgs.m_articulatedWarmStartingFactor = warmStartingFactor; + command->m_updateFlags |= SIM_PARAM_UPDATE_ARTICULATED_WARM_STARTING_FACTOR; + return 0; +} B3_SHARED_API int b3PhysicsParamSetSolverResidualThreshold(b3SharedMemoryCommandHandle commandHandle, double solverResidualThreshold) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 752789428..4e0e0eb63 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -339,6 +339,7 @@ extern "C" B3_SHARED_API int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation); B3_SHARED_API int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations); B3_SHARED_API int b3PhysicsParamSetWarmStartingFactor(b3SharedMemoryCommandHandle commandHandle, double warmStartingFactor); + B3_SHARED_API int b3PhysicsParamSetArticulatedWarmStartingFactor(b3SharedMemoryCommandHandle commandHandle, double warmStartingFactor); B3_SHARED_API int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle commandHandle, int filterMode); B3_SHARED_API int b3PhysicsParamSetUseSplitImpulse(b3SharedMemoryCommandHandle commandHandle, int useSplitImpulse); B3_SHARED_API int b3PhysicsParamSetSplitImpulsePenetrationThreshold(b3SharedMemoryCommandHandle commandHandle, double splitImpulsePenetrationThreshold); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 9e5799c36..437584951 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -9338,6 +9338,12 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st { m_data->m_dynamicsWorld->getSolverInfo().m_warmstartingFactor = clientCmd.m_physSimParamArgs.m_warmStartingFactor; } + + if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_ARTICULATED_WARM_STARTING_FACTOR) + { + m_data->m_dynamicsWorld->getSolverInfo().m_solverMode |= SOLVER_USE_ARTICULATED_WARMSTARTING; + m_data->m_dynamicsWorld->getSolverInfo().m_articulatedWarmstartingFactor = clientCmd.m_physSimParamArgs.m_articulatedWarmStartingFactor; + } SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED; return hasStatus; diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index d23ac1594..610bfe275 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -483,6 +483,7 @@ enum EnumSimParamUpdateFlags SIM_PARAM_CONSTRAINT_MIN_SOLVER_ISLAND_SIZE = 1 << 25, 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, }; diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index 78c0c0fcb..3db75d397 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -947,6 +947,7 @@ struct b3PhysicsSimulationParameters int m_numSimulationSubSteps; int m_numSolverIterations; double m_warmStartingFactor; + double m_articulatedWarmStartingFactor; int m_useRealTimeSimulation; int m_useSplitImpulse; double m_splitImpulsePenetrationThreshold; diff --git a/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h b/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h index 6d21f6620..573fc86bf 100644 --- a/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h +++ b/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h @@ -55,6 +55,7 @@ public: : m_userPersistentData(0), m_contactPointFlags(0), m_appliedImpulse(0.f), + m_prevRHS(0.f), m_appliedImpulseLateral1(0.f), m_appliedImpulseLateral2(0.f), m_contactMotion1(0.f), @@ -79,6 +80,7 @@ public: m_userPersistentData(0), m_contactPointFlags(0), m_appliedImpulse(0.f), + m_prevRHS(0.f), m_appliedImpulseLateral1(0.f), m_appliedImpulseLateral2(0.f), m_contactMotion1(0.f), @@ -114,6 +116,7 @@ public: int m_contactPointFlags; btScalar m_appliedImpulse; + btScalar m_prevRHS; btScalar m_appliedImpulseLateral1; btScalar m_appliedImpulseLateral2; btScalar m_contactMotion1; diff --git a/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp b/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp index f1422cad4..dca3e0926 100644 --- a/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp +++ b/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp @@ -325,6 +325,7 @@ const char* btPersistentManifold::serialize(const class btPersistentManifold* ma { const btManifoldPoint& pt = manifold->getContactPoint(i); dataOut->m_pointCacheAppliedImpulse[i] = pt.m_appliedImpulse; + dataOut->m_pointCachePrevRHS[i] = pt.m_prevRHS; dataOut->m_pointCacheAppliedImpulseLateral1[i] = pt.m_appliedImpulseLateral1; dataOut->m_pointCacheAppliedImpulseLateral2[i] = pt.m_appliedImpulseLateral2; pt.m_localPointA.serialize(dataOut->m_pointCacheLocalPointA[i]); @@ -371,6 +372,7 @@ void btPersistentManifold::deSerialize(const struct btPersistentManifoldDoubleDa btManifoldPoint& pt = m_pointCache[i]; pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i]; + pt.m_prevRHS = manifoldDataPtr->m_pointCachePrevRHS[i]; pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i]; pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i]; pt.m_localPointA.deSerializeDouble(manifoldDataPtr->m_pointCacheLocalPointA[i]); @@ -416,6 +418,7 @@ void btPersistentManifold::deSerialize(const struct btPersistentManifoldFloatDat btManifoldPoint& pt = m_pointCache[i]; pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i]; + pt.m_prevRHS = manifoldDataPtr->m_pointCachePrevRHS[i]; pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i]; pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i]; pt.m_localPointA.deSerialize(manifoldDataPtr->m_pointCacheLocalPointA[i]); @@ -444,4 +447,4 @@ void btPersistentManifold::deSerialize(const struct btPersistentManifoldFloatDat pt.m_contactMotion1 = manifoldDataPtr->m_pointCacheContactMotion1[i]; pt.m_contactMotion2 = manifoldDataPtr->m_pointCacheContactMotion2[i]; } -} \ No newline at end of file +} diff --git a/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h index 8a9134c95..0e26da0eb 100644 --- a/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h +++ b/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h @@ -173,6 +173,7 @@ public: //get rid of duplicated userPersistentData pointer m_pointCache[lastUsedIndex].m_userPersistentData = 0; m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f; + m_pointCache[lastUsedIndex].m_prevRHS = 0.f; m_pointCache[lastUsedIndex].m_contactPointFlags = 0; m_pointCache[lastUsedIndex].m_appliedImpulseLateral1 = 0.f; m_pointCache[lastUsedIndex].m_appliedImpulseLateral2 = 0.f; @@ -195,6 +196,7 @@ public: #ifdef MAINTAIN_PERSISTENCY int lifeTime = m_pointCache[insertIndex].getLifeTime(); btScalar appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse; + btScalar prevRHS = m_pointCache[insertIndex].m_prevRHS; btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1; btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2; @@ -223,6 +225,7 @@ public: m_pointCache[insertIndex] = newPoint; m_pointCache[insertIndex].m_userPersistentData = cache; m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse; + m_pointCache[insertIndex].m_prevRHS = prevRHS; m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1; m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2; } @@ -276,7 +279,8 @@ struct btPersistentManifoldDoubleData btVector3DoubleData m_pointCacheLateralFrictionDir2[4]; double m_pointCacheDistance[4]; double m_pointCacheAppliedImpulse[4]; - double m_pointCacheCombinedFriction[4]; + double m_pointCachePrevRHS[4]; + double m_pointCacheCombinedFriction[4]; double m_pointCacheCombinedRollingFriction[4]; double m_pointCacheCombinedSpinningFriction[4]; double m_pointCacheCombinedRestitution[4]; @@ -322,6 +326,7 @@ struct btPersistentManifoldFloatData btVector3FloatData m_pointCacheLateralFrictionDir2[4]; float m_pointCacheDistance[4]; float m_pointCacheAppliedImpulse[4]; + float m_pointCachePrevRHS[4]; float m_pointCacheCombinedFriction[4]; float m_pointCacheCombinedRollingFriction[4]; float m_pointCacheCombinedSpinningFriction[4]; diff --git a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h index 63d7c98e1..edb80036d 100644 --- a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h +++ b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h @@ -30,7 +30,8 @@ enum btSolverMode SOLVER_SIMD = 256, SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512, SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024, - SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048 + SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048, + SOLVER_USE_ARTICULATED_WARMSTARTING = 4096, }; struct btContactSolverInfoData @@ -54,7 +55,7 @@ struct btContactSolverInfoData btScalar m_splitImpulseTurnErp; btScalar m_linearSlop; btScalar m_warmstartingFactor; - + btScalar m_articulatedWarmstartingFactor; int m_solverMode; int m_restingContactRestitutionThreshold; int m_minimumSolverBatchSize; @@ -89,6 +90,7 @@ struct btContactSolverInfo : public btContactSolverInfoData m_splitImpulseTurnErp = 0.1f; m_linearSlop = btScalar(0.0); m_warmstartingFactor = btScalar(0.85); + m_articulatedWarmstartingFactor = btScalar(0.85); //m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD | SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | SOLVER_RANDMIZE_ORDER; m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD; // | SOLVER_RANDMIZE_ORDER; m_restingContactRestitutionThreshold = 2; //unused as of 2.81 @@ -120,6 +122,7 @@ struct btContactSolverInfoDoubleData double m_splitImpulseTurnErp; double m_linearSlop; double m_warmstartingFactor; + double m_articulatedWarmstartingFactor; double m_maxGyroscopicForce; ///it is only used for 'explicit' version of gyroscopic force double m_singleAxisRollingFrictionThreshold; @@ -150,16 +153,17 @@ struct btContactSolverInfoFloatData float m_linearSlop; float m_warmstartingFactor; + float m_articulatedWarmstartingFactor; float m_maxGyroscopicForce; - float m_singleAxisRollingFrictionThreshold; + float m_singleAxisRollingFrictionThreshold; int m_numIterations; int m_solverMode; int m_restingContactRestitutionThreshold; - int m_minimumSolverBatchSize; + int m_minimumSolverBatchSize; int m_splitImpulse; - char m_padding[4]; + }; #endif //BT_CONTACT_SOLVER_INFO diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp index dfbbdb154..a3c9f42eb 100644 --- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp +++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp @@ -1436,9 +1436,7 @@ void btDiscreteDynamicsWorld::serializeDynamicsWorldInfo(btSerializer* serialize worldInfo->m_solverInfo.m_splitImpulse = getSolverInfo().m_splitImpulse; - // Fill padding with zeros to appease msan. - memset(worldInfo->m_solverInfo.m_padding, 0, sizeof(worldInfo->m_solverInfo.m_padding)); - + #ifdef BT_USE_DOUBLE_PRECISION const char* structType = "btDynamicsWorldDoubleData"; #else //BT_USE_DOUBLE_PRECISION diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp b/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp index e17ab94d9..d7ed05ce5 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp @@ -342,40 +342,6 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint(btMultiBodySolverConstra solverConstraint.m_friction = 0.f; //cp.m_combinedFriction; } - ///warm starting (or zero if disabled) - /* - if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) - { - solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor; - - if (solverConstraint.m_appliedImpulse) - { - if (multiBodyA) - { - btScalar impulse = solverConstraint.m_appliedImpulse; - btScalar* deltaV = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; - multiBodyA->applyDeltaVee(deltaV,impulse); - applyDeltaVee(data,deltaV,impulse,solverConstraint.m_deltaVelAindex,ndofA); - } else - { - if (rb0) - bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1*bodyA->internalGetInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse); - } - if (multiBodyB) - { - btScalar impulse = solverConstraint.m_appliedImpulse; - btScalar* deltaV = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; - multiBodyB->applyDeltaVee(deltaV,impulse); - applyDeltaVee(data,deltaV,impulse,solverConstraint.m_deltaVelBindex,ndofB); - } else - { - if (rb1) - bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2*bodyB->internalGetInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse); - } - } - } else - */ - solverConstraint.m_appliedImpulse = 0.f; solverConstraint.m_appliedPushImpulse = 0.f; diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp index 45c893b27..ffae5300f 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp @@ -22,6 +22,8 @@ subject to the following restrictions: #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" #include "LinearMath/btQuickprof.h" +#include "BulletDynamics/Featherstone/btMultiBodySolverConstraint.h" +#include "LinearMath/btScalar.h" btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) { @@ -491,11 +493,7 @@ btScalar btMultiBodyConstraintSolver::resolveConeFrictionConstraintRows(const bt return deltaVel; } -void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint, - const btVector3& contactNormal, - btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, - btScalar& relaxation, - bool isFriction, btScalar desiredVelocity, btScalar cfmSlip) +void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint, const btVector3& contactNormal, const btScalar& appliedImpulse, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, btScalar& relaxation, bool isFriction, btScalar desiredVelocity, btScalar cfmSlip) { BT_PROFILE("setupMultiBodyContactConstraint"); btVector3 rel_pos1; @@ -781,48 +779,6 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol } } - ///warm starting (or zero if disabled) - //disable warmstarting for btMultiBody, it has issues gaining energy (==explosion) - if (/* DISABLES CODE */ (0)) //infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) - { - solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor; - - if (solverConstraint.m_appliedImpulse) - { - if (multiBodyA) - { - btScalar impulse = solverConstraint.m_appliedImpulse; - btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; - multiBodyA->applyDeltaVeeMultiDof(deltaV, impulse); - - applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelAindex, ndofA); - } - else - { - if (rb0) - bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1 * bodyA->internalGetInvMass() * rb0->getLinearFactor(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse); - } - if (multiBodyB) - { - btScalar impulse = solverConstraint.m_appliedImpulse; - btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; - multiBodyB->applyDeltaVeeMultiDof(deltaV, impulse); - applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelBindex, ndofB); - } - else - { - if (rb1) - bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass() * rb1->getLinearFactor(), -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse); - } - } - } - else - { - solverConstraint.m_appliedImpulse = 0.f; - } - - solverConstraint.m_appliedPushImpulse = 0.f; - { btScalar positionalError = 0.f; btScalar velocityError = restitution - rel_vel; // * damping; //note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction @@ -874,6 +830,54 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol solverConstraint.m_cfm = cfm * solverConstraint.m_jacDiagABInv; } + + if (infoGlobal.m_solverMode & SOLVER_USE_ARTICULATED_WARMSTARTING) + { + if (btFabs(cp.m_prevRHS) > 1e-5 && cp.m_prevRHS < 2* solverConstraint.m_rhs && solverConstraint.m_rhs < 2*cp.m_prevRHS) + { + solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse / cp.m_prevRHS * solverConstraint.m_rhs * infoGlobal.m_articulatedWarmstartingFactor; + if (solverConstraint.m_appliedImpulse < 0) + solverConstraint.m_appliedImpulse = 0; + } + else + { + solverConstraint.m_appliedImpulse = 0.f; + } + + if (solverConstraint.m_appliedImpulse) + { + if (multiBodyA) + { + btScalar impulse = solverConstraint.m_appliedImpulse; + btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; + multiBodyA->applyDeltaVeeMultiDof2(deltaV, impulse); + + applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelAindex, ndofA); + } + else + { + if (rb0) + bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1 * bodyA->internalGetInvMass() * rb0->getLinearFactor(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse); + } + if (multiBodyB) + { + btScalar impulse = solverConstraint.m_appliedImpulse; + btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; + multiBodyB->applyDeltaVeeMultiDof2(deltaV, impulse); + applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelBindex, ndofB); + } + else + { + if (rb1) + bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass() * rb1->getLinearFactor(), -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse); + } + } + } + else + { + solverConstraint.m_appliedImpulse = 0.f; + solverConstraint.m_appliedPushImpulse = 0.f; + } } void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMultiBodySolverConstraint& solverConstraint, @@ -1130,7 +1134,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu } } -btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) +btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionConstraint(const btVector3& normalAxis, const btScalar& appliedImpulse, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) { BT_PROFILE("addMultiBodyFrictionConstraint"); btMultiBodySolverConstraint& solverConstraint = m_multiBodyFrictionContactConstraints.expandNonInitializing(); @@ -1161,7 +1165,7 @@ btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionCo solverConstraint.m_originalContactPoint = &cp; - setupMultiBodyContactConstraint(solverConstraint, normalAxis, cp, infoGlobal, relaxation, isFriction, desiredVelocity, cfmSlip); + setupMultiBodyContactConstraint(solverConstraint, normalAxis, 0, cp, infoGlobal, relaxation, isFriction, desiredVelocity, cfmSlip); return solverConstraint; } @@ -1297,7 +1301,7 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* solverConstraint.m_originalContactPoint = &cp; bool isFriction = false; - setupMultiBodyContactConstraint(solverConstraint, cp.m_normalWorldOnB, cp, infoGlobal, relaxation, isFriction); + setupMultiBodyContactConstraint(solverConstraint, cp.m_normalWorldOnB, cp.m_appliedImpulse, cp, infoGlobal, relaxation, isFriction); // const btVector3& pos1 = cp.getPositionWorldOnA(); // const btVector3& pos2 = cp.getPositionWorldOnB(); @@ -1371,13 +1375,13 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* { applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); - addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal); + addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, cp.m_appliedImpulseLateral1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); - addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal); + addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, cp.m_appliedImpulseLateral2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal); } if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION)) @@ -1388,26 +1392,27 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* } else { - addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM); + addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, cp.m_appliedImpulseLateral1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) - addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM); - - //setMultiBodyFrictionConstraintImpulse( solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal); - //todo: + addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, cp.m_appliedImpulseLateral2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM); solverConstraint.m_appliedImpulse = 0.f; solverConstraint.m_appliedPushImpulse = 0.f; - } + } #endif //ENABLE_FRICTION } + else + { + // Reset quantities related to warmstart as 0. + cp.m_appliedImpulse = 0; + cp.m_prevRHS = 0; + } } } void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal) { - //btPersistentManifold* manifold = 0; - for (int i = 0; i < numManifolds; i++) { btPersistentManifold* manifold = manifoldPtr[i]; @@ -1434,6 +1439,51 @@ void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifol c->createConstraintRows(m_multiBodyNonContactConstraints, m_data, infoGlobal); } + + // Warmstart for noncontact constraints + if (infoGlobal.m_solverMode & SOLVER_USE_ARTICULATED_WARMSTARTING) + { + for (int i = 0; i < m_multiBodyNonContactConstraints.size(); i++) + { + btMultiBodySolverConstraint& solverConstraint = + m_multiBodyNonContactConstraints[i]; + solverConstraint.m_appliedImpulse = + solverConstraint.m_orgConstraint->getAppliedImpulse(solverConstraint.m_orgDofIndex) * + infoGlobal.m_articulatedWarmstartingFactor; + + btMultiBody* multiBodyA = solverConstraint.m_multiBodyA; + btMultiBody* multiBodyB = solverConstraint.m_multiBodyB; + if (solverConstraint.m_appliedImpulse) + { + if (multiBodyA) + { + int ndofA = multiBodyA->getNumDofs() + 6; + btScalar* deltaV = + &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; + btScalar impulse = solverConstraint.m_appliedImpulse; + multiBodyA->applyDeltaVeeMultiDof2(deltaV, impulse); + applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelAindex, ndofA); + } + if (multiBodyB) + { + int ndofB = multiBodyB->getNumDofs() + 6; + btScalar* deltaV = + &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; + btScalar impulse = solverConstraint.m_appliedImpulse; + multiBodyB->applyDeltaVeeMultiDof2(deltaV, impulse); + applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelBindex, ndofB); + } + } + } + } + else + { + for (int i = 0; i < m_multiBodyNonContactConstraints.size(); i++) + { + btMultiBodySolverConstraint& solverConstraint = m_multiBodyNonContactConstraints[i]; + solverConstraint.m_appliedImpulse = 0; + } + } } btScalar btMultiBodyConstraintSolver::solveGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher) @@ -1556,7 +1606,7 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO writeBackSolverBodyToMultiBody(solverConstraint, infoGlobal.m_timeStep); } - if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + { BT_PROFILE("warm starting write back"); for (int j = 0; j < numPoolConstraints; j++) @@ -1565,6 +1615,7 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO btManifoldPoint* pt = (btManifoldPoint*)solverConstraint.m_originalContactPoint; btAssert(pt); pt->m_appliedImpulse = solverConstraint.m_appliedImpulse; + pt->m_prevRHS = solverConstraint.m_rhs; pt->m_appliedImpulseLateral1 = m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_appliedImpulse; //printf("pt->m_appliedImpulseLateral1 = %f\n", pt->m_appliedImpulseLateral1); @@ -1576,9 +1627,8 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO pt->m_appliedImpulseLateral2 = 0; } } - - //do a callback here? } + #if 0 //multibody joint feedback { diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h index abf571883..f584360e2 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h @@ -49,7 +49,7 @@ protected: void convertContacts(btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal); - btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0); + btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis, const btScalar& appliedImpulse, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0); btMultiBodySolverConstraint& addMultiBodyTorsionalFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, @@ -66,7 +66,9 @@ protected: void setupMultiBodyContactConstraint(btMultiBodySolverConstraint & solverConstraint, const btVector3& contactNormal, - btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, + const btScalar& appliedImpulse, + btManifoldPoint& cp, + const btContactSolverInfo& infoGlobal, btScalar& relaxation, bool isFriction, btScalar desiredVelocity = 0, btScalar cfmSlip = 0); @@ -82,7 +84,6 @@ protected: void convertMultiBodyContact(btPersistentManifold * manifold, const btContactSolverInfo& infoGlobal); virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); // virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); - virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); void applyDeltaVee(btScalar * deltaV, btScalar impulse, int velocityIndex, int ndof); void writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint & constraint, btScalar deltaTime); diff --git a/src/LinearMath/btScalar.h b/src/LinearMath/btScalar.h index c09085ebd..0fa46df09 100644 --- a/src/LinearMath/btScalar.h +++ b/src/LinearMath/btScalar.h @@ -25,13 +25,23 @@ subject to the following restrictions: #include /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/ -#define BT_BULLET_VERSION 288 +#define BT_BULLET_VERSION 289 inline int btGetVersion() { return BT_BULLET_VERSION; } +inline int btIsDoublePrecision() +{ + #ifdef BT_USE_DOUBLE_PRECISION + return true; + #else + return false; + #endif +} + + // The following macro "BT_NOT_EMPTY_FILE" can be put into a file // in order suppress the MS Visual C++ Linker warning 4221 // diff --git a/src/LinearMath/btSerializer.cpp b/src/LinearMath/btSerializer.cpp index 18683c8fa..068836f2c 100644 --- a/src/LinearMath/btSerializer.cpp +++ b/src/LinearMath/btSerializer.cpp @@ -1,6 +1,5 @@ -// clang-format off char sBulletDNAstr[]= { -char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-76),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), 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+char(13),char(0),char(123),char(1),char(4),char(0),char(124),char(1),char(4),char(0),char(125),char(1),char(4),char(0),char(126),char(1),char(4),char(0),char(53),char(0), +char(92),char(0),char(19),char(0),char(50),char(0),char(-68),char(0),char(89),char(0),char(127),char(1),char(82),char(0),char(-128),char(1),char(83),char(0),char(-127),char(1), +char(84),char(0),char(-126),char(1),char(85),char(0),char(-125),char(1),char(86),char(0),char(-124),char(1),char(87),char(0),char(-123),char(1),char(90),char(0),char(-122),char(1), +char(91),char(0),char(-121),char(1),char(4),char(0),char(-120),char(1),char(4),char(0),char(102),char(1),char(4),char(0),char(-119),char(1),char(4),char(0),char(-118),char(1), +char(4),char(0),char(-117),char(1),char(4),char(0),char(-116),char(1),char(4),char(0),char(-115),char(1),char(4),char(0),char(-114),char(1),char(88),char(0),char(-113),char(1), +char(93),char(0),char(28),char(0),char(16),char(0),char(-112),char(1),char(14),char(0),char(-111),char(1),char(14),char(0),char(-110),char(1),char(14),char(0),char(-109),char(1), +char(14),char(0),char(-108),char(1),char(14),char(0),char(-107),char(1),char(14),char(0),char(-106),char(1),char(14),char(0),char(-105),char(1),char(14),char(0),char(-104),char(1), +char(14),char(0),char(-103),char(1),char(8),char(0),char(-102),char(1),char(4),char(0),char(-101),char(1),char(4),char(0),char(126),char(1),char(4),char(0),char(-100),char(1), +char(4),char(0),char(-99),char(1),char(8),char(0),char(-98),char(1),char(8),char(0),char(-97),char(1),char(8),char(0),char(-96),char(1),char(8),char(0),char(-95),char(1), +char(8),char(0),char(-94),char(1),char(8),char(0),char(-93),char(1),char(8),char(0),char(-92),char(1),char(8),char(0),char(-91),char(1),char(8),char(0),char(-90),char(1), +char(0),char(0),char(-89),char(1),char(0),char(0),char(-88),char(1),char(48),char(0),char(-87),char(1),char(0),char(0),char(-86),char(1),char(94),char(0),char(28),char(0), +char(15),char(0),char(-112),char(1),char(13),char(0),char(-111),char(1),char(13),char(0),char(-110),char(1),char(13),char(0),char(-109),char(1),char(13),char(0),char(-108),char(1), +char(13),char(0),char(-107),char(1),char(13),char(0),char(-106),char(1),char(13),char(0),char(-105),char(1),char(13),char(0),char(-104),char(1),char(13),char(0),char(-103),char(1), +char(4),char(0),char(-100),char(1),char(7),char(0),char(-102),char(1),char(4),char(0),char(-101),char(1),char(4),char(0),char(126),char(1),char(7),char(0),char(-98),char(1), +char(7),char(0),char(-97),char(1),char(7),char(0),char(-96),char(1),char(4),char(0),char(-99),char(1),char(7),char(0),char(-95),char(1),char(7),char(0),char(-94),char(1), +char(7),char(0),char(-93),char(1),char(7),char(0),char(-92),char(1),char(7),char(0),char(-91),char(1),char(7),char(0),char(-90),char(1),char(0),char(0),char(-89),char(1), +char(0),char(0),char(-88),char(1),char(50),char(0),char(-87),char(1),char(0),char(0),char(-86),char(1),char(95),char(0),char(11),char(0),char(14),char(0),char(-85),char(1), +char(16),char(0),char(-84),char(1),char(14),char(0),char(-83),char(1),char(14),char(0),char(-82),char(1),char(14),char(0),char(-81),char(1),char(8),char(0),char(-80),char(1), +char(4),char(0),char(-119),char(1),char(0),char(0),char(37),char(0),char(0),char(0),char(-79),char(1),char(93),char(0),char(-126),char(1),char(48),char(0),char(-78),char(1), +char(96),char(0),char(10),char(0),char(13),char(0),char(-85),char(1),char(15),char(0),char(-84),char(1),char(13),char(0),char(-83),char(1),char(13),char(0),char(-82),char(1), +char(13),char(0),char(-81),char(1),char(7),char(0),char(-80),char(1),char(4),char(0),char(-119),char(1),char(0),char(0),char(-79),char(1),char(94),char(0),char(-126),char(1), +char(50),char(0),char(-78),char(1),char(97),char(0),char(4),char(0),char(50),char(0),char(-77),char(1),char(96),char(0),char(-76),char(1),char(4),char(0),char(-75),char(1), +char(0),char(0),char(37),char(0),char(98),char(0),char(4),char(0),char(48),char(0),char(-77),char(1),char(95),char(0),char(-76),char(1),char(4),char(0),char(-75),char(1), +char(0),char(0),char(37),char(0),}; int sBulletDNAlen= sizeof(sBulletDNAstr); - -// clang-format on diff --git a/src/LinearMath/btSerializer.h b/src/LinearMath/btSerializer.h index ba3444161..2ee712047 100644 --- a/src/LinearMath/btSerializer.h +++ b/src/LinearMath/btSerializer.h @@ -481,7 +481,7 @@ public: buffer[9] = '2'; buffer[10] = '8'; - buffer[11] = '8'; + buffer[11] = '9'; } virtual void startSerialization() diff --git a/src/LinearMath/btSerializer64.cpp b/src/LinearMath/btSerializer64.cpp index cf281cdb3..6c4bc7031 100644 --- a/src/LinearMath/btSerializer64.cpp +++ b/src/LinearMath/btSerializer64.cpp @@ -1,6 +1,5 @@ -// clang-format off char sBulletDNAstr64[]= { -char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-76),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), +char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-74),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95), char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111), 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+char(84),char(0),char(-126),char(1),char(85),char(0),char(-125),char(1),char(86),char(0),char(-124),char(1),char(87),char(0),char(-123),char(1),char(90),char(0),char(-122),char(1), +char(91),char(0),char(-121),char(1),char(4),char(0),char(-120),char(1),char(4),char(0),char(102),char(1),char(4),char(0),char(-119),char(1),char(4),char(0),char(-118),char(1), +char(4),char(0),char(-117),char(1),char(4),char(0),char(-116),char(1),char(4),char(0),char(-115),char(1),char(4),char(0),char(-114),char(1),char(88),char(0),char(-113),char(1), +char(93),char(0),char(28),char(0),char(16),char(0),char(-112),char(1),char(14),char(0),char(-111),char(1),char(14),char(0),char(-110),char(1),char(14),char(0),char(-109),char(1), +char(14),char(0),char(-108),char(1),char(14),char(0),char(-107),char(1),char(14),char(0),char(-106),char(1),char(14),char(0),char(-105),char(1),char(14),char(0),char(-104),char(1), +char(14),char(0),char(-103),char(1),char(8),char(0),char(-102),char(1),char(4),char(0),char(-101),char(1),char(4),char(0),char(126),char(1),char(4),char(0),char(-100),char(1), +char(4),char(0),char(-99),char(1),char(8),char(0),char(-98),char(1),char(8),char(0),char(-97),char(1),char(8),char(0),char(-96),char(1),char(8),char(0),char(-95),char(1), +char(8),char(0),char(-94),char(1),char(8),char(0),char(-93),char(1),char(8),char(0),char(-92),char(1),char(8),char(0),char(-91),char(1),char(8),char(0),char(-90),char(1), +char(0),char(0),char(-89),char(1),char(0),char(0),char(-88),char(1),char(48),char(0),char(-87),char(1),char(0),char(0),char(-86),char(1),char(94),char(0),char(28),char(0), +char(15),char(0),char(-112),char(1),char(13),char(0),char(-111),char(1),char(13),char(0),char(-110),char(1),char(13),char(0),char(-109),char(1),char(13),char(0),char(-108),char(1), +char(13),char(0),char(-107),char(1),char(13),char(0),char(-106),char(1),char(13),char(0),char(-105),char(1),char(13),char(0),char(-104),char(1),char(13),char(0),char(-103),char(1), +char(4),char(0),char(-100),char(1),char(7),char(0),char(-102),char(1),char(4),char(0),char(-101),char(1),char(4),char(0),char(126),char(1),char(7),char(0),char(-98),char(1), +char(7),char(0),char(-97),char(1),char(7),char(0),char(-96),char(1),char(4),char(0),char(-99),char(1),char(7),char(0),char(-95),char(1),char(7),char(0),char(-94),char(1), +char(7),char(0),char(-93),char(1),char(7),char(0),char(-92),char(1),char(7),char(0),char(-91),char(1),char(7),char(0),char(-90),char(1),char(0),char(0),char(-89),char(1), +char(0),char(0),char(-88),char(1),char(50),char(0),char(-87),char(1),char(0),char(0),char(-86),char(1),char(95),char(0),char(11),char(0),char(14),char(0),char(-85),char(1), +char(16),char(0),char(-84),char(1),char(14),char(0),char(-83),char(1),char(14),char(0),char(-82),char(1),char(14),char(0),char(-81),char(1),char(8),char(0),char(-80),char(1), +char(4),char(0),char(-119),char(1),char(0),char(0),char(37),char(0),char(0),char(0),char(-79),char(1),char(93),char(0),char(-126),char(1),char(48),char(0),char(-78),char(1), +char(96),char(0),char(10),char(0),char(13),char(0),char(-85),char(1),char(15),char(0),char(-84),char(1),char(13),char(0),char(-83),char(1),char(13),char(0),char(-82),char(1), +char(13),char(0),char(-81),char(1),char(7),char(0),char(-80),char(1),char(4),char(0),char(-119),char(1),char(0),char(0),char(-79),char(1),char(94),char(0),char(-126),char(1), +char(50),char(0),char(-78),char(1),char(97),char(0),char(4),char(0),char(50),char(0),char(-77),char(1),char(96),char(0),char(-76),char(1),char(4),char(0),char(-75),char(1), +char(0),char(0),char(37),char(0),char(98),char(0),char(4),char(0),char(48),char(0),char(-77),char(1),char(95),char(0),char(-76),char(1),char(4),char(0),char(-75),char(1), +char(0),char(0),char(37),char(0),}; int sBulletDNAlen64= sizeof(sBulletDNAstr64); -// clang-format on From f78a72ec6417c236953da48fd4e8f4b7beb5e88e Mon Sep 17 00:00:00 2001 From: sjdrc Date: Thu, 31 Oct 2019 13:53:00 +1100 Subject: [PATCH 241/389] Update bullet.pc.cmake Change pkgconfig file to match example in pkg-config man files --- bullet.pc.cmake | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/bullet.pc.cmake b/bullet.pc.cmake index 8b989faba..1630d2979 100644 --- a/bullet.pc.cmake +++ b/bullet.pc.cmake @@ -1,6 +1,11 @@ +prefix=@CMAKE_INSTALL_PREFIX@ +exec_prefix=${prefix} +libdir=${exec_prefix}/@LIB_DESTINATION@ +includedir=${prefix}/@INCLUDE_INSTALL_DIR@ + Name: bullet Description: Bullet Continuous Collision Detection and Physics Library -Requires: Version: @BULLET_VERSION@ -Libs: -L@CMAKE_INSTALL_PREFIX@/@LIB_DESTINATION@ -lBulletSoftBody -lBulletDynamics -lBulletCollision -lLinearMath -Cflags: @BULLET_DOUBLE_DEF@ -I@CMAKE_INSTALL_PREFIX@/@INCLUDE_INSTALL_DIR@ -I@CMAKE_INSTALL_PREFIX@/include +Requires: +Libs: -L${libdir} -lBulletSoftBody -lBulletDynamics -lBulletCollision -lLinearMath +Cflags: @BULLET_DOUBLE_DEF@ -I${includedir} -I${prefix}/include From 133fd3a73cc4e93c98d84cb32cc4d0918dbcbfaf Mon Sep 17 00:00:00 2001 From: Aaron Franke Date: Thu, 31 Oct 2019 08:22:25 -0400 Subject: [PATCH 242/389] Fix "seperate" typos --- Extras/ConvexDecomposition/cd_wavefront.cpp | 4 +- .../b3GpuParallelLinearBvh.cpp | 2 +- .../b3StridingMeshInterface.h | 2 +- .../b3TriangleIndexVertexArray.h | 2 +- .../b3VoronoiSimplexSolver.cpp | 4 +- .../CollisionShapes/btStridingMeshInterface.h | 2 +- .../btTriangleIndexVertexArray.h | 2 +- .../btComputeGjkEpaPenetration.h | 8 ++-- .../btGjkPairDetector.cpp | 40 +++++++++---------- .../NarrowPhaseCollision/btGjkPairDetector.h | 4 +- .../btMinkowskiPenetrationDepthSolver.cpp | 36 ++++++++--------- .../NarrowPhaseCollision/btMprPenetration.h | 8 ++-- 12 files changed, 57 insertions(+), 57 deletions(-) diff --git a/Extras/ConvexDecomposition/cd_wavefront.cpp b/Extras/ConvexDecomposition/cd_wavefront.cpp index 1c722b4d3..b33080964 100644 --- a/Extras/ConvexDecomposition/cd_wavefront.cpp +++ b/Extras/ConvexDecomposition/cd_wavefront.cpp @@ -176,7 +176,7 @@ public: mHard[(int)c] = ST_DATA; } - void DefaultSymbols(void); // set up default symbols for hard seperator and comment symbol of the '#' character. + void DefaultSymbols(void); // set up default symbols for hard separator and comment symbol of the '#' character. bool EOS(char c) { @@ -197,7 +197,7 @@ private: inline bool IsHard(char c); inline char *SkipSpaces(char *foo); inline bool IsWhiteSpace(char c); - inline bool IsNonSeparator(char c); // non seperator,neither hard nor soft + inline bool IsNonSeparator(char c); // non separator, neither hard nor soft bool mMyAlloc; // whether or not *I* allocated the buffer and am responsible for deleting it. char *mData; // ascii data to parse. diff --git a/src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp b/src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp index 072192868..616fc34f3 100644 --- a/src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp +++ b/src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp @@ -496,7 +496,7 @@ void b3GpuParallelLinearBvh::constructBinaryRadixTree() clFinish(m_queue); } - //Find the number of nodes seperating each internal node and the root node + //Find the number of nodes separating each internal node and the root node //so that the AABBs can be set using the next kernel. //Also determine the maximum number of nodes separating an internal node and the root node. { diff --git a/src/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h b/src/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h index 087b30f3e..2b1e63be7 100644 --- a/src/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h +++ b/src/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h @@ -68,7 +68,7 @@ public: virtual void unLockReadOnlyVertexBase(int subpart) const = 0; - /// getNumSubParts returns the number of seperate subparts + /// getNumSubParts returns the number of separate subparts /// each subpart has a continuous array of vertices and indices virtual int getNumSubParts() const = 0; diff --git a/src/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h b/src/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h index b6ceb8df1..57cbf03dc 100644 --- a/src/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h +++ b/src/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h @@ -100,7 +100,7 @@ public: virtual void unLockReadOnlyVertexBase(int subpart) const { (void)subpart; } - /// getNumSubParts returns the number of seperate subparts + /// getNumSubParts returns the number of separate subparts /// each subpart has a continuous array of vertices and indices virtual int getNumSubParts() const { diff --git a/src/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp b/src/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp index dae61d458..8b0a834ef 100644 --- a/src/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp +++ b/src/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp @@ -183,9 +183,9 @@ bool b3VoronoiSimplexSolver::updateClosestVectorAndPoints() const b3Vector3& c = m_simplexVectorW[2]; const b3Vector3& d = m_simplexVectorW[3]; - bool hasSeperation = closestPtPointTetrahedron(p, a, b, c, d, m_cachedBC); + bool hasSeparation = closestPtPointTetrahedron(p, a, b, c, d, m_cachedBC); - if (hasSeperation) + if (hasSeparation) { m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] + m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] + diff --git a/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h b/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h index 7d729ee0d..68a41dfb4 100644 --- a/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h +++ b/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h @@ -58,7 +58,7 @@ public: virtual void unLockReadOnlyVertexBase(int subpart) const = 0; - /// getNumSubParts returns the number of seperate subparts + /// getNumSubParts returns the number of separate subparts /// each subpart has a continuous array of vertices and indices virtual int getNumSubParts() const = 0; diff --git a/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h b/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h index 8ebb22baa..556aa3fef 100644 --- a/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h +++ b/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h @@ -100,7 +100,7 @@ public: virtual void unLockReadOnlyVertexBase(int subpart) const { (void)subpart; } - /// getNumSubParts returns the number of seperate subparts + /// getNumSubParts returns the number of separate subparts /// each subpart has a continuous array of vertices and indices virtual int getNumSubParts() const { diff --git a/src/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h b/src/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h index c94391d81..3c8213303 100644 --- a/src/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h +++ b/src/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h @@ -95,11 +95,11 @@ int btComputeGjkEpaPenetration(const btConvexTemplate& a, const btConvexTemplate for (;;) //while (true) { - btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis(); - btVector3 seperatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis(); + btVector3 separatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis(); + btVector3 separatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis(); - btVector3 pInA = a.getLocalSupportWithoutMargin(seperatingAxisInA); - btVector3 qInB = b.getLocalSupportWithoutMargin(seperatingAxisInB); + btVector3 pInA = a.getLocalSupportWithoutMargin(separatingAxisInA); + btVector3 qInB = b.getLocalSupportWithoutMargin(separatingAxisInB); btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp index 4339b2ea7..5af93cb2f 100644 --- a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp +++ b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp @@ -79,11 +79,11 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput &input, Result static void btComputeSupport(const btConvexShape *convexA, const btTransform &localTransA, const btConvexShape *convexB, const btTransform &localTransB, const btVector3 &dir, bool check2d, btVector3 &supAworld, btVector3 &supBworld, btVector3 &aMinb) { - btVector3 seperatingAxisInA = (dir)*localTransA.getBasis(); - btVector3 seperatingAxisInB = (-dir) * localTransB.getBasis(); + btVector3 separatingAxisInA = (dir)*localTransA.getBasis(); + btVector3 separatingAxisInB = (-dir) * localTransB.getBasis(); - btVector3 pInANoMargin = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInBNoMargin = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + btVector3 pInANoMargin = convexA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + btVector3 qInBNoMargin = convexB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); btVector3 pInA = pInANoMargin; btVector3 qInB = qInBNoMargin; @@ -839,11 +839,11 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu for (;;) //while (true) { - btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis(); - btVector3 seperatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis(); + btVector3 separatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis(); + btVector3 separatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis(); - btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); @@ -1116,11 +1116,11 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu btScalar d2 = 0.f; { - btVector3 seperatingAxisInA = (-orgNormalInB) * localTransA.getBasis(); - btVector3 seperatingAxisInB = orgNormalInB * localTransB.getBasis(); + btVector3 separatingAxisInA = (-orgNormalInB) * localTransA.getBasis(); + btVector3 separatingAxisInB = orgNormalInB * localTransB.getBasis(); - btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); @@ -1130,11 +1130,11 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu btScalar d1 = 0; { - btVector3 seperatingAxisInA = (normalInB)*localTransA.getBasis(); - btVector3 seperatingAxisInB = -normalInB * localTransB.getBasis(); + btVector3 separatingAxisInA = (normalInB)*localTransA.getBasis(); + btVector3 separatingAxisInB = -normalInB * localTransB.getBasis(); - btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); @@ -1143,11 +1143,11 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu } btScalar d0 = 0.f; { - btVector3 seperatingAxisInA = (-normalInB) * input.m_transformA.getBasis(); - btVector3 seperatingAxisInB = normalInB * input.m_transformB.getBasis(); + btVector3 separatingAxisInA = (-normalInB) * input.m_transformA.getBasis(); + btVector3 separatingAxisInB = normalInB * input.m_transformB.getBasis(); - btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h index 659b63551..faa02287c 100644 --- a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h +++ b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h @@ -64,9 +64,9 @@ public: { m_minkowskiB = minkB; } - void setCachedSeperatingAxis(const btVector3& seperatingAxis) + void setCachedSeparatingAxis(const btVector3& separatingAxis) { - m_cachedSeparatingAxis = seperatingAxis; + m_cachedSeparatingAxis = separatingAxis; } const btVector3& getCachedSeparatingAxis() const diff --git a/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp b/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp index a77449812..c042c2420 100644 --- a/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp +++ b/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp @@ -65,7 +65,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s btScalar minProj = btScalar(BT_LARGE_FLOAT); btVector3 minNorm(btScalar(0.), btScalar(0.), btScalar(0.)); btVector3 minA, minB; - btVector3 seperatingAxisInA, seperatingAxisInB; + btVector3 separatingAxisInA, separatingAxisInB; btVector3 pInA, qInB, pWorld, qWorld, w; #ifndef __SPU__ @@ -75,8 +75,8 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s btVector3 supportVerticesABatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; btVector3 supportVerticesBBatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; - btVector3 seperatingAxisInABatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; - btVector3 seperatingAxisInBBatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; + btVector3 separatingAxisInABatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; + btVector3 separatingAxisInBBatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; int i; int numSampleDirections = NUM_UNITSPHERE_POINTS; @@ -84,8 +84,8 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s for (i = 0; i < numSampleDirections; i++) { btVector3 norm = getPenetrationDirections()[i]; - seperatingAxisInABatch[i] = (-norm) * transA.getBasis(); - seperatingAxisInBBatch[i] = norm * transB.getBasis(); + separatingAxisInABatch[i] = (-norm) * transA.getBasis(); + separatingAxisInBBatch[i] = norm * transB.getBasis(); } { @@ -98,8 +98,8 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s convexA->getPreferredPenetrationDirection(i, norm); norm = transA.getBasis() * norm; getPenetrationDirections()[numSampleDirections] = norm; - seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); - seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis(); + separatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); + separatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis(); numSampleDirections++; } } @@ -115,15 +115,15 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s convexB->getPreferredPenetrationDirection(i, norm); norm = transB.getBasis() * norm; getPenetrationDirections()[numSampleDirections] = norm; - seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); - seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis(); + separatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); + separatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis(); numSampleDirections++; } } } - convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch, supportVerticesABatch, numSampleDirections); - convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch, supportVerticesBBatch, numSampleDirections); + convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(separatingAxisInABatch, supportVerticesABatch, numSampleDirections); + convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(separatingAxisInBBatch, supportVerticesBBatch, numSampleDirections); for (i = 0; i < numSampleDirections; i++) { @@ -134,8 +134,8 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s } if (norm.length2() > 0.01) { - seperatingAxisInA = seperatingAxisInABatch[i]; - seperatingAxisInB = seperatingAxisInBBatch[i]; + separatingAxisInA = separatingAxisInABatch[i]; + separatingAxisInB = separatingAxisInBBatch[i]; pInA = supportVerticesABatch[i]; qInB = supportVerticesBBatch[i]; @@ -199,10 +199,10 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s for (int i = 0; i < numSampleDirections; i++) { const btVector3& norm = getPenetrationDirections()[i]; - seperatingAxisInA = (-norm) * transA.getBasis(); - seperatingAxisInB = norm * transB.getBasis(); - pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + separatingAxisInA = (-norm) * transA.getBasis(); + separatingAxisInB = norm * transB.getBasis(); + pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); pWorld = transA(pInA); qWorld = transB(qInB); w = qWorld - pWorld; @@ -259,7 +259,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT); //minProj; btIntermediateResult res; - gjkdet.setCachedSeperatingAxis(-minNorm); + gjkdet.setCachedSeparatingAxis(-minNorm); gjkdet.getClosestPoints(input, res, debugDraw); btScalar correctedMinNorm = minProj - res.m_depth; diff --git a/src/BulletCollision/NarrowPhaseCollision/btMprPenetration.h b/src/BulletCollision/NarrowPhaseCollision/btMprPenetration.h index 94d0f284f..534a66d3f 100644 --- a/src/BulletCollision/NarrowPhaseCollision/btMprPenetration.h +++ b/src/BulletCollision/NarrowPhaseCollision/btMprPenetration.h @@ -309,11 +309,11 @@ inline void btMprSupport(const btConvexTemplate &a, const btConvexTemplate &b, const btMprCollisionDescription &colDesc, const btVector3 &dir, btMprSupport_t *supp) { - btVector3 seperatingAxisInA = dir * a.getWorldTransform().getBasis(); - btVector3 seperatingAxisInB = -dir * b.getWorldTransform().getBasis(); + btVector3 separatingAxisInA = dir * a.getWorldTransform().getBasis(); + btVector3 separatingAxisInB = -dir * b.getWorldTransform().getBasis(); - btVector3 pInA = a.getLocalSupportWithMargin(seperatingAxisInA); - btVector3 qInB = b.getLocalSupportWithMargin(seperatingAxisInB); + btVector3 pInA = a.getLocalSupportWithMargin(separatingAxisInA); + btVector3 qInB = b.getLocalSupportWithMargin(separatingAxisInB); supp->v1 = a.getWorldTransform()(pInA); supp->v2 = b.getWorldTransform()(qInB); From 618c85325cd2fb8321988550f0e0e0d63ce56e5a Mon Sep 17 00:00:00 2001 From: Chuyuan Fu Date: Tue, 22 Oct 2019 15:14:47 -0700 Subject: [PATCH 243/389] give softbody name --- examples/SharedMemory/PhysicsClientSharedMemory.cpp | 2 +- examples/SharedMemory/PhysicsDirect.cpp | 2 +- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 8 ++++++-- 3 files changed, 8 insertions(+), 4 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp index 479fae693..bb198f23e 100644 --- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp +++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp @@ -1458,7 +1458,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() BodyJointInfoCache* bodyJoints = new BodyJointInfoCache; m_data->m_bodyJointMap.insert(bodyUniqueId, bodyJoints); bodyJoints->m_bodyName = serverCmd.m_dataStreamArguments.m_bodyName; - bodyJoints->m_baseName = "baseLink"; + bodyJoints->m_baseName = serverCmd.m_dataStreamArguments.m_bodyName; if (bf.ok()) { diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp index b8a4eb57c..cceb55a10 100644 --- a/examples/SharedMemory/PhysicsDirect.cpp +++ b/examples/SharedMemory/PhysicsDirect.cpp @@ -1218,7 +1218,7 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd BodyJointInfoCache2* bodyJoints = new BodyJointInfoCache2; m_data->m_bodyJointMap.insert(bodyUniqueId, bodyJoints); bodyJoints->m_bodyName = serverCmd.m_dataStreamArguments.m_bodyName; - bodyJoints->m_baseName = "baseLink"; + bodyJoints->m_baseName = serverCmd.m_dataStreamArguments.m_bodyName; break; } case CMD_SYNC_USER_DATA_FAILED: diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 437584951..c90a6ccbc 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -3463,8 +3463,6 @@ int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char* btDefaultSerializer ser(bufferSizeInBytes, (unsigned char*)bufferServerToClient); ser.startSerialization(); - ser.registerNameForPointer(sb, bodyHandle->m_bodyName.c_str()); - int len = sb->calculateSerializeBufferSize(); btChunk* chunk = ser.allocate(len, 1); const char* structType = sb->serialize(chunk->m_oldPtr, &ser); @@ -8227,6 +8225,12 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar serverStatusOut.m_loadSoftBodyResultArguments.m_objectUniqueId = bodyUniqueId; serverStatusOut.m_type = CMD_LOAD_SOFT_BODY_COMPLETED; + int pos = strlen(relativeFileName)-1; + while(pos>=0 && relativeFileName[pos]!='/') { pos--;} + btAssert(strlen(relativeFileName)-pos-5>0); + std::string object_name (std::string(relativeFileName).substr(pos+1, strlen(relativeFileName)- 5 - pos)); + bodyHandle->m_bodyName = object_name; + int streamSizeInBytes = createBodyInfoStream(bodyUniqueId, bufferServerToClient, bufferSizeInBytes); serverStatusOut.m_numDataStreamBytes = streamSizeInBytes; From 74571d79e7197ad36385596d530c2b8b1785e3f3 Mon Sep 17 00:00:00 2001 From: Chuyuan Fu Date: Thu, 24 Oct 2019 19:09:08 -0700 Subject: [PATCH 244/389] add compute softbody com --- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 8 +++++--- src/BulletSoftBody/btSoftBody.h | 9 +++++++++ 2 files changed, 14 insertions(+), 3 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index c90a6ccbc..af85e9c04 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -7257,6 +7257,7 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc serverCmd.m_numDataStreamBytes = sizeof(SendActualStateSharedMemoryStorage); serverCmd.m_sendActualStateArgs.m_stateDetails = 0; + serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[0] = body->m_rootLocalInertialFrame.getOrigin()[0]; serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[1] = @@ -7273,11 +7274,12 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[6] = body->m_rootLocalInertialFrame.getRotation()[3]; + btVector3 center_of_mass(sb->getCenterOfMass()); btTransform tr = sb->getWorldTransform(); //base position in world space, cartesian - stateDetails->m_actualStateQ[0] = tr.getOrigin()[0]; - stateDetails->m_actualStateQ[1] = tr.getOrigin()[1]; - stateDetails->m_actualStateQ[2] = tr.getOrigin()[2]; + stateDetails->m_actualStateQ[0] = center_of_mass[0]; + stateDetails->m_actualStateQ[1] = center_of_mass[1]; + stateDetails->m_actualStateQ[2] = center_of_mass[2]; //base orientation, quaternion x,y,z,w, in world space, cartesian stateDetails->m_actualStateQ[3] = tr.getRotation()[0]; diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index 51f0dad21..0c0d6e849 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -20,6 +20,7 @@ subject to the following restrictions: #include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btTransform.h" #include "LinearMath/btIDebugDraw.h" +#include "LinearMath/btVector3.h" #include "BulletDynamics/Dynamics/btRigidBody.h" #include "BulletCollision/CollisionShapes/btConcaveShape.h" @@ -973,6 +974,14 @@ public: /* Return the volume */ btScalar getVolume() const; /* Cluster count */ + btVector3 getCenterOfMass() const{ + btVector3 com(0,0,0); + for(int i = 0; i Date: Fri, 25 Oct 2019 12:14:38 -0700 Subject: [PATCH 245/389] compute COM taking non-uniform model into account --- src/BulletSoftBody/btSoftBody.h | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index 0c0d6e849..5f0afc439 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -974,14 +974,16 @@ public: /* Return the volume */ btScalar getVolume() const; /* Cluster count */ - btVector3 getCenterOfMass() const{ - btVector3 com(0,0,0); - for(int i = 0; igetTotalMass(); + return com; + } int clusterCount() const; /* Cluster center of mass */ static btVector3 clusterCom(const Cluster* cluster); From 41eb0744068b3b254a3fd2afad59ecfbcdc4422d Mon Sep 17 00:00:00 2001 From: Chuyuan Fu Date: Tue, 29 Oct 2019 14:40:36 -0700 Subject: [PATCH 246/389] avoid dividing by 0 --- src/BulletSoftBody/btSoftBody.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index 5f0afc439..d894d5cf5 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -979,7 +979,7 @@ public: btVector3 com(0, 0, 0); for (int i = 0; i < m_nodes.size(); i++) { - com += (m_nodes[i].m_x / m_nodes[i].m_im); + com += (m_nodes[i].m_x * this->getMass(i)); } com /= this->getTotalMass(); return com; From ec1ef0c4650910c886d72316254e9a26cad73877 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 25 Oct 2019 17:28:21 -0700 Subject: [PATCH 247/389] add strain limiting to face contact to improve stability --- .../btDeformableContactConstraint.cpp | 61 +++++++++++++++---- 1 file changed, 49 insertions(+), 12 deletions(-) diff --git a/src/BulletSoftBody/btDeformableContactConstraint.cpp b/src/BulletSoftBody/btDeformableContactConstraint.cpp index 908785895..a1fd7a5c5 100644 --- a/src/BulletSoftBody/btDeformableContactConstraint.cpp +++ b/src/BulletSoftBody/btDeformableContactConstraint.cpp @@ -361,12 +361,32 @@ void btDeformableFaceRigidContactConstraint::applyImpulse(const btVector3& impul const btSoftBody::DeformableFaceRigidContact* contact = getContact(); btVector3 dv = impulse * contact->m_c2; btSoftBody::Face* face = contact->m_face; - if (face->m_n[0]->m_im > 0) - face->m_n[0]->m_v -= dv * contact->m_weights[0]; - if (face->m_n[1]->m_im > 0) - face->m_n[1]->m_v -= dv * contact->m_weights[1]; - if (face->m_n[2]->m_im > 0) - face->m_n[2]->m_v -= dv * contact->m_weights[2]; + + btVector3& v0 = face->m_n[0]->m_v; + btVector3& v1 = face->m_n[1]->m_v; + btVector3& v2 = face->m_n[2]->m_v; + const btScalar& im0 = face->m_n[0]->m_im; + const btScalar& im1 = face->m_n[1]->m_im; + const btScalar& im2 = face->m_n[2]->m_im; + if (im0 > 0) + v0 -= dv * contact->m_weights[0]; + if (im1 > 0) + v1 -= dv * contact->m_weights[1]; + if (im2 > 0) + v2 -= dv * contact->m_weights[2]; + + // apply strain limiting to prevent undamped modes + btScalar m01 = (btScalar(1)/(im0 + im1)); + btScalar m02 = (btScalar(1)/(im0 + im2)); + btScalar m12 = (btScalar(1)/(im1 + im2)); + + btVector3 dv0 = im0 * (m01 * (v1-v0) + m02 * (v2-v0)); + btVector3 dv1 = im1 * (m01 * (v0-v1) + m12 * (v2-v1)); + btVector3 dv2 = im2 * (m12 * (v1-v2) + m02 * (v0-v2)); + + v0 += dv0; + v1 += dv1; + v2 += dv2; } /* ================ Face vs. Node =================== */ @@ -482,16 +502,33 @@ void btDeformableFaceNodeContactConstraint::applyImpulse(const btVector3& impuls } btSoftBody::Face* face = contact->m_face; - if (face->m_n[0]->m_im > 0) + btVector3& v0 = face->m_n[0]->m_v; + btVector3& v1 = face->m_n[1]->m_v; + btVector3& v2 = face->m_n[2]->m_v; + const btScalar& im0 = face->m_n[0]->m_im; + const btScalar& im1 = face->m_n[1]->m_im; + const btScalar& im2 = face->m_n[2]->m_im; + if (im0 > 0) { - face->m_n[0]->m_v -= dvb * contact->m_weights[0]; + v0 -= dvb * contact->m_weights[0]; } - if (face->m_n[1]->m_im > 0) + if (im1 > 0) { - face->m_n[1]->m_v -= dvb * contact->m_weights[1]; + v1 -= dvb * contact->m_weights[1]; } - if (face->m_n[2]->m_im > 0) + if (im2 > 0) { - face->m_n[2]->m_v -= dvb * contact->m_weights[2]; + v2 -= dvb * contact->m_weights[2]; } + // todo: Face node constraints needs more work +// btScalar m01 = (btScalar(1)/(im0 + im1)); +// btScalar m02 = (btScalar(1)/(im0 + im2)); +// btScalar m12 = (btScalar(1)/(im1 + im2)); +// +// btVector3 dv0 = im0 * (m01 * (v1-v0) + m02 * (v2-v0)); +// btVector3 dv1 = im1 * (m01 * (v0-v1) + m12 * (v2-v1)); +// btVector3 dv2 = im2 * (m12 * (v1-v2) + m02 * (v0-v2)); +// v0 += dv0; +// v1 += dv1; +// v2 += dv2; } From 9ebbab959cc1ab1e981e3b6047e5bfd686f55433 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 23 Oct 2019 11:05:59 -0700 Subject: [PATCH 248/389] use safenorm --- .../btDeformableContactConstraint.cpp | 13 +++++-------- 1 file changed, 5 insertions(+), 8 deletions(-) diff --git a/src/BulletSoftBody/btDeformableContactConstraint.cpp b/src/BulletSoftBody/btDeformableContactConstraint.cpp index a1fd7a5c5..5764e961a 100644 --- a/src/BulletSoftBody/btDeformableContactConstraint.cpp +++ b/src/BulletSoftBody/btDeformableContactConstraint.cpp @@ -14,7 +14,6 @@ */ #include "btDeformableContactConstraint.h" - /* ================ Deformable Node Anchor =================== */ btDeformableNodeAnchorConstraint::btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& a) : m_anchor(&a) @@ -216,12 +215,11 @@ btScalar btDeformableRigidContactConstraint::solveConstraint() btVector3 impulse = m_contact->m_c0 * vr; const btVector3 impulse_normal = m_contact->m_c0 * (cti.m_normal * dn); btVector3 impulse_tangent = impulse - impulse_normal; - btVector3 old_total_tangent_dv = m_total_tangent_dv; // m_c2 is the inverse mass of the deformable node/face m_total_normal_dv -= impulse_normal * m_contact->m_c2; m_total_tangent_dv -= impulse_tangent * m_contact->m_c2; - + if (m_total_normal_dv.dot(cti.m_normal) < 0) { // separating in the normal direction @@ -236,13 +234,13 @@ btScalar btDeformableRigidContactConstraint::solveConstraint() // dynamic friction // with dynamic friction, the impulse are still applied to the two objects colliding, however, it does not pose a constraint in the cg solve, hence the change to dv merely serves to update velocity in the contact iterations. m_static = false; - if (m_total_tangent_dv.norm() < SIMD_EPSILON) + if (m_total_tangent_dv.safeNorm() < SIMD_EPSILON) { m_total_tangent_dv = btVector3(0,0,0); } else { - m_total_tangent_dv = m_total_tangent_dv.normalized() * m_total_normal_dv.norm() * m_contact->m_c3; + m_total_tangent_dv = m_total_tangent_dv.normalized() * m_total_normal_dv.safeNorm() * m_contact->m_c3; } impulse_tangent = -btScalar(1)/m_contact->m_c2 * (m_total_tangent_dv - old_total_tangent_dv); } @@ -255,7 +253,6 @@ btScalar btDeformableRigidContactConstraint::solveConstraint() impulse = impulse_normal + impulse_tangent; // apply impulse to deformable nodes involved and change their velocities applyImpulse(impulse); - // apply impulse to the rigid/multibodies involved and change their velocities if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) { @@ -469,13 +466,13 @@ btScalar btDeformableFaceNodeContactConstraint::solveConstraint() // dynamic friction // with dynamic friction, the impulse are still applied to the two objects colliding, however, it does not pose a constraint in the cg solve, hence the change to dv merely serves to update velocity in the contact iterations. m_static = false; - if (m_total_tangent_dv.norm() < SIMD_EPSILON) + if (m_total_tangent_dv.safeNorm() < SIMD_EPSILON) { m_total_tangent_dv = btVector3(0,0,0); } else { - m_total_tangent_dv = m_total_tangent_dv.normalized() * m_total_normal_dv.norm() * m_contact->m_friction; + m_total_tangent_dv = m_total_tangent_dv.normalized() * m_total_normal_dv.safeNorm() * m_contact->m_friction; } impulse_tangent = -btScalar(1)/m_node->m_im * (m_total_tangent_dv - old_total_tangent_dv); } From 3f1e0619661ecea7713b2f4de22e075f97b50f8d Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 30 Oct 2019 11:21:00 -0700 Subject: [PATCH 249/389] turn on SVD --- src/BulletSoftBody/btDeformableNeoHookeanForce.h | 2 -- 1 file changed, 2 deletions(-) diff --git a/src/BulletSoftBody/btDeformableNeoHookeanForce.h b/src/BulletSoftBody/btDeformableNeoHookeanForce.h index f607b8662..29664c62c 100644 --- a/src/BulletSoftBody/btDeformableNeoHookeanForce.h +++ b/src/BulletSoftBody/btDeformableNeoHookeanForce.h @@ -175,7 +175,6 @@ public: btSoftBody::Tetra& tetra = psb->m_tetras[j]; btMatrix3x3 P; firstPiola(psb->m_tetraScratches[j],P); -#if USE_SVD if (max_p > 0) { // since we want to clamp the principal stress to max_p, we only need to @@ -200,7 +199,6 @@ public: P = U * Sigma * V.transpose(); } } -#endif // btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose(); btVector3 force_on_node0 = force_on_node123 * grad_N_hat_1st_col; From 93835c195b65a61a066ef609fec21c2e8333aa3d Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 31 Oct 2019 12:57:19 -0700 Subject: [PATCH 250/389] turn off SVD --- src/BulletSoftBody/btDeformableNeoHookeanForce.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/BulletSoftBody/btDeformableNeoHookeanForce.h b/src/BulletSoftBody/btDeformableNeoHookeanForce.h index 29664c62c..f607b8662 100644 --- a/src/BulletSoftBody/btDeformableNeoHookeanForce.h +++ b/src/BulletSoftBody/btDeformableNeoHookeanForce.h @@ -175,6 +175,7 @@ public: btSoftBody::Tetra& tetra = psb->m_tetras[j]; btMatrix3x3 P; firstPiola(psb->m_tetraScratches[j],P); +#if USE_SVD if (max_p > 0) { // since we want to clamp the principal stress to max_p, we only need to @@ -199,6 +200,7 @@ public: P = U * Sigma * V.transpose(); } } +#endif // btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose(); btVector3 force_on_node0 = force_on_node123 * grad_N_hat_1st_col; From 36a2f306f638d6935bf53201c72214f75541330a Mon Sep 17 00:00:00 2001 From: Chuyuan Fu Date: Thu, 31 Oct 2019 14:31:51 -0700 Subject: [PATCH 251/389] update example to use absolute path --- examples/DeformableDemo/GraspDeformable.cpp | 40 +++++++++++---------- 1 file changed, 21 insertions(+), 19 deletions(-) diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index ddb47954b..d96394435 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -28,6 +28,7 @@ #include "../Importers/ImportURDFDemo/BulletUrdfImporter.h" #include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h" #include "../Importers/ImportURDFDemo/URDF2Bullet.h" +#include "../Utils/b3BulletDefaultFileIO.h" #include "../CommonInterfaces/CommonMultiBodyBase.h" #include "../CommonInterfaces/CommonGraphicsAppInterface.h" #include "../CommonInterfaces/CommonParameterInterface.h" @@ -270,25 +271,26 @@ void GraspDeformable::initPhysics() } // create a soft block - if(1) - { - char relative_path[1024]; -// b3FileUtils::findFile("banana.vtk", relative_path, 1024); -// b3FileUtils::findFile("ball.vtk", relative_path, 1024); -// b3FileUtils::findFile("deformable_crumpled_napkin_sim.vtk", relative_path, 1024); -// b3FileUtils::findFile("single_tet.vtk", relative_path, 1024); -// b3FileUtils::findFile("tube.vtk", relative_path, 1024); -// b3FileUtils::findFile("torus.vtk", relative_path, 1024); -// b3FileUtils::findFile("paper_roll.vtk", relative_path, 1024); -// b3FileUtils::findFile("bread.vtk", relative_path, 1024); - b3FileUtils::findFile("ditto.vtk", relative_path, 1024); -// b3FileUtils::findFile("boot.vtk", relative_path, 1024); -// btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(), -// TetraCube::getElements(), -// 0, -// TetraCube::getNodes(), -// false, true, true); - btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), relative_path); + if (1) + { + // b3FileUtils::findFile("banana.vtk", relative_path, 1024); + // b3FileUtils::findFile("ball.vtk", relative_path, 1024); + // b3FileUtils::findFile("deformable_crumpled_napkin_sim.vtk", relative_path, 1024); + // b3FileUtils::findFile("single_tet.vtk", relative_path, 1024); + // b3FileUtils::findFile("tube.vtk", relative_path, 1024); + // b3FileUtils::findFile("torus.vtk", relative_path, 1024); + // b3FileUtils::findFile("paper_roll.vtk", relative_path, 1024); + // b3FileUtils::findFile("bread.vtk", relative_path, 1024); + char absolute_path[1024]; + b3BulletDefaultFileIO fileio; + fileio.findResourcePath("ditto.vtk", absolute_path, 1024); + // b3FileUtils::findFile("boot.vtk", relative_path, 1024); + // btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(), + // TetraCube::getElements(), + // 0, + // TetraCube::getNodes(), + // false, true, true); + btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), absolute_path); // psb->scale(btVector3(30, 30, 30)); // for banana psb->scale(btVector3(.7, .7, .7)); From 7f310e6124b1152cc3e3e6e7b3350df9e4b50eb1 Mon Sep 17 00:00:00 2001 From: Chuyuan Fu Date: Thu, 31 Oct 2019 15:07:10 -0700 Subject: [PATCH 252/389] make consistent for other models --- examples/DeformableDemo/GraspDeformable.cpp | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index d96394435..a1952169d 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -273,18 +273,18 @@ void GraspDeformable::initPhysics() // create a soft block if (1) { - // b3FileUtils::findFile("banana.vtk", relative_path, 1024); - // b3FileUtils::findFile("ball.vtk", relative_path, 1024); - // b3FileUtils::findFile("deformable_crumpled_napkin_sim.vtk", relative_path, 1024); - // b3FileUtils::findFile("single_tet.vtk", relative_path, 1024); - // b3FileUtils::findFile("tube.vtk", relative_path, 1024); - // b3FileUtils::findFile("torus.vtk", relative_path, 1024); - // b3FileUtils::findFile("paper_roll.vtk", relative_path, 1024); - // b3FileUtils::findFile("bread.vtk", relative_path, 1024); char absolute_path[1024]; b3BulletDefaultFileIO fileio; fileio.findResourcePath("ditto.vtk", absolute_path, 1024); - // b3FileUtils::findFile("boot.vtk", relative_path, 1024); + // fileio.findResourcePath("banana.vtk", absolute_path, 1024); + // fileio.findResourcePath("ball.vtk", absolute_path, 1024); + // fileio.findResourcePath("deformable_crumpled_napkin_sim.vtk", absolute_path, 1024); + // fileio.findResourcePath("single_tet.vtk", absolute_path, 1024); + // fileio.findResourcePath("tube.vtk", absolute_path, 1024); + // fileio.findResourcePath("torus.vtk", absolute_path, 1024); + // fileio.findResourcePath("paper_roll.vtk", absolute_path, 1024); + // fileio.findResourcePath("bread.vtk", absolute_path, 1024); + // fileio.findResourcePath("boot.vtk", absolute_path, 1024); // btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(), // TetraCube::getElements(), // 0, From 1bd0eee0fff3b30586d032973cfc58a77ecb0fe8 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Sun, 3 Nov 2019 12:44:45 -0800 Subject: [PATCH 253/389] fix indexing bug in deformable sleeping --- src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp | 1 + src/BulletSoftBody/btDeformableBodySolver.cpp | 3 +++ 2 files changed, 4 insertions(+) diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index fee353a60..1b247641a 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -103,6 +103,7 @@ void btDeformableBackwardEulerObjective::applyForce(TVStack& force, bool setZero btSoftBody* psb = m_softBodies[i]; if (!psb->isActive()) { + counter += psb->m_nodes.size(); continue; } for (int j = 0; j < psb->m_nodes.size(); ++j) diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 9af8e3f77..0fb18080f 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -251,6 +251,7 @@ void btDeformableBodySolver::updateVelocity() psb->m_maxSpeedSquared = 0; if (!psb->isActive()) { + counter += psb->m_nodes.size(); continue; } for (int j = 0; j < psb->m_nodes.size(); ++j) @@ -275,6 +276,7 @@ void btDeformableBodySolver::updateTempPosition() btSoftBody* psb = m_softBodies[i]; if (!psb->isActive()) { + counter += psb->m_nodes.size(); continue; } for (int j = 0; j < psb->m_nodes.size(); ++j) @@ -307,6 +309,7 @@ void btDeformableBodySolver::setupDeformableSolve(bool implicit) btSoftBody* psb = m_softBodies[i]; if (!psb->isActive()) { + counter += psb->m_nodes.size(); continue; } for (int j = 0; j < psb->m_nodes.size(); ++j) From 4347c03459888f192bb72ce9d642cdf0750ec74e Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Sun, 3 Nov 2019 12:47:08 -0800 Subject: [PATCH 254/389] turn on SVD and use fewer CG iterations --- src/BulletSoftBody/btDeformableBodySolver.cpp | 2 +- src/BulletSoftBody/btDeformableNeoHookeanForce.h | 3 ++- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 0fb18080f..7b4c06303 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -18,7 +18,7 @@ #include "btDeformableBodySolver.h" #include "btSoftBodyInternals.h" #include "LinearMath/btQuickprof.h" -static const int kMaxConjugateGradientIterations = 200; +static const int kMaxConjugateGradientIterations = 50; btDeformableBodySolver::btDeformableBodySolver() : m_numNodes(0) , m_cg(kMaxConjugateGradientIterations) diff --git a/src/BulletSoftBody/btDeformableNeoHookeanForce.h b/src/BulletSoftBody/btDeformableNeoHookeanForce.h index f607b8662..d9bb3be61 100644 --- a/src/BulletSoftBody/btDeformableNeoHookeanForce.h +++ b/src/BulletSoftBody/btDeformableNeoHookeanForce.h @@ -175,7 +175,8 @@ public: btSoftBody::Tetra& tetra = psb->m_tetras[j]; btMatrix3x3 P; firstPiola(psb->m_tetraScratches[j],P); -#if USE_SVD +#define USE_SVD 1 +#ifdef USE_SVD if (max_p > 0) { // since we want to clamp the principal stress to max_p, we only need to From f1f04aef539e58312c66c5909597e6149cbca02a Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 4 Nov 2019 15:45:58 -0800 Subject: [PATCH 255/389] add simple sceneAABB example --- examples/pybullet/examples/sceneAabb.py | 39 +++++++++++++++++++++++++ 1 file changed, 39 insertions(+) create mode 100644 examples/pybullet/examples/sceneAabb.py diff --git a/examples/pybullet/examples/sceneAabb.py b/examples/pybullet/examples/sceneAabb.py new file mode 100644 index 000000000..aa11ff288 --- /dev/null +++ b/examples/pybullet/examples/sceneAabb.py @@ -0,0 +1,39 @@ +import pybullet as p +import time +import numpy as np + +p.connect(p.GUI) +p.loadURDF("plane.urdf") +p.loadURDF("sphere2.urdf",[0,0,2]) + +dt = 1./240. +p.setTimeStep(dt) + +def getSceneAABB(): + aabbMins=[] + aabbMaxs=[] + + for i in range(p.getNumBodies()): + uid = p.getBodyUniqueId(i) + aabb = p.getAABB(uid) + aabbMins.append(np.array(aabb[0])) + aabbMaxs.append(np.array(aabb[1])) + + if len(aabbMins): + sceneAABBMin = aabbMins[0] + sceneAABBMax = aabbMaxs[0] + + for aabb in aabbMins: + sceneAABBMin = np.minimum(sceneAABBMin,aabb) + for aabb in aabbMaxs: + sceneAABBMax = np.maximum(sceneAABBMax,aabb) + + print("sceneAABBMin=",sceneAABBMin) + print("sceneAABBMax=",sceneAABBMax) + +getSceneAABB() + +while (1): + p.stepSimulation() + time.sleep(dt) + From 05bc3870817e155b498663b42017103383d9eeb5 Mon Sep 17 00:00:00 2001 From: Chuyuan Fu Date: Thu, 31 Oct 2019 14:31:51 -0700 Subject: [PATCH 256/389] update example to use absolute path --- examples/DeformableDemo/GraspDeformable.cpp | 40 +++++++++++---------- 1 file changed, 21 insertions(+), 19 deletions(-) diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index ddb47954b..d96394435 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -28,6 +28,7 @@ #include "../Importers/ImportURDFDemo/BulletUrdfImporter.h" #include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h" #include "../Importers/ImportURDFDemo/URDF2Bullet.h" +#include "../Utils/b3BulletDefaultFileIO.h" #include "../CommonInterfaces/CommonMultiBodyBase.h" #include "../CommonInterfaces/CommonGraphicsAppInterface.h" #include "../CommonInterfaces/CommonParameterInterface.h" @@ -270,25 +271,26 @@ void GraspDeformable::initPhysics() } // create a soft block - if(1) - { - char relative_path[1024]; -// b3FileUtils::findFile("banana.vtk", relative_path, 1024); -// b3FileUtils::findFile("ball.vtk", relative_path, 1024); -// b3FileUtils::findFile("deformable_crumpled_napkin_sim.vtk", relative_path, 1024); -// b3FileUtils::findFile("single_tet.vtk", relative_path, 1024); -// b3FileUtils::findFile("tube.vtk", relative_path, 1024); -// b3FileUtils::findFile("torus.vtk", relative_path, 1024); -// b3FileUtils::findFile("paper_roll.vtk", relative_path, 1024); -// b3FileUtils::findFile("bread.vtk", relative_path, 1024); - b3FileUtils::findFile("ditto.vtk", relative_path, 1024); -// b3FileUtils::findFile("boot.vtk", relative_path, 1024); -// btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(), -// TetraCube::getElements(), -// 0, -// TetraCube::getNodes(), -// false, true, true); - btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), relative_path); + if (1) + { + // b3FileUtils::findFile("banana.vtk", relative_path, 1024); + // b3FileUtils::findFile("ball.vtk", relative_path, 1024); + // b3FileUtils::findFile("deformable_crumpled_napkin_sim.vtk", relative_path, 1024); + // b3FileUtils::findFile("single_tet.vtk", relative_path, 1024); + // b3FileUtils::findFile("tube.vtk", relative_path, 1024); + // b3FileUtils::findFile("torus.vtk", relative_path, 1024); + // b3FileUtils::findFile("paper_roll.vtk", relative_path, 1024); + // b3FileUtils::findFile("bread.vtk", relative_path, 1024); + char absolute_path[1024]; + b3BulletDefaultFileIO fileio; + fileio.findResourcePath("ditto.vtk", absolute_path, 1024); + // b3FileUtils::findFile("boot.vtk", relative_path, 1024); + // btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(), + // TetraCube::getElements(), + // 0, + // TetraCube::getNodes(), + // false, true, true); + btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), absolute_path); // psb->scale(btVector3(30, 30, 30)); // for banana psb->scale(btVector3(.7, .7, .7)); From 09ca930ca8b6f737b7b34efdbbfaababaf29e2d4 Mon Sep 17 00:00:00 2001 From: Chuyuan Fu Date: Thu, 31 Oct 2019 15:07:10 -0700 Subject: [PATCH 257/389] make consistent for other models --- examples/DeformableDemo/GraspDeformable.cpp | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index d96394435..a1952169d 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -273,18 +273,18 @@ void GraspDeformable::initPhysics() // create a soft block if (1) { - // b3FileUtils::findFile("banana.vtk", relative_path, 1024); - // b3FileUtils::findFile("ball.vtk", relative_path, 1024); - // b3FileUtils::findFile("deformable_crumpled_napkin_sim.vtk", relative_path, 1024); - // b3FileUtils::findFile("single_tet.vtk", relative_path, 1024); - // b3FileUtils::findFile("tube.vtk", relative_path, 1024); - // b3FileUtils::findFile("torus.vtk", relative_path, 1024); - // b3FileUtils::findFile("paper_roll.vtk", relative_path, 1024); - // b3FileUtils::findFile("bread.vtk", relative_path, 1024); char absolute_path[1024]; b3BulletDefaultFileIO fileio; fileio.findResourcePath("ditto.vtk", absolute_path, 1024); - // b3FileUtils::findFile("boot.vtk", relative_path, 1024); + // fileio.findResourcePath("banana.vtk", absolute_path, 1024); + // fileio.findResourcePath("ball.vtk", absolute_path, 1024); + // fileio.findResourcePath("deformable_crumpled_napkin_sim.vtk", absolute_path, 1024); + // fileio.findResourcePath("single_tet.vtk", absolute_path, 1024); + // fileio.findResourcePath("tube.vtk", absolute_path, 1024); + // fileio.findResourcePath("torus.vtk", absolute_path, 1024); + // fileio.findResourcePath("paper_roll.vtk", absolute_path, 1024); + // fileio.findResourcePath("bread.vtk", absolute_path, 1024); + // fileio.findResourcePath("boot.vtk", absolute_path, 1024); // btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(), // TetraCube::getElements(), // 0, From fb85b2e05f26a77146d3906c3b2f1912442492dd Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 4 Nov 2019 13:10:17 -0800 Subject: [PATCH 258/389] add a linear elasticity model --- .../btDeformableBackwardEulerObjective.h | 1 + .../btDeformableLagrangianForce.h | 3 +- .../btDeformableLinearElasticityForce.h | 340 ++++++++++++++++++ 3 files changed, 343 insertions(+), 1 deletion(-) create mode 100644 src/BulletSoftBody/btDeformableLinearElasticityForce.h diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index 7699a195e..05ab42ff0 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -20,6 +20,7 @@ #include "btDeformableMassSpringForce.h" #include "btDeformableGravityForce.h" #include "btDeformableCorotatedForce.h" +#include "btDeformableLinearElasticityForce.h" #include "btDeformableNeoHookeanForce.h" #include "btDeformableContactProjection.h" #include "btPreconditioner.h" diff --git a/src/BulletSoftBody/btDeformableLagrangianForce.h b/src/BulletSoftBody/btDeformableLagrangianForce.h index cab48837d..64e80e23b 100644 --- a/src/BulletSoftBody/btDeformableLagrangianForce.h +++ b/src/BulletSoftBody/btDeformableLagrangianForce.h @@ -25,7 +25,8 @@ enum btDeformableLagrangianForceType BT_GRAVITY_FORCE = 1, BT_MASSSPRING_FORCE = 2, BT_COROTATED_FORCE = 3, - BT_NEOHOOKEAN_FORCE = 4 + BT_NEOHOOKEAN_FORCE = 4, + BT_LINEAR_ELASTICITY_FORCE = 5 }; static inline double randomDouble(double low, double high) diff --git a/src/BulletSoftBody/btDeformableLinearElasticityForce.h b/src/BulletSoftBody/btDeformableLinearElasticityForce.h new file mode 100644 index 000000000..106dc10ad --- /dev/null +++ b/src/BulletSoftBody/btDeformableLinearElasticityForce.h @@ -0,0 +1,340 @@ +/* + Written by Xuchen Han + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + 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 BT_LINEAR_ELASTICITY_H +#define BT_LINEAR_ELASTICITY_H + +#include "btDeformableLagrangianForce.h" +#include "LinearMath/btQuickprof.h" +class btDeformableLinearElasticityForce : public btDeformableLagrangianForce +{ +public: + typedef btAlignedObjectArray TVStack; + btScalar m_mu, m_lambda; + btScalar m_mu_damp, m_lambda_damp; + btDeformableLinearElasticityForce(): m_mu(1), m_lambda(1) + { + btScalar damping = 0.05; + m_mu_damp = damping * m_mu; + m_lambda_damp = damping * m_lambda; + } + + btDeformableLinearElasticityForce(btScalar mu, btScalar lambda, btScalar damping = 0.05): m_mu(mu), m_lambda(lambda) + { + m_mu_damp = damping * m_mu; + m_lambda_damp = damping * m_lambda; + } + + virtual void addScaledForces(btScalar scale, TVStack& force) + { + addScaledDampingForce(scale, force); + addScaledElasticForce(scale, force); + } + + virtual void addScaledExplicitForce(btScalar scale, TVStack& force) + { + addScaledElasticForce(scale, force); + } + + // The damping matrix is calculated using the time n state as described in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search + virtual void addScaledDampingForce(btScalar scale, TVStack& force) + { + if (m_mu_damp == 0 && m_lambda_damp == 0) + return; + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + btMatrix3x3 dF = DsFromVelocity(node0, node1, node2, node3) * tetra.m_Dm_inverse; + btMatrix3x3 I; + I.setIdentity(); + btMatrix3x3 dP = (dF + dF.transpose()) * m_mu_damp + I * (dF[0][0]+dF[1][1]+dF[2][2]) * m_lambda_damp; + // firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP); + btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); + + // damping force differential + btScalar scale1 = scale * tetra.m_element_measure; + force[id0] -= scale1 * df_on_node0; + force[id1] -= scale1 * df_on_node123.getColumn(0); + force[id2] -= scale1 * df_on_node123.getColumn(1); + force[id3] -= scale1 * df_on_node123.getColumn(2); + } + } + } + + virtual double totalElasticEnergy(btScalar dt) + { + double energy = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetraScratches.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::TetraScratch& s = psb->m_tetraScratches[j]; + energy += tetra.m_element_measure * elasticEnergyDensity(s); + } + } + return energy; + } + + // The damping energy is formulated as in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search + virtual double totalDampingEnergy(btScalar dt) + { + double energy = 0; + int sz = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + sz = btMax(sz, psb->m_nodes[j].index); + } + } + TVStack dampingForce; + dampingForce.resize(sz+1); + for (int i = 0; i < dampingForce.size(); ++i) + dampingForce[i].setZero(); + addScaledDampingForce(0.5, dampingForce); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + const btSoftBody::Node& node = psb->m_nodes[j]; + energy -= dampingForce[node.index].dot(node.m_v) / dt; + } + } + return energy; + } + + double elasticEnergyDensity(const btSoftBody::TetraScratch& s) + { + double density = 0; + btMatrix3x3 epsilon = (s.m_F + s.m_F.transpose()) * 0.5 - btMatrix3x3::getIdentity(); + btScalar trace = epsilon[0][0] + epsilon[1][1] + epsilon[2][2]; + density += m_mu * (epsilon[0].length2() + epsilon[1].length2() + epsilon[2].length2()); + density += m_lambda * trace * trace * 0.5; + return density; + } + + virtual void addScaledElasticForce(btScalar scale, TVStack& force) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + btScalar max_p = psb->m_cfg.m_maxStress; + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btMatrix3x3 P; + firstPiola(psb->m_tetraScratches[j],P); +#if USE_SVD + if (max_p > 0) + { + // since we want to clamp the principal stress to max_p, we only need to + // calculate SVD when sigma_0^2 + sigma_1^2 + sigma_2^2 > max_p * max_p + btScalar trPTP = (P[0].length2() + P[1].length2() + P[2].length2()); + if (trPTP > max_p * max_p) + { + btMatrix3x3 U, V; + btVector3 sigma; + singularValueDecomposition(P, U, sigma, V); + sigma[0] = btMin(sigma[0], max_p); + sigma[1] = btMin(sigma[1], max_p); + sigma[2] = btMin(sigma[2], max_p); + sigma[0] = btMax(sigma[0], -max_p); + sigma[1] = btMax(sigma[1], -max_p); + sigma[2] = btMax(sigma[2], -max_p); + btMatrix3x3 Sigma; + Sigma.setIdentity(); + Sigma[0][0] = sigma[0]; + Sigma[1][1] = sigma[1]; + Sigma[2][2] = sigma[2]; + P = U * Sigma * V.transpose(); + } + } +#endif + // btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose(); + btVector3 force_on_node0 = force_on_node123 * grad_N_hat_1st_col; + + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + + // elastic force + btScalar scale1 = scale * tetra.m_element_measure; + force[id0] -= scale1 * force_on_node0; + force[id1] -= scale1 * force_on_node123.getColumn(0); + force[id2] -= scale1 * force_on_node123.getColumn(1); + force[id3] -= scale1 * force_on_node123.getColumn(2); + } + } + } + + // The damping matrix is calculated using the time n state as described in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search + virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) + { + if (m_mu_damp == 0 && m_lambda_damp == 0) + return; + int numNodes = getNumNodes(); + btAssert(numNodes <= df.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + btMatrix3x3 dF = Ds(id0, id1, id2, id3, dv) * tetra.m_Dm_inverse; + btMatrix3x3 I; + I.setIdentity(); + btMatrix3x3 dP = (dF + dF.transpose()) * m_mu_damp + I * (dF[0][0]+dF[1][1]+dF[2][2]) * m_lambda_damp; + // firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP); + // btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); + btVector3 df_on_node0 = df_on_node123 * grad_N_hat_1st_col; + + // damping force differential + btScalar scale1 = scale * tetra.m_element_measure; + df[id0] -= scale1 * df_on_node0; + df[id1] -= scale1 * df_on_node123.getColumn(0); + df[id2] -= scale1 * df_on_node123.getColumn(1); + df[id3] -= scale1 * df_on_node123.getColumn(2); + } + } + } + + virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= df.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + btMatrix3x3 dF = Ds(id0, id1, id2, id3, dx) * tetra.m_Dm_inverse; + btMatrix3x3 dP; + firstPiolaDifferential(psb->m_tetraScratches[j], dF, dP); + // btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); + btVector3 df_on_node0 = df_on_node123 * grad_N_hat_1st_col; + + // elastic force differential + btScalar scale1 = scale * tetra.m_element_measure; + df[id0] -= scale1 * df_on_node0; + df[id1] -= scale1 * df_on_node123.getColumn(0); + df[id2] -= scale1 * df_on_node123.getColumn(1); + df[id3] -= scale1 * df_on_node123.getColumn(2); + } + } + } + + void firstPiola(const btSoftBody::TetraScratch& s, btMatrix3x3& P) + { + btMatrix3x3 epsilon = (s.m_F + s.m_F.transpose()) * 0.5 - btMatrix3x3::getIdentity(); + btScalar trace = epsilon[0][0] + epsilon[1][1] + epsilon[2][2]; + P = epsilon * btScalar(2) * m_mu + btMatrix3x3::getIdentity() * m_lambda * trace; + } + + // Let P be the first piola stress. + // This function calculates the dP = dP/dF * dF + void firstPiolaDifferential(const btSoftBody::TetraScratch& s, const btMatrix3x3& dF, btMatrix3x3& dP) + { + btScalar trace = (dF[0][0] + dF[1][1] + dF[2][2]); + dP = (dF + dF.transpose()) * m_mu + btMatrix3x3::getIdentity() * m_lambda * trace; + } + + // Let Q be the damping stress. + // This function calculates the dP = dQ/dF * dF + void firstPiolaDampingDifferential(const btSoftBody::TetraScratch& s, const btMatrix3x3& dF, btMatrix3x3& dP) + { + btScalar trace = (dF[0][0] + dF[1][1] + dF[2][2]); + dP = (dF + dF.transpose()) * m_mu_damp + btMatrix3x3::getIdentity() * m_lambda_damp * trace; + } + + virtual btDeformableLagrangianForceType getForceType() + { + return BT_LINEAR_ELASTICITY_FORCE; + } + +}; +#endif /* BT_LINEAR_ELASTICITY_H */ From 13314360a8e21f81b2ea49bd313d5ac123a9ae9a Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 5 Nov 2019 18:07:32 -0800 Subject: [PATCH 259/389] add option for deformable rigid split impulse --- examples/DeformableDemo/SplitImpulse.cpp | 259 ++++++++++++++++++ examples/DeformableDemo/SplitImpulse.h | 19 ++ examples/ExampleBrowser/CMakeLists.txt | 2 + examples/ExampleBrowser/ExampleEntries.cpp | 2 + src/BulletDynamics/Dynamics/btRigidBody.h | 42 +++ src/BulletSoftBody/btDeformableBodySolver.cpp | 14 +- src/BulletSoftBody/btDeformableBodySolver.h | 6 + .../btDeformableContactConstraint.cpp | 60 ++++ .../btDeformableContactConstraint.h | 47 ++++ .../btDeformableContactProjection.cpp | 51 ++++ .../btDeformableContactProjection.h | 7 +- .../btDeformableMultiBodyConstraintSolver.cpp | 37 +++ .../btDeformableMultiBodyConstraintSolver.h | 2 + .../btDeformableMultiBodyDynamicsWorld.cpp | 25 ++ src/BulletSoftBody/btSoftBody.h | 1 + 15 files changed, 571 insertions(+), 3 deletions(-) create mode 100644 examples/DeformableDemo/SplitImpulse.cpp create mode 100644 examples/DeformableDemo/SplitImpulse.h diff --git a/examples/DeformableDemo/SplitImpulse.cpp b/examples/DeformableDemo/SplitImpulse.cpp new file mode 100644 index 000000000..6b99e9523 --- /dev/null +++ b/examples/DeformableDemo/SplitImpulse.cpp @@ -0,0 +1,259 @@ +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + 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. + */ +#include "SplitImpulse.h" +///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. +#include "btBulletDynamicsCommon.h" +#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" +#include "BulletSoftBody/btSoftBody.h" +#include "BulletSoftBody/btSoftBodyHelpers.h" +#include "BulletSoftBody/btDeformableBodySolver.h" +#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" +#include //printf debugging + +#include "../CommonInterfaces/CommonRigidBodyBase.h" +#include "../Utils/b3ResourcePath.h" + +#define USE_SPLIT_IMPULSE 1 +///The SplitImpulse shows the effect of split impulse in deformable rigid contact. +class SplitImpulse : public CommonRigidBodyBase +{ + btAlignedObjectArray m_forces; +public: + SplitImpulse(struct GUIHelperInterface* helper) + : CommonRigidBodyBase(helper) + { + } + virtual ~SplitImpulse() + { + } + 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 Ctor_RbUpStack(int count) + { + float mass = 0.2; + + btCollisionShape* shape[] = { + new btBoxShape(btVector3(1, 1, 1)), + }; + btTransform startTransform; + startTransform.setIdentity(); + startTransform.setOrigin(btVector3(0, 0.7, 0)); + createRigidBody(mass, startTransform, shape[0]); + } + + virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const + { + ///just make it a btSoftRigidDynamicsWorld please + ///or we will add type checking + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; + } + + virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() + { + ///just make it a btSoftRigidDynamicsWorld please + ///or we will add type checking + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; + } + + virtual void renderScene() + { + CommonRigidBodyBase::renderScene(); + btDeformableMultiBodyDynamicsWorld* 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 SplitImpulse::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) + btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver(); + sol->setDeformableSolver(deformableBodySolver); + m_solver = sol; + + m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); +// deformableBodySolver->setWorld(getDeformableDynamicsWorld()); + // m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality + btVector3 gravity = btVector3(0, -50, 0); + m_dynamicsWorld->setGravity(gravity); + getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; + getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25); + getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset(); + +// 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, -32, 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(1); + + //add the ground to the dynamics world + m_dynamicsWorld->addRigidBody(body); + } + +#ifdef USE_SPLIT_IMPULSE + getDeformableDynamicsWorld()->getSolverInfo().m_erp = 0.03; +#else + getDeformableDynamicsWorld()->getSolverInfo().m_erp = 0.0; +#endif + + // create a piece of cloth + { + const btScalar s = 4; + const btScalar h = 0; + + btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s), + btVector3(+s, h, -s), + btVector3(-s, h, +s), + btVector3(+s, h, +s), +// 3,3, + 20,20, + 1 + 2 + 4 + 8, true); +// 0, true); + + + psb->getCollisionShape()->setMargin(0.15); + psb->generateBendingConstraints(2); + psb->setTotalMass(1); + psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects + psb->m_cfg.kCHR = 1; // collision hardness with rigid body + psb->m_cfg.kDF = 2; + psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; + getDeformableDynamicsWorld()->addSoftBody(psb); + + btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(30,1, true); + getDeformableDynamicsWorld()->addForce(psb, mass_spring); + m_forces.push_back(mass_spring); + + btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); + getDeformableDynamicsWorld()->addForce(psb, gravity_force); + m_forces.push_back(gravity_force); + // add a few rigid bodies + Ctor_RbUpStack(1); + } + getDeformableDynamicsWorld()->setImplicit(false); + getDeformableDynamicsWorld()->setLineSearch(false); + m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); +} + +void SplitImpulse::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 forces + for (int j = 0; j < m_forces.size(); j++) + { + btDeformableLagrangianForce* force = m_forces[j]; + delete force; + } + m_forces.clear(); + //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* SplitImpulseCreateFunc(struct CommonExampleOptions& options) +{ + return new SplitImpulse(options.m_guiHelper); +} + + diff --git a/examples/DeformableDemo/SplitImpulse.h b/examples/DeformableDemo/SplitImpulse.h new file mode 100644 index 000000000..441f9106f --- /dev/null +++ b/examples/DeformableDemo/SplitImpulse.h @@ -0,0 +1,19 @@ +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + 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 _SPLIT_IMPULSE_H +#define _SPLIT_IMPULSE_H + +class CommonExampleInterface* SplitImpulseCreateFunc(struct CommonExampleOptions& options); + +#endif //_SPLIT_IMPULSE_H diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt index 56eecf328..fc34707fc 100644 --- a/examples/ExampleBrowser/CMakeLists.txt +++ b/examples/ExampleBrowser/CMakeLists.txt @@ -369,6 +369,8 @@ SET(BulletExampleBrowser_SRCS ../DeformableDemo/DeformableMultibody.h ../DeformableDemo/DeformableRigid.cpp ../DeformableDemo/DeformableRigid.h + ../DeformableDemo/SplitImpulse.cpp + ../DeformableDemo/SplitImpulse.h ../DeformableDemo/VolumetricDeformable.cpp ../DeformableDemo/VolumetricDeformable.h ../DeformableDemo/DeformableClothAnchor.cpp diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index 191d62e58..6bc8b589b 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -45,6 +45,7 @@ #include "../DynamicControlDemo/MotorDemo.h" #include "../RollingFrictionDemo/RollingFrictionDemo.h" #include "../DeformableDemo/DeformableRigid.h" +#include "../DeformableDemo/SplitImpulse.h" #include "../DeformableDemo/ClothFriction.h" #include "../DeformableDemo/Pinch.h" #include "../DeformableDemo/DeformableSelfCollision.h" @@ -197,6 +198,7 @@ static ExampleEntry gDefaultExamples[] = ExampleEntry(1, "Cloth Friction", "Cloth friction contact", ClothFrictionCreateFunc), ExampleEntry(1, "Deformable-Deformable Friction Contact", "Deformable friction contact", PinchFrictionCreateFunc), ExampleEntry(1, "Deformable-RigidBody Contact", "Deformable test", DeformableRigidCreateFunc), + ExampleEntry(1, "Split Impulse Contact", "Split impulse test", SplitImpulseCreateFunc), ExampleEntry(1, "Grasp Deformable Cube", "Grasping test", PinchCreateFunc), ExampleEntry(1, "Grasp Deformable with Motor", "Grasping test", GraspDeformableCreateFunc), ExampleEntry(1, "Volumetric Deformable Objects", "Volumetric Deformable test", VolumetricDeformableCreateFunc), diff --git a/src/BulletDynamics/Dynamics/btRigidBody.h b/src/BulletDynamics/Dynamics/btRigidBody.h index 705331b88..0a345c2ef 100644 --- a/src/BulletDynamics/Dynamics/btRigidBody.h +++ b/src/BulletDynamics/Dynamics/btRigidBody.h @@ -332,6 +332,48 @@ public: } } } + + void applyPushImpulse(const btVector3& impulse, const btVector3& rel_pos) + { + if (m_inverseMass != btScalar(0.)) + { + applyCentralPushImpulse(impulse); + if (m_angularFactor) + { + applyTorqueTurnImpulse(rel_pos.cross(impulse * m_linearFactor)); + } + } + } + + btVector3 getPushVelocity() + { + return m_pushVelocity; + } + + btVector3 getTurnVelocity() + { + return m_turnVelocity; + } + + void setPushVelocity(const btVector3& v) + { + m_pushVelocity = v; + } + + void setTurnVelocity(const btVector3& v) + { + m_turnVelocity = v; + } + + void applyCentralPushImpulse(const btVector3& impulse) + { + m_pushVelocity += impulse * m_linearFactor * m_inverseMass; + } + + void applyTorqueTurnImpulse(const btVector3& torque) + { + m_turnVelocity += m_invInertiaTensorWorld * torque * m_angularFactor; + } void clearForces() { diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 9af8e3f77..a76c6ce79 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -36,7 +36,7 @@ btDeformableBodySolver::~btDeformableBodySolver() void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt) { - BT_PROFILE("solveConstraints"); + BT_PROFILE("solveDeformableConstraints"); if (!m_implicit) { m_objective->computeResidual(solverdt, m_residual); @@ -241,6 +241,16 @@ btScalar btDeformableBodySolver::solveContactConstraints() return maxSquaredResidual; } +btScalar btDeformableBodySolver::solveSplitImpulse(const btContactSolverInfo& infoGlobal) +{ + BT_PROFILE("solveSplitImpulse"); + return m_objective->m_projection.solveSplitImpulse(infoGlobal); +} + +void btDeformableBodySolver::splitImpulseSetup(const btContactSolverInfo& infoGlobal) +{ + m_objective->m_projection.splitImpulseSetup(infoGlobal); +} void btDeformableBodySolver::updateVelocity() { @@ -321,7 +331,7 @@ void btDeformableBodySolver::setupDeformableSolve(bool implicit) } else m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter]; - psb->m_nodes[j].m_v = m_backupVelocity[counter]; + psb->m_nodes[j].m_v = m_backupVelocity[counter] + psb->m_nodes[j].m_vsplit; ++counter; } } diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index bc56b3736..64c7dcfbe 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -66,6 +66,12 @@ public: // solve the contact between deformable and rigid as well as among deformables btScalar solveContactConstraints(); + + // solve the position error between deformable and rigid as well as among deformables; + btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal); + + // set up the position error in split impulse + void splitImpulseSetup(const btContactSolverInfo& infoGlobal); // resize/clear data structures void reinitialize(const btAlignedObjectArray& softBodies, btScalar dt); diff --git a/src/BulletSoftBody/btDeformableContactConstraint.cpp b/src/BulletSoftBody/btDeformableContactConstraint.cpp index 5764e961a..e8219dc50 100644 --- a/src/BulletSoftBody/btDeformableContactConstraint.cpp +++ b/src/BulletSoftBody/btDeformableContactConstraint.cpp @@ -140,11 +140,14 @@ btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btS { m_total_normal_dv.setZero(); m_total_tangent_dv.setZero(); + // penetration is non-positive. The magnitude of penetration is the depth of penetration. + m_penetration = btMin(btScalar(0), c.m_cti.m_offset); } btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btDeformableRigidContactConstraint& other) : m_contact(other.m_contact) , btDeformableContactConstraint(other) +, m_penetration(other.m_penetration) { m_total_normal_dv = other.m_total_normal_dv; m_total_tangent_dv = other.m_total_tangent_dv; @@ -285,6 +288,36 @@ btScalar btDeformableRigidContactConstraint::solveConstraint() return residualSquare; } +btScalar btDeformableRigidContactConstraint::solveSplitImpulse(const btContactSolverInfo& infoGlobal) +{ + const btSoftBody::sCti& cti = m_contact->m_cti; + const btScalar dn = m_penetration; + if (dn != 0) + { + const btVector3 impulse = (m_contact->m_c0 * (cti.m_normal * dn / infoGlobal.m_timeStep)); + // one iteration of the position impulse corrects all the position error at this timestep + m_penetration -= dn; + // apply impulse to deformable nodes involved and change their position + applySplitImpulse(impulse); + // apply impulse to the rigid/multibodies involved and change their position + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + btRigidBody* rigidCol = 0; + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + if (rigidCol) + { + rigidCol->applyPushImpulse(impulse, m_contact->m_c1); + } + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + // todo xuchenhan@ + } + return (m_penetration/infoGlobal.m_timeStep) * (m_penetration/infoGlobal.m_timeStep); + } + return 0; +} + /* ================ Node vs. Rigid =================== */ btDeformableNodeRigidContactConstraint::btDeformableNodeRigidContactConstraint(const btSoftBody::DeformableNodeRigidContact& contact) : m_node(contact.m_node) @@ -316,6 +349,13 @@ void btDeformableNodeRigidContactConstraint::applyImpulse(const btVector3& impul contact->m_node->m_v -= dv; } +void btDeformableNodeRigidContactConstraint::applySplitImpulse(const btVector3& impulse) +{ + const btSoftBody::DeformableNodeRigidContact* contact = getContact(); + btVector3 dv = impulse * contact->m_c2; + contact->m_node->m_vsplit -= dv; +}; + /* ================ Face vs. Rigid =================== */ btDeformableFaceRigidContactConstraint::btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact) : m_face(contact.m_face) @@ -386,6 +426,26 @@ void btDeformableFaceRigidContactConstraint::applyImpulse(const btVector3& impul v2 += dv2; } +void btDeformableFaceRigidContactConstraint::applySplitImpulse(const btVector3& impulse) +{ + const btSoftBody::DeformableFaceRigidContact* contact = getContact(); + btVector3 dv = impulse * contact->m_c2; + btSoftBody::Face* face = contact->m_face; + + btVector3& v0 = face->m_n[0]->m_vsplit; + btVector3& v1 = face->m_n[1]->m_vsplit; + btVector3& v2 = face->m_n[2]->m_vsplit; + const btScalar& im0 = face->m_n[0]->m_im; + const btScalar& im1 = face->m_n[1]->m_im; + const btScalar& im2 = face->m_n[2]->m_im; + if (im0 > 0) + v0 -= dv * contact->m_weights[0]; + if (im1 > 0) + v1 -= dv * contact->m_weights[1]; + if (im2 > 0) + v2 -= dv * contact->m_weights[2]; +} + /* ================ Face vs. Node =================== */ btDeformableFaceNodeContactConstraint::btDeformableFaceNodeContactConstraint(const btSoftBody::DeformableFaceNodeContact& contact) : m_node(contact.m_node) diff --git a/src/BulletSoftBody/btDeformableContactConstraint.h b/src/BulletSoftBody/btDeformableContactConstraint.h index da16c51e5..912119e7c 100644 --- a/src/BulletSoftBody/btDeformableContactConstraint.h +++ b/src/BulletSoftBody/btDeformableContactConstraint.h @@ -50,6 +50,9 @@ public: // the constraint is solved by calculating the impulse between object A and B in the contact and apply the impulse to both objects involved in the contact virtual btScalar solveConstraint() = 0; + // solve the position error by applying an inelastic impulse that changes only the position (not velocity) + virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal) = 0; + // get the velocity of the object A in the contact virtual btVector3 getVa() const = 0; @@ -61,6 +64,12 @@ public: // apply impulse to the soft body node and/or face involved virtual void applyImpulse(const btVector3& impulse) = 0; + + // apply position based impulse to the soft body node and/or face involved + virtual void applySplitImpulse(const btVector3& impulse) = 0; + + // scale the penetration depth by erp + virtual void setPenetrationScale(btScalar scale) = 0; }; // @@ -90,6 +99,11 @@ public: return 0; } + virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal) + { + return 0; + } + virtual btVector3 getVa() const { return btVector3(0,0,0); @@ -106,6 +120,8 @@ public: } virtual void applyImpulse(const btVector3& impulse){} + virtual void applySplitImpulse(const btVector3& impulse){} + virtual void setPenetrationScale(btScalar scale){} }; // @@ -122,6 +138,11 @@ public: { } virtual btScalar solveConstraint(); + virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal) + { + // todo xuchenhan@ + return 0; + } // object A is the rigid/multi body, and object B is the deformable node/face virtual btVector3 getVa() const; // get the velocity of the deformable node in contact @@ -131,6 +152,11 @@ public: return btVector3(0,0,0); } virtual void applyImpulse(const btVector3& impulse); + virtual void applySplitImpulse(const btVector3& impulse) + { + // todo xuchenhan@ + }; + virtual void setPenetrationScale(btScalar scale){} }; @@ -141,6 +167,7 @@ class btDeformableRigidContactConstraint : public btDeformableContactConstraint public: btVector3 m_total_normal_dv; btVector3 m_total_tangent_dv; + btScalar m_penetration; const btSoftBody::DeformableRigidContact* m_contact; btDeformableRigidContactConstraint(){} @@ -154,6 +181,13 @@ public: virtual btVector3 getVa() const; virtual btScalar solveConstraint(); + + virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal); + + virtual void setPenetrationScale(btScalar scale) + { + m_penetration *= scale; + } }; // @@ -185,6 +219,7 @@ public: } virtual void applyImpulse(const btVector3& impulse); + virtual void applySplitImpulse(const btVector3& impulse); }; // @@ -214,6 +249,7 @@ public: } virtual void applyImpulse(const btVector3& impulse); + virtual void applySplitImpulse(const btVector3& impulse); }; // @@ -235,6 +271,12 @@ public: virtual btScalar solveConstraint(); + virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal) + { + // todo: xuchenhan@ + return 0; + } + // get the velocity of the object A in the contact virtual btVector3 getVa() const; @@ -251,5 +293,10 @@ public: } virtual void applyImpulse(const btVector3& impulse); + virtual void applySplitImpulse(const btVector3& impulse) + { + // todo xuchenhan@ + } + virtual void setPenetrationScale(btScalar scale){} }; #endif /* BT_DEFORMABLE_CONTACT_CONSTRAINT_H */ diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index d438d6eec..dc00e7520 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -51,6 +51,57 @@ btScalar btDeformableContactProjection::update() return residualSquare; } +void btDeformableContactProjection::splitImpulseSetup(const btContactSolverInfo& infoGlobal) +{ + // node constraints + for (int index = 0; index < m_nodeRigidConstraints.size(); ++index) + { + btAlignedObjectArray& constraints = *m_nodeRigidConstraints.getAtIndex(index); + for (int i = 0; i < constraints.size(); ++i) + { + constraints[i].setPenetrationScale(infoGlobal.m_erp); + } + } + + // face constraints + for (int index = 0; index < m_allFaceConstraints.size(); ++index) + { + btDeformableContactConstraint* constraint = m_allFaceConstraints[index]; + constraint->setPenetrationScale(infoGlobal.m_erp); + } +} + +btScalar btDeformableContactProjection::solveSplitImpulse(const btContactSolverInfo& infoGlobal) +{ + btScalar residualSquare = 0; + // node constraints + for (int index = 0; index < m_nodeRigidConstraints.size(); ++index) + { + btAlignedObjectArray& constraints = *m_nodeRigidConstraints.getAtIndex(index); + for (int i = 0; i < constraints.size(); ++i) + { + btScalar localResidualSquare = constraints[i].solveSplitImpulse(infoGlobal); + residualSquare = btMax(residualSquare, localResidualSquare); + } + } + + // anchor constraints + for (int index = 0; index < m_nodeAnchorConstraints.size(); ++index) + { + btDeformableNodeAnchorConstraint& constraint = *m_nodeAnchorConstraints.getAtIndex(index); + btScalar localResidualSquare = constraint.solveSplitImpulse(infoGlobal); + residualSquare = btMax(residualSquare, localResidualSquare); + } + + // face constraints + for (int index = 0; index < m_allFaceConstraints.size(); ++index) + { + btDeformableContactConstraint* constraint = m_allFaceConstraints[index]; + btScalar localResidualSquare = constraint->solveSplitImpulse(infoGlobal); + residualSquare = btMax(residualSquare, localResidualSquare); + } + return residualSquare; +} void btDeformableContactProjection::setConstraints() { diff --git a/src/BulletSoftBody/btDeformableContactProjection.h b/src/BulletSoftBody/btDeformableContactProjection.h index 90386b0c9..406eeba3c 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.h +++ b/src/BulletSoftBody/btDeformableContactProjection.h @@ -60,9 +60,12 @@ public: // add friction force to the rhs of the linear solve virtual void applyDynamicFriction(TVStack& f); - // update the constraints + // update and solve the constraints virtual btScalar update(); + // solve the position error using split impulse + virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal); + // Add constraints to m_constraints. In addition, the constraints that each vertex own are recorded in m_constraintsDict. virtual void setConstraints(); @@ -70,5 +73,7 @@ public: virtual void setProjection(); virtual void reinitialize(bool nodeUpdated); + + virtual void splitImpulseSetup(const btContactSolverInfo& infoGlobal); }; #endif /* btDeformableContactProjection_h */ diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp index 1e0d53a41..9c5390d1f 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp @@ -104,3 +104,40 @@ void btDeformableMultiBodyConstraintSolver::solverBodyWriteBack(const btContactS } } } + +void btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) +{ + BT_PROFILE("solveGroupCacheFriendlySplitImpulseIterations"); + int iteration; + if (infoGlobal.m_splitImpulse) + { + { + m_deformableSolver->splitImpulseSetup(infoGlobal); + for (iteration = 0; iteration < infoGlobal.m_numIterations; iteration++) + { + btScalar leastSquaresResidual = 0.f; + { + int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); + int j; + for (j = 0; j < numPoolConstraints; j++) + { + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; + + btScalar residual = resolveSplitPenetrationImpulse(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); + } + // solve the position correction between deformable and rigid/multibody + btScalar residual = m_deformableSolver->solveSplitImpulse(infoGlobal); + leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); + } + if (leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration >= (infoGlobal.m_numIterations - 1)) + { +#ifdef VERBOSE_RESIDUAL_PRINTF + printf("residual = %f at iteration #%d\n", leastSquaresResidual, iteration); +#endif + break; + } + } + } + } +} diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h index cac82f98b..10f1d3f4b 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h @@ -44,6 +44,8 @@ protected: // write the velocity of the underlying rigid body to the the the solver body void writeToSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal); + virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); + public: BT_DECLARE_ALIGNED_ALLOCATOR(); diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 03a884139..814c2d687 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -118,9 +118,32 @@ void btDeformableMultiBodyDynamicsWorld::softBodySelfCollision() } } +void btDeformableMultiBodyDynamicsWorld::positionCorrection(btScalar timeStep) +{ + // correct the position of rigid bodies with temporary velocity generated from split impulse + btContactSolverInfo infoGlobal; + btVector3 zero(0,0,0); + for (int i = 0; i < m_nonStaticRigidBodies.size(); ++i) + { + btRigidBody* rb = m_nonStaticRigidBodies[i]; + //correct the position/orientation based on push/turn recovery + btTransform newTransform; + btVector3 pushVelocity = rb->getPushVelocity(); + btVector3 turnVelocity = rb->getTurnVelocity(); + if (pushVelocity[0] != 0.f || pushVelocity[1] != 0 || pushVelocity[2] != 0 || turnVelocity[0] != 0.f || turnVelocity[1] != 0 || turnVelocity[2] != 0) + { + btTransformUtil::integrateTransform(rb->getWorldTransform(), pushVelocity, turnVelocity * infoGlobal.m_splitImpulseTurnErp, timeStep, newTransform); + rb->setWorldTransform(newTransform); + rb->setPushVelocity(zero); + rb->setTurnVelocity(zero); + } + } +} + void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) { BT_PROFILE("integrateTransforms"); + positionCorrection(timeStep); btMultiBodyDynamicsWorld::integrateTransforms(timeStep); for (int i = 0; i < m_softBodies.size(); ++i) { @@ -142,6 +165,8 @@ void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) } } node.m_x = node.m_x + timeStep * node.m_v; + node.m_v -= node.m_vsplit; + node.m_vsplit.setZero(); node.m_q = node.m_x; node.m_vn = node.m_v; } diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index d894d5cf5..38cc162d2 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -257,6 +257,7 @@ public: btVector3 m_x; // Position btVector3 m_q; // Previous step position/Test position btVector3 m_v; // Velocity + btVector3 m_vsplit; // Temporary Velocity in addintion to velocity used in split impulse btVector3 m_vn; // Previous step velocity btVector3 m_f; // Force accumulator btVector3 m_n; // Normal From b55ebac2d917bfb3c1476a95721771a9a78860e6 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 5 Nov 2019 18:09:38 -0800 Subject: [PATCH 260/389] update CMakeLists --- src/BulletSoftBody/CMakeLists.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/src/BulletSoftBody/CMakeLists.txt b/src/BulletSoftBody/CMakeLists.txt index 408d5b5d8..f20fb4c0a 100644 --- a/src/BulletSoftBody/CMakeLists.txt +++ b/src/BulletSoftBody/CMakeLists.txt @@ -47,6 +47,7 @@ SET(BulletSoftBody_HDRS btDeformableMassSpringForce.h btDeformableCorotatedForce.h btDeformableNeoHookeanForce.h + btDeformableLinearElasticityForce.h btDeformableLagrangianForce.h btPreconditioner.h From 9068b7ed912c45e48a877b14a7161de7f93a5563 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 5 Nov 2019 18:16:13 -0800 Subject: [PATCH 261/389] turn off SVD --- src/BulletSoftBody/btDeformableNeoHookeanForce.h | 1 - 1 file changed, 1 deletion(-) diff --git a/src/BulletSoftBody/btDeformableNeoHookeanForce.h b/src/BulletSoftBody/btDeformableNeoHookeanForce.h index d9bb3be61..3d06e304d 100644 --- a/src/BulletSoftBody/btDeformableNeoHookeanForce.h +++ b/src/BulletSoftBody/btDeformableNeoHookeanForce.h @@ -175,7 +175,6 @@ public: btSoftBody::Tetra& tetra = psb->m_tetras[j]; btMatrix3x3 P; firstPiola(psb->m_tetraScratches[j],P); -#define USE_SVD 1 #ifdef USE_SVD if (max_p > 0) { From 9f44d76b673991b441f38a1a677221a6ea10c9cf Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 7 Nov 2019 10:47:56 -0800 Subject: [PATCH 262/389] fix issue in BulletClient (pybullet_utils.bullet_client) that may disconnect multiple times, causing issues when repeatedly creating a gym env bump up pybullet to version 2.5.7 --- .../pybullet/gym/pybullet_utils/bullet_client.py | 14 +++++++++----- setup.py | 2 +- 2 files changed, 10 insertions(+), 6 deletions(-) diff --git a/examples/pybullet/gym/pybullet_utils/bullet_client.py b/examples/pybullet/gym/pybullet_utils/bullet_client.py index 54e0bd09e..192cc1b87 100644 --- a/examples/pybullet/gym/pybullet_utils/bullet_client.py +++ b/examples/pybullet/gym/pybullet_utils/bullet_client.py @@ -21,7 +21,6 @@ class BulletClient(object): `pybullet.SHARED_MEMORY` connects to an existing simulation. """ self._shapes = {} - if connection_mode is None: self._client = pybullet.connect(pybullet.SHARED_MEMORY) if self._client >= 0: @@ -32,14 +31,17 @@ class BulletClient(object): def __del__(self): """Clean up connection if not already done.""" - try: - pybullet.disconnect(physicsClientId=self._client) - except pybullet.error: - pass + if self._client>=0: + try: + pybullet.disconnect(physicsClientId=self._client) + self._client = -1 + except pybullet.error: + pass def __getattr__(self, name): """Inject the client id into Bullet functions.""" attribute = getattr(pybullet, name) + if inspect.isbuiltin(attribute): if name not in [ "invertTransform", @@ -51,4 +53,6 @@ class BulletClient(object): "getQuaternionFromEuler", ]: # A temporary hack for now. attribute = functools.partial(attribute, physicsClientId=self._client) + if name=="disconnect": + self._client = -1 return attribute diff --git a/setup.py b/setup.py index 4d2212767..b84bc9385 100644 --- a/setup.py +++ b/setup.py @@ -491,7 +491,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS: setup( name='pybullet', - version='2.5.6', + version='2.5.7', description= 'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning', long_description= From baa9dcdf08abb5bc9434a7ab5c480ede4e31994e Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 7 Nov 2019 12:13:51 -0800 Subject: [PATCH 263/389] move erp for deformable into a separate parameter --- examples/DeformableDemo/SplitImpulse.cpp | 4 ++-- src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h | 2 ++ src/BulletSoftBody/btDeformableContactProjection.cpp | 4 ++-- 3 files changed, 6 insertions(+), 4 deletions(-) diff --git a/examples/DeformableDemo/SplitImpulse.cpp b/examples/DeformableDemo/SplitImpulse.cpp index 6b99e9523..c24a47c42 100644 --- a/examples/DeformableDemo/SplitImpulse.cpp +++ b/examples/DeformableDemo/SplitImpulse.cpp @@ -162,9 +162,9 @@ void SplitImpulse::initPhysics() } #ifdef USE_SPLIT_IMPULSE - getDeformableDynamicsWorld()->getSolverInfo().m_erp = 0.03; + getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.03; #else - getDeformableDynamicsWorld()->getSolverInfo().m_erp = 0.0; + getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.0; #endif // create a piece of cloth diff --git a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h index edb80036d..e82d1b139 100644 --- a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h +++ b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h @@ -46,6 +46,7 @@ struct btContactSolverInfoData btScalar m_sor; //successive over-relaxation term btScalar m_erp; //error reduction for non-contact constraints btScalar m_erp2; //error reduction for contact constraints + btScalar m_deformable_erp; //error reduction for deformable constraints btScalar m_globalCfm; //constraint force mixing for contacts and non-contacts btScalar m_frictionERP; //error reduction for friction constraints btScalar m_frictionCFM; //constraint force mixing for friction constraints @@ -81,6 +82,7 @@ struct btContactSolverInfo : public btContactSolverInfoData m_numIterations = 10; m_erp = btScalar(0.2); m_erp2 = btScalar(0.2); + m_deformable_erp = btScalar(0.); m_globalCfm = btScalar(0.); m_frictionERP = btScalar(0.2); //positional friction 'anchors' are disabled by default m_frictionCFM = btScalar(0.); diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index dc00e7520..5986e2881 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -59,7 +59,7 @@ void btDeformableContactProjection::splitImpulseSetup(const btContactSolverInfo& btAlignedObjectArray& constraints = *m_nodeRigidConstraints.getAtIndex(index); for (int i = 0; i < constraints.size(); ++i) { - constraints[i].setPenetrationScale(infoGlobal.m_erp); + constraints[i].setPenetrationScale(infoGlobal.m_deformable_erp); } } @@ -67,7 +67,7 @@ void btDeformableContactProjection::splitImpulseSetup(const btContactSolverInfo& for (int index = 0; index < m_allFaceConstraints.size(); ++index) { btDeformableContactConstraint* constraint = m_allFaceConstraints[index]; - constraint->setPenetrationScale(infoGlobal.m_erp); + constraint->setPenetrationScale(infoGlobal.m_deformable_erp); } } From 059e23d38158af54dba5226eb47ecd4acaddccc5 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 7 Nov 2019 13:00:13 -0800 Subject: [PATCH 264/389] fix old soft body collision issue #2473 --- src/BulletSoftBody/btSoftBody.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index e4e8c0c41..6c410733b 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -92,7 +92,6 @@ void btSoftBody::initDefaults() m_cfg.drag = 0; m_cfg.m_maxStress = 0; m_cfg.collisions = fCollision::Default; - m_cfg.collisions |= fCollision::VF_DD; m_pose.m_bvolume = false; m_pose.m_bframe = false; m_pose.m_volume = 0; From e9117dc1950edcd503a56f3df03c0bd4236db3b9 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Fri, 8 Nov 2019 14:28:11 -0800 Subject: [PATCH 265/389] fix colors in URDF file --- data/table/table.urdf | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/data/table/table.urdf b/data/table/table.urdf index 5e9aa7460..32e505b0e 100644 --- a/data/table/table.urdf +++ b/data/table/table.urdf @@ -29,21 +29,21 @@ - + - + - + From bbf983bfbb3de7728db6bcdadd4059110cea356a Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Fri, 8 Nov 2019 16:10:05 -0800 Subject: [PATCH 266/389] reserve faces (minor performance improvement?) --- examples/TinyRenderer/model.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/examples/TinyRenderer/model.cpp b/examples/TinyRenderer/model.cpp index 664765f12..d4ef4a617 100644 --- a/examples/TinyRenderer/model.cpp +++ b/examples/TinyRenderer/model.cpp @@ -126,10 +126,13 @@ int Model::nfaces() std::vector Model::face(int idx) { std::vector face; - for (int i = 0; i < (int)faces_[idx].size(); i++) face.push_back(faces_[idx][i][0]); - return face; + face.reserve((int)faces_[idx].size()); + for (int i = 0; i < (int)faces_[idx].size(); i++) + face.push_back(faces_[idx][i][0]); + return face; } + Vec3f Model::vert(int i) { return verts_[i]; From 362bc6d9a3da283ba68028ec101e9c3dc60deb26 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 8 Nov 2019 16:54:02 -0800 Subject: [PATCH 267/389] fix the bug that prevents the pd control forces/torques being added --- .../PhysicsServerCommandProcessor.cpp | 4 +- src/BulletDynamics/Dynamics/btRigidBody.cpp | 8 ++ src/BulletDynamics/Dynamics/btRigidBody.h | 2 + .../btDeformableMultiBodyDynamicsWorld.cpp | 115 +++++++++++++++++- .../btDeformableMultiBodyDynamicsWorld.h | 6 +- 5 files changed, 127 insertions(+), 8 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index af85e9c04..4558a421a 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -9261,8 +9261,7 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st { } }; - -#ifdef SKIP_DEFORMABLE_BODY + if (newSolver) { delete oldSolver; @@ -9271,7 +9270,6 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st m_data->m_solver = newSolver; printf("switched solver\n"); } -#endif } } diff --git a/src/BulletDynamics/Dynamics/btRigidBody.cpp b/src/BulletDynamics/Dynamics/btRigidBody.cpp index f4bcabada..9e8705b00 100644 --- a/src/BulletDynamics/Dynamics/btRigidBody.cpp +++ b/src/BulletDynamics/Dynamics/btRigidBody.cpp @@ -206,6 +206,14 @@ void btRigidBody::applyGravity() applyCentralForce(m_gravity); } +void btRigidBody::clearGravity() +{ + if (isStaticOrKinematicObject()) + return; + + applyCentralForce(-m_gravity); +} + void btRigidBody::proceedToTransform(const btTransform& newTrans) { setCenterOfMassTransform(newTrans); diff --git a/src/BulletDynamics/Dynamics/btRigidBody.h b/src/BulletDynamics/Dynamics/btRigidBody.h index 0a345c2ef..39d47cbbd 100644 --- a/src/BulletDynamics/Dynamics/btRigidBody.h +++ b/src/BulletDynamics/Dynamics/btRigidBody.h @@ -205,6 +205,8 @@ public: void saveKinematicState(btScalar step); void applyGravity(); + + void clearGravity(); void setGravity(const btVector3& acceleration); diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 814c2d687..3eb7248b3 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -383,8 +383,6 @@ void btDeformableMultiBodyDynamicsWorld::applyRigidBodyGravity(btScalar timeStep // Gravity is applied in stepSimulation and then cleared here and then applied here and then cleared here again // so that 1) gravity is applied to velocity before constraint solve and 2) gravity is applied in each substep // when there are multiple substeps - clearForces(); - clearMultiBodyForces(); btMultiBodyDynamicsWorld::applyGravity(); // integrate rigid body gravity for (int i = 0; i < m_nonStaticRigidBodies.size(); ++i) @@ -437,8 +435,48 @@ void btDeformableMultiBodyDynamicsWorld::applyRigidBodyGravity(btScalar timeStep } } } - clearForces(); - clearMultiBodyForces(); + clearGravity(); +} + +void btDeformableMultiBodyDynamicsWorld::clearGravity() +{ + BT_PROFILE("btMultiBody clearGravity"); + // clear rigid body gravity + for (int i = 0; i < m_nonStaticRigidBodies.size(); i++) + { + btRigidBody* body = m_nonStaticRigidBodies[i]; + if (body->isActive()) + { + body->clearGravity(); + } + } + // clear multibody gravity + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + bod->addBaseForce(-m_gravity * bod->getBaseMass()); + + for (int j = 0; j < bod->getNumLinks(); ++j) + { + bod->addLinkForce(j, -m_gravity * bod->getLinkMass(j)); + } + } + } } void btDeformableMultiBodyDynamicsWorld::beforeSolverCallbacks(btScalar timeStep) @@ -499,3 +537,72 @@ void btDeformableMultiBodyDynamicsWorld::removeCollisionObject(btCollisionObject else btDiscreteDynamicsWorld::removeCollisionObject(collisionObject); } + + +int btDeformableMultiBodyDynamicsWorld::stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep) +{ + startProfiling(timeStep); + + int numSimulationSubSteps = 0; + + if (maxSubSteps) + { + //fixed timestep with interpolation + m_fixedTimeStep = fixedTimeStep; + m_localTime += timeStep; + if (m_localTime >= fixedTimeStep) + { + numSimulationSubSteps = int(m_localTime / fixedTimeStep); + m_localTime -= numSimulationSubSteps * fixedTimeStep; + } + } + else + { + //variable timestep + fixedTimeStep = timeStep; + m_localTime = m_latencyMotionStateInterpolation ? 0 : timeStep; + m_fixedTimeStep = 0; + if (btFuzzyZero(timeStep)) + { + numSimulationSubSteps = 0; + maxSubSteps = 0; + } + else + { + numSimulationSubSteps = 1; + maxSubSteps = 1; + } + } + + //process some debugging flags + if (getDebugDrawer()) + { + btIDebugDraw* debugDrawer = getDebugDrawer(); + gDisableDeactivation = (debugDrawer->getDebugMode() & btIDebugDraw::DBG_NoDeactivation) != 0; + } + if (numSimulationSubSteps) + { + //clamp the number of substeps, to prevent simulation grinding spiralling down to a halt + int clampedSimulationSteps = (numSimulationSubSteps > maxSubSteps) ? maxSubSteps : numSimulationSubSteps; + + saveKinematicState(fixedTimeStep * clampedSimulationSteps); + + for (int i = 0; i < clampedSimulationSteps; i++) + { + internalSingleStepSimulation(fixedTimeStep); + synchronizeMotionStates(); + } + } + else + { + synchronizeMotionStates(); + } + + clearForces(); + +#ifndef BT_NO_PROFILE + CProfileManager::Increment_Frame_Counter(); +#endif //BT_NO_PROFILE + + return numSimulationSubSteps; +} diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h index 834c6c8b1..d00183504 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h @@ -63,7 +63,9 @@ protected: void solveConstraints(btScalar timeStep); void updateActivationState(btScalar timeStep); - + + void clearGravity(); + public: btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btDeformableMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0) : btMultiBodyDynamicsWorld(dispatcher, pairCache, (btMultiBodyConstraintSolver*)constraintSolver, collisionConfiguration), @@ -90,6 +92,8 @@ public: m_selfCollision = true; } + virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.)); + void setSolverCallback(btSolverCallback cb) { m_solverCallback = cb; From 794614f269915ff7a85b6004efffecd7a181edb6 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 11 Nov 2019 13:58:03 -0800 Subject: [PATCH 268/389] change collision detection between deformables to from continuous to discrete --- examples/DeformableDemo/PinchFriction.cpp | 28 +--- .../BroadphaseCollision/btDbvt.h | 67 ++++++++ src/BulletSoftBody/btDeformableBodySolver.cpp | 24 ++- src/BulletSoftBody/btSoftBody.cpp | 12 ++ src/BulletSoftBody/btSoftBodyInternals.h | 158 +++++++----------- 5 files changed, 155 insertions(+), 134 deletions(-) diff --git a/examples/DeformableDemo/PinchFriction.cpp b/examples/DeformableDemo/PinchFriction.cpp index bf0d57d0b..657c36e46 100644 --- a/examples/DeformableDemo/PinchFriction.cpp +++ b/examples/DeformableDemo/PinchFriction.cpp @@ -93,16 +93,6 @@ public: virtual void renderScene() { CommonRigidBodyBase::renderScene(); -// btDeformableMultiBodyDynamicsWorld* 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()); -// } -// } } }; @@ -115,8 +105,8 @@ void dynamics2(btScalar time, btDeformableMultiBodyDynamicsWorld* world) btScalar pressTime = 0.45; btScalar liftTime = 5; btScalar shiftTime = 1.75; - btScalar holdTime = 4.5*1000; - btScalar dropTime = 5.3*1000; + btScalar holdTime = 7.5; + btScalar dropTime = 8.3; btTransform rbTransform; rbTransform.setIdentity(); btVector3 translation; @@ -259,7 +249,7 @@ void PinchFriction::initPhysics() btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform); btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia); btRigidBody* body = new btRigidBody(rbInfo); - body->setFriction(0); + body->setFriction(0.5); //add the ground to the dynamics world m_dynamicsWorld->addRigidBody(body); @@ -275,11 +265,11 @@ void PinchFriction::initPhysics() psb->scale(btVector3(2, 2, 1)); psb->translate(btVector3(0, 2.1, 2.2)); - psb->getCollisionShape()->setMargin(0.1); + psb->getCollisionShape()->setMargin(0.05); psb->setTotalMass(.6); psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb->m_cfg.kCHR = 1; // collision hardness with rigid body - psb->m_cfg.kDF = 20; + psb->m_cfg.kDF = 2; btSoftBodyHelpers::generateBoundaryFaces(psb); psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; @@ -304,11 +294,11 @@ void PinchFriction::initPhysics() psb2->scale(btVector3(2, 2, 1)); psb2->translate(btVector3(0, 2.1, -2.2)); - psb2->getCollisionShape()->setMargin(0.1); + psb2->getCollisionShape()->setMargin(0.05); psb2->setTotalMass(.6); psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb2->m_cfg.kCHR = 1; // collision hardness with rigid body - psb2->m_cfg.kDF = 20; + psb2->m_cfg.kDF = 2; psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; btSoftBodyHelpers::generateBoundaryFaces(psb2); @@ -333,11 +323,11 @@ void PinchFriction::initPhysics() psb3->scale(btVector3(2, 2, 1)); psb3->translate(btVector3(0, 2.1, 0)); - psb3->getCollisionShape()->setMargin(0.1); + psb3->getCollisionShape()->setMargin(0.05); psb3->setTotalMass(.6); psb3->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb3->m_cfg.kCHR = 1; // collision hardness with rigid body - psb3->m_cfg.kDF = 20; + psb3->m_cfg.kDF = 2; psb3->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; psb3->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; btSoftBodyHelpers::generateBoundaryFaces(psb3); diff --git a/src/BulletCollision/BroadphaseCollision/btDbvt.h b/src/BulletCollision/BroadphaseCollision/btDbvt.h index 324c499e2..e5db99722 100644 --- a/src/BulletCollision/BroadphaseCollision/btDbvt.h +++ b/src/BulletCollision/BroadphaseCollision/btDbvt.h @@ -349,6 +349,9 @@ struct btDbvt DBVT_PREFIX void selfCollideT(const btDbvntNode* root, DBVT_IPOLICY); + DBVT_PREFIX + void selfCollideTT(const btDbvtNode* root, + DBVT_IPOLICY); DBVT_PREFIX void collideTTpersistentStack(const btDbvtNode* root0, @@ -944,6 +947,70 @@ inline void btDbvt::selfCollideT(const btDbvntNode* root, } } +// +DBVT_PREFIX +inline void btDbvt::selfCollideTT(const btDbvtNode* root, + DBVT_IPOLICY) +{ + DBVT_CHECKTYPE + if (root) + { + int depth = 1; + int treshold = DOUBLE_STACKSIZE - 4; + btAlignedObjectArray stkStack; + stkStack.resize(DOUBLE_STACKSIZE); + stkStack[0] = sStkNN(root, root); + do + { + sStkNN p = stkStack[--depth]; + if (depth > treshold) + { + stkStack.resize(stkStack.size() * 2); + treshold = stkStack.size() - 4; + } + if (p.a == p.b) + { + if (p.a->isinternal()) + { + stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[0]); + stkStack[depth++] = sStkNN(p.a->childs[1], p.a->childs[1]); + stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[1]); + } + } + else if (Intersect(p.a->volume, p.b->volume)) + { + if (p.a->isinternal()) + { + if (p.b->isinternal()) + { + stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[0]); + stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[0]); + stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[1]); + stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[1]); + } + else + { + stkStack[depth++] = sStkNN(p.a->childs[0], p.b); + stkStack[depth++] = sStkNN(p.a->childs[1], p.b); + } + } + else + { + if (p.b->isinternal()) + { + stkStack[depth++] = sStkNN(p.a, p.b->childs[0]); + stkStack[depth++] = sStkNN(p.a, p.b->childs[1]); + } + else + { + policy.Process(p.a, p.b); + } + } + } + } while (depth); + } +} + DBVT_PREFIX inline void btDbvt::collideTTpersistentStack(const btDbvtNode* root0, diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 6cca9d887..82f343104 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -431,11 +431,10 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d for (i = 0, ni = psb->m_nodes.size(); i < ni; ++i) { btSoftBody::Node& n = psb->m_nodes[i]; - vol = btDbvtVolume::FromCR(n.m_q, psb->m_sst.radmrg); - psb->m_ndbvt.update(n.m_leaf, - vol, - n.m_v * psb->m_sst.velmrg, - psb->m_sst.updmrg); + btVector3 points[2] = {n.m_x, n.m_q}; + vol = btDbvtVolume::FromPoints(points, 2); + vol.Expand(btVector3(psb->m_sst.radmrg, psb->m_sst.radmrg, psb->m_sst.radmrg)); + psb->m_ndbvt.update(n.m_leaf, vol); } if (!psb->m_fdbvt.empty()) @@ -443,15 +442,12 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d for (int i = 0; i < psb->m_faces.size(); ++i) { btSoftBody::Face& f = psb->m_faces[i]; - const btVector3 v = (f.m_n[0]->m_v + - f.m_n[1]->m_v + - f.m_n[2]->m_v) / - 3; - vol = VolumeOf(f, psb->m_sst.radmrg); - psb->m_fdbvt.update(f.m_leaf, - vol, - v * psb->m_sst.velmrg, - psb->m_sst.updmrg); + btVector3 points[6] = {f.m_n[0]->m_x, f.m_n[0]->m_q, + f.m_n[1]->m_x, f.m_n[1]->m_q, + f.m_n[2]->m_x, f.m_n[2]->m_q}; + vol = btDbvtVolume::FromPoints(points, 6); + vol.Expand(btVector3(psb->m_sst.radmrg, psb->m_sst.radmrg, psb->m_sst.radmrg)); + psb->m_fdbvt.update(f.m_leaf, vol); } } /* Clear contacts */ diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 6c410733b..b2e2b6040 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -3702,12 +3702,20 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb) docollide.mrg = getCollisionShape()->getMargin() + psb->getCollisionShape()->getMargin(); /* psb0 nodes vs psb1 faces */ + if (psb->m_tetras.size() > 0) + docollide.useFaceNormal = true; + else + docollide.useFaceNormal = false; docollide.psb[0] = this; docollide.psb[1] = psb; docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root, docollide.psb[1]->m_fdbvt.m_root, docollide); /* psb1 nodes vs psb0 faces */ + if (this->m_tetras.size() > 0) + docollide.useFaceNormal = true; + else + docollide.useFaceNormal = false; docollide.psb[0] = psb; docollide.psb[1] = this; docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root, @@ -3723,6 +3731,10 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb) psb->getCollisionShape()->getMargin(); docollide.psb[0] = this; docollide.psb[1] = psb; + if (this->m_tetras.size() > 0) + docollide.useFaceNormal = true; + else + docollide.useFaceNormal = false; /* psb0 faces vs psb0 faces */ btDbvntNode* root = copyToDbvnt(this->m_fdbvt.m_root); calculateNormalCone(root); diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index 93aa1d3c0..4a89c1662 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -1243,6 +1243,7 @@ struct btSoftColliders btScalar dynmargin; btScalar stamargin; }; + // // CollideVF_SS // @@ -1299,6 +1300,7 @@ struct btSoftColliders btScalar mrg; }; + // // CollideVF_DD // @@ -1309,37 +1311,35 @@ struct btSoftColliders { btSoftBody::Node* node = (btSoftBody::Node*)lnode->data; btSoftBody::Face* face = (btSoftBody::Face*)lface->data; + btVector3 o = node->m_x; - btVector3 p, normal; - const btSoftBody::Node* n[] = {face->m_n[0], face->m_n[1], face->m_n[2]}; - btVector3 dir = node->m_q - o; - btScalar l = dir.length(); - if (l < SIMD_EPSILON) - return; - btVector3 rayEnd = dir.normalized() * (l + 2*mrg); - // register an intersection if the line segment formed by the trajectory of the node in the timestep intersects the face - btVector3 v0 = face->m_n[0]->m_x; - btVector3 v1 = face->m_n[1]->m_x; - btVector3 v2 = face->m_n[2]->m_x; - btVector3 vc = (v0+v1+v2)/3.; - btScalar scale = 1.5; - // enlarge the triangle to catch collision on the edge - btVector3 u0 = vc + (v0-vc)*scale; - btVector3 u1 = vc + (v1-vc)*scale; - btVector3 u2 = vc + (v2-vc)*scale; - bool intersect = lineIntersectsTriangle(btVector3(0,0,0), rayEnd, u0-o, u1-o, u2-o, p, normal); - - if (intersect) + btVector3 p; + btScalar d = SIMD_INFINITY; + ProjectOrigin(face->m_n[0]->m_x - o, + face->m_n[1]->m_x - o, + face->m_n[2]->m_x - o, + p, d); + const btScalar m = mrg + (o - node->m_q).safeNorm() * 2; + if (d < (m * m)) { - p += o; - const btVector3 w = BaryCoord(n[0]->m_x, n[1]->m_x, n[2]->m_x, p); + const btSoftBody::Node* n[] = {face->m_n[0], face->m_n[1], face->m_n[2]}; + const btVector3 w = BaryCoord(n[0]->m_x, n[1]->m_x, n[2]->m_x, p + o); const btScalar ma = node->m_im; btScalar mb = BaryEval(n[0]->m_im, n[1]->m_im, n[2]->m_im, w); + if ((n[0]->m_im <= 0) || + (n[1]->m_im <= 0) || + (n[2]->m_im <= 0)) + { + mb = 0; + } const btScalar ms = ma + mb; if (ms > 0) { btSoftBody::DeformableFaceNodeContact c; - c.m_normal = normal; + if (useFaceNormal) + c.m_normal = face->m_normal; + else + c.m_normal = p / -btSqrt(d); c.m_margin = mrg; c.m_node = node; c.m_face = face; @@ -1356,6 +1356,7 @@ struct btSoftColliders } btSoftBody* psb[2]; btScalar mrg; + bool useFaceNormal; }; // @@ -1371,37 +1372,45 @@ struct btSoftColliders for (int node_id = 0; node_id < 3; ++node_id) { btSoftBody::Node* node = f->m_n[node_id]; - btVector3 o = node->m_x; - btVector3 p, normal; - const btSoftBody::Node* n[] = {face->m_n[0], face->m_n[1], face->m_n[2]}; - btVector3 dir = node->m_q - o; - btScalar l = dir.length(); - if (l < SIMD_EPSILON) - return; - btVector3 rayEnd = dir.normalized() * (l + 2*mrg); - // register an intersection if the line segment formed by the trajectory of the node in the timestep intersects the face - btVector3 v0 = face->m_n[0]->m_x; - btVector3 v1 = face->m_n[1]->m_x; - btVector3 v2 = face->m_n[2]->m_x; - btVector3 vc = (v0+v1+v2)/3.; - btScalar scale = 1.5; - // enlarge the triangle to catch collision on the edge - btVector3 u0 = vc + (v0-vc)*scale; - btVector3 u1 = vc + (v1-vc)*scale; - btVector3 u2 = vc + (v2-vc)*scale; - bool intersect = lineIntersectsTriangle(btVector3(0,0,0), rayEnd, u0-o, u1-o, u2-o, p, normal); - - if (intersect) + bool skip = false; + for (int i = 0; i < 3; ++i) { - p += o; - const btVector3 w = BaryCoord(n[0]->m_x, n[1]->m_x, n[2]->m_x, p); + if (face->m_n[i] == node) + { + skip = true; + break; + } + } + if (skip) + continue; + btVector3 o = node->m_x; + btVector3 p; + btScalar d = SIMD_INFINITY; + ProjectOrigin(face->m_n[0]->m_x - o, + face->m_n[1]->m_x - o, + face->m_n[2]->m_x - o, + p, d); + const btScalar m = mrg + (o - node->m_q).safeNorm() * 2; + if (d < (m * m)) + { + const btSoftBody::Node* n[] = {face->m_n[0], face->m_n[1], face->m_n[2]}; + const btVector3 w = BaryCoord(n[0]->m_x, n[1]->m_x, n[2]->m_x, p + o); const btScalar ma = node->m_im; btScalar mb = BaryEval(n[0]->m_im, n[1]->m_im, n[2]->m_im, w); + if ((n[0]->m_im <= 0) || + (n[1]->m_im <= 0) || + (n[2]->m_im <= 0)) + { + mb = 0; + } const btScalar ms = ma + mb; if (ms > 0) { btSoftBody::DeformableFaceNodeContact c; - c.m_normal = normal; + if (useFaceNormal) + c.m_normal = face->m_normal; + else + c.m_normal = p / -btSqrt(d); c.m_margin = mrg; c.m_node = node; c.m_face = face; @@ -1417,62 +1426,9 @@ struct btSoftColliders } } } - void Process(const btDbvtNode* lface1, - const btDbvtNode* lface2) - { - btSoftBody::Face* f = (btSoftBody::Face*)lface1->data; - btSoftBody::Face* face = (btSoftBody::Face*)lface2->data; - for (int node_id = 0; node_id < 3; ++node_id) - { - btSoftBody::Node* node = f->m_n[node_id]; - btVector3 o = node->m_x; - btVector3 p, normal; - const btSoftBody::Node* n[] = {face->m_n[0], face->m_n[1], face->m_n[2]}; - btVector3 dir = node->m_q - o; - btScalar l = dir.length(); - if (l < SIMD_EPSILON) - return; - btVector3 rayEnd = dir.normalized() * (l + 2*mrg); - // register an intersection if the line segment formed by the trajectory of the node in the timestep intersects the face - btVector3 v0 = face->m_n[0]->m_x; - btVector3 v1 = face->m_n[1]->m_x; - btVector3 v2 = face->m_n[2]->m_x; - btVector3 vc = (v0+v1+v2)/3.; - btScalar scale = 1.5; - // enlarge the triangle to catch collision on the edge - btVector3 u0 = vc + (v0-vc)*scale; - btVector3 u1 = vc + (v1-vc)*scale; - btVector3 u2 = vc + (v2-vc)*scale; - bool intersect = lineIntersectsTriangle(btVector3(0,0,0), rayEnd, u0-o, u1-o, u2-o, p, normal); - - if (intersect) - { - p += o; - const btVector3 w = BaryCoord(n[0]->m_x, n[1]->m_x, n[2]->m_x, p); - const btScalar ma = node->m_im; - btScalar mb = BaryEval(n[0]->m_im, n[1]->m_im, n[2]->m_im, w); - const btScalar ms = ma + mb; - if (ms > 0) - { - btSoftBody::DeformableFaceNodeContact c; - c.m_normal = normal; - c.m_margin = mrg; - c.m_node = node; - c.m_face = face; - c.m_bary = w; - // todo xuchenhan@: this is assuming mass of all vertices are the same. Need to modify if mass are different for distinct vertices - c.m_weights = btScalar(2)/(btScalar(1) + w.length2()) * w; - c.m_friction = psb[0]->m_cfg.kDF * psb[1]->m_cfg.kDF; - // the effective inverse mass of the face as in https://graphics.stanford.edu/papers/cloth-sig02/cloth.pdf - c.m_imf = c.m_bary[0]*c.m_weights[0] * n[0]->m_im + c.m_bary[1]*c.m_weights[1] * n[1]->m_im + c.m_bary[2]*c.m_weights[2] * n[2]->m_im; - c.m_c0 = btScalar(1)/(ma + c.m_imf); - psb[0]->m_faceNodeContacts.push_back(c); - } - } - } - } btSoftBody* psb[2]; btScalar mrg; + bool useFaceNormal; }; }; From 42b5c93bad7077c8133603cd5f290b020efd6d42 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 12 Nov 2019 11:50:47 -0800 Subject: [PATCH 269/389] approximate face contact WIP --- src/BulletSoftBody/btSoftBody.cpp | 58 ++++++++++++++++-------- src/BulletSoftBody/btSoftBody.h | 3 +- src/BulletSoftBody/btSoftBodyInternals.h | 5 ++ 3 files changed, 46 insertions(+), 20 deletions(-) diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index b2e2b6040..6bbe50e8a 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -117,7 +117,7 @@ void btSoftBody::initDefaults() m_restLengthScale = btScalar(1.0); m_dampingCoefficient = 1; m_sleepingThreshold = 0.1; - m_useFaceContact = false; + m_useFaceContact = true; m_useSelfCollision = false; m_collisionFlags = 0; } @@ -2443,7 +2443,7 @@ static void getBarycentric(const btVector3& p, btVector3& a, btVector3& b, btVec // bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colObjWrap, - const Face& f, + Face& f, btVector3& contact_point, btVector3& bary, btScalar margin, @@ -2454,26 +2454,46 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject(); // use the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg for collision detect // but resolve contact at x_n - btTransform wtr = (predict) ? - (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform()) - : colObjWrap->getWorldTransform(); - - btGjkEpaSolver2::sResults results; - btTransform triangle_transform; - triangle_transform.setIdentity(); - triangle_transform.setOrigin(f.m_n[0]->m_x); - btTriangleShape triangle(btVector3(0,0,0), f.m_n[1]->m_x-f.m_n[0]->m_x, f.m_n[2]->m_x-f.m_n[0]->m_x); - btVector3 guess(0,0,0); - const btConvexShape* csh = static_cast(shp); - btGjkEpaSolver2::SignedDistance(&triangle, triangle_transform, csh, wtr, guess, results); - btScalar dst = results.distance - margin; - contact_point = results.witnesses[0]; - getBarycentric(contact_point, f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary); +// btTransform wtr = (predict) ? +// (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform()) +// : colObjWrap->getWorldTransform(); + const btTransform& wtr = colObjWrap->getWorldTransform(); + btScalar dst; +// if (f.m_pcontact[3] != 0) + if (0) + { + for (int i = 0; i < 3; ++i) + bary[i] = f.m_pcontact[i]; + contact_point = BaryEval(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary); + dst = m_worldInfo->m_sparsesdf.Evaluate( + wtr.invXform(contact_point), + shp, + nrm, + margin); + nrm = wtr.getBasis() * nrm; + // use cached contact point + } + else + { + btGjkEpaSolver2::sResults results; + btTransform triangle_transform; + triangle_transform.setIdentity(); + triangle_transform.setOrigin(f.m_n[0]->m_x); + btTriangleShape triangle(btVector3(0,0,0), f.m_n[1]->m_x-f.m_n[0]->m_x, f.m_n[2]->m_x-f.m_n[0]->m_x); + btVector3 guess(0,0,0); + const btConvexShape* csh = static_cast(shp); + btGjkEpaSolver2::SignedDistance(&triangle, triangle_transform, csh, wtr, guess, results); + dst = results.distance - margin; + contact_point = results.witnesses[0]; + getBarycentric(contact_point, f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary); + nrm = results.normal; + for (int i = 0; i < 3; ++i) + f.m_pcontact[i] = bary[i]; + } if (!predict) { cti.m_colObj = colObjWrap->getCollisionObject(); -// cti.m_normal = wtr.getBasis() * results.normal; - cti.m_normal = results.normal; + cti.m_normal = nrm; cti.m_offset = dst; } if (dst < 0) diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index 38cc162d2..b35445e94 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -288,6 +288,7 @@ public: btVector3 m_normal; // Normal btScalar m_ra; // Rest area btDbvtNode* m_leaf; // Leaf data + btVector4 m_pcontact; // barycentric weights of the persistent contact int m_index; }; /* Tetra */ @@ -1120,7 +1121,7 @@ public: void initializeFaceTree(); btVector3 evaluateCom() const; bool checkDeformableContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const; - bool checkDeformableFaceContact(const btCollisionObjectWrapper* colObjWrap, const Face& x, btVector3& contact_point, btVector3& bary, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const; + bool checkDeformableFaceContact(const btCollisionObjectWrapper* colObjWrap, Face& x, btVector3& contact_point, btVector3& bary, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const; bool checkContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti) const; void updateNormals(); void updateBounds(); diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index 4a89c1662..cde4746d5 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -1166,6 +1166,7 @@ struct btSoftColliders btVector3 bary; if (psb->checkDeformableFaceContact(m_colObj1Wrap, f, contact_point, bary, m, c.m_cti, true)) { + f.m_pcontact[3] = 1; btScalar ima = n0->m_im + n1->m_im + n2->m_im; const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; // todo: collision between multibody and fixed deformable face will be missed. @@ -1236,6 +1237,10 @@ struct btSoftColliders psb->m_faceRigidContacts.push_back(c); } } + else + { + f.m_pcontact[3] = 0; + } } btSoftBody* psb; const btCollisionObjectWrapper* m_colObj1Wrap; From 2edd94c7228081668808ad53f86a5d07641c83c3 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 12 Nov 2019 17:10:39 -0800 Subject: [PATCH 270/389] add option to approximate face contact with collision quadrature points --- .../PhysicsServerCommandProcessor.cpp | 2 + src/BulletSoftBody/btSoftBody.cpp | 76 +++++++++++++++++-- src/BulletSoftBody/btSoftBody.h | 2 + 3 files changed, 73 insertions(+), 7 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 4558a421a..96766b861 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -8129,6 +8129,8 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar { psb->m_renderNodes.resize(0); } + // This value should really be a exposed parameter + psb->setCollisionQuadrature(5); btVector3 gravity = m_data->m_dynamicsWorld->getGravity(); btDeformableLagrangianForce* gravityForce = new btDeformableGravityForce(gravity); m_data->m_dynamicsWorld->addForce(psb, gravityForce); diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 6bbe50e8a..f89784ed4 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -325,7 +325,7 @@ void btSoftBody::appendFace(int model, Material* mat) ZeroInitialize(f); f.m_material = mat ? mat : m_materials[0]; } - m_faces.push_back(f); + m_faces.push_back(f); } // @@ -2454,13 +2454,18 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject(); // use the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg for collision detect // but resolve contact at x_n -// btTransform wtr = (predict) ? -// (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform()) -// : colObjWrap->getWorldTransform(); - const btTransform& wtr = colObjWrap->getWorldTransform(); + btTransform wtr = (predict) ? + (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform()) + : colObjWrap->getWorldTransform(); +// const btTransform& wtr = colObjWrap->getWorldTransform(); btScalar dst; -// if (f.m_pcontact[3] != 0) - if (0) + +#define USE_QUADRATURE 1 +//#define CACHE_PREV_COLLISION + + // use the contact position of the previous collision +#ifdef CACHE_PREV_COLLISION + if (f.m_pcontact[3] != 0) { for (int i = 0; i < 3; ++i) bary[i] = f.m_pcontact[i]; @@ -2490,12 +2495,58 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO for (int i = 0; i < 3; ++i) f.m_pcontact[i] = bary[i]; } + +#endif + + // use collision quadrature point +#ifdef USE_QUADRATURE + { + dst = SIMD_INFINITY; + btVector3 local_nrm; + for (int q = 0; q < m_quads.size(); ++q) + { + btVector3 p = BaryEval(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, m_quads[q]); + btScalar local_dst = m_worldInfo->m_sparsesdf.Evaluate( + wtr.invXform(p), + shp, + local_nrm, + margin); + if (local_dst < dst) + { + dst = local_dst; + contact_point = p; + bary = m_quads[q]; + nrm = wtr.getBasis() * local_nrm; + } + } + } +#endif + + // regular face contact + { + btGjkEpaSolver2::sResults results; + btTransform triangle_transform; + triangle_transform.setIdentity(); + triangle_transform.setOrigin(f.m_n[0]->m_x); + btTriangleShape triangle(btVector3(0,0,0), f.m_n[1]->m_x-f.m_n[0]->m_x, f.m_n[2]->m_x-f.m_n[0]->m_x); + btVector3 guess(0,0,0); + const btConvexShape* csh = static_cast(shp); + btGjkEpaSolver2::SignedDistance(&triangle, triangle_transform, csh, wtr, guess, results); + dst = results.distance - margin; + contact_point = results.witnesses[0]; + getBarycentric(contact_point, f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary); + nrm = results.normal; + for (int i = 0; i < 3; ++i) + f.m_pcontact[i] = bary[i]; + } + if (!predict) { cti.m_colObj = colObjWrap->getCollisionObject(); cti.m_normal = nrm; cti.m_offset = dst; } + if (dst < 0) return true; return (false); @@ -3331,6 +3382,17 @@ void btSoftBody::interpolateRenderMesh() } } +void btSoftBody::setCollisionQuadrature(int N) +{ + for (int i = 0; i <= N; ++i) + { + for (int j = 0; i+j <= N; ++j) + { + m_quads.push_back(btVector3(btScalar(i)/btScalar(N), btScalar(j)/btScalar(N), btScalar(N-i-j)/btScalar(N))); + } + } +} + // void btSoftBody::PSolve_Anchors(btSoftBody* psb, btScalar kst, btScalar ti) { diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index b35445e94..c3262f02c 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -802,6 +802,7 @@ public: btScalar m_sleepingThreshold; btScalar m_maxSpeedSquared; bool m_useFaceContact; + btAlignedObjectArray m_quads; // quadrature points for collision detection btAlignedObjectArray m_renderNodesInterpolationWeights; btAlignedObjectArray > m_renderNodesParents; @@ -1143,6 +1144,7 @@ public: void applyForces(); void setMaxStress(btScalar maxStress); void interpolateRenderMesh(); + void setCollisionQuadrature(int N); static void PSolve_Anchors(btSoftBody* psb, btScalar kst, btScalar ti); static void PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti); static void PSolve_SContacts(btSoftBody* psb, btScalar, btScalar ti); From 9ca957387f02998b6c978d61247399c133dfc83d Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 12 Nov 2019 20:08:49 -0800 Subject: [PATCH 271/389] Deformables: enable double sided rendering, reduced the number of debug lines in regular rendering. --- .../CommonInterfaces/CommonRenderInterface.h | 10 ++- examples/DeformableDemo/ClothFriction.cpp | 5 +- .../DeformableDemo/DeformableClothAnchor.cpp | 4 +- examples/DeformableDemo/DeformableContact.cpp | 13 +++- .../DeformableDemo/DeformableMultibody.cpp | 2 +- examples/DeformableDemo/DeformableRigid.cpp | 2 +- .../DeformableSelfCollision.cpp | 2 +- examples/DeformableDemo/GraspDeformable.cpp | 2 +- .../DeformableDemo/MultibodyClothAnchor.cpp | 2 +- examples/ExampleBrowser/OpenGLGuiHelper.cpp | 5 ++ .../OpenGLWindow/GLInstancingRenderer.cpp | 78 ++++++++++++------- examples/OpenGLWindow/GLInstancingRenderer.h | 1 + examples/OpenGLWindow/SimpleOpenGL2Renderer.h | 2 +- .../btDeformableMultiBodyDynamicsWorld.cpp | 16 ++++ .../btDeformableMultiBodyDynamicsWorld.h | 5 +- 15 files changed, 108 insertions(+), 41 deletions(-) diff --git a/examples/CommonInterfaces/CommonRenderInterface.h b/examples/CommonInterfaces/CommonRenderInterface.h index 37787ab4b..d94d24650 100644 --- a/examples/CommonInterfaces/CommonRenderInterface.h +++ b/examples/CommonInterfaces/CommonRenderInterface.h @@ -9,6 +9,13 @@ enum B3_GL_POINTS }; +enum +{ + B3_INSTANCE_TRANSPARANCY = 1, + B3_INSTANCE_TEXTURE = 2, + B3_INSTANCE_DOUBLE_SIDED = 4, +}; + enum { B3_DEFAULT_RENDERMODE = 1, @@ -94,7 +101,8 @@ struct CommonRenderInterface virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex) = 0; virtual void writeSingleInstanceSpecularColorToCPU(const double* specular, int srcIndex) = 0; virtual void writeSingleInstanceSpecularColorToCPU(const float* specular, int srcIndex) = 0; - + virtual void writeSingleInstanceFlagsToCPU(int flags, int srcIndex) = 0; + virtual int getTotalNumInstances() const = 0; virtual void writeTransforms() = 0; diff --git a/examples/DeformableDemo/ClothFriction.cpp b/examples/DeformableDemo/ClothFriction.cpp index e62dab0d2..192769db4 100644 --- a/examples/DeformableDemo/ClothFriction.cpp +++ b/examples/DeformableDemo/ClothFriction.cpp @@ -75,10 +75,11 @@ public: { btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i]; { - btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer()); - btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); + //btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer()); + btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags()); } } + } }; diff --git a/examples/DeformableDemo/DeformableClothAnchor.cpp b/examples/DeformableDemo/DeformableClothAnchor.cpp index 49fd3184b..e7fe6484b 100644 --- a/examples/DeformableDemo/DeformableClothAnchor.cpp +++ b/examples/DeformableDemo/DeformableClothAnchor.cpp @@ -80,8 +80,8 @@ public: 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()); + //btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer()); + btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags()); } } } diff --git a/examples/DeformableDemo/DeformableContact.cpp b/examples/DeformableDemo/DeformableContact.cpp index 8712d6de8..850bcebb2 100644 --- a/examples/DeformableDemo/DeformableContact.cpp +++ b/examples/DeformableDemo/DeformableContact.cpp @@ -70,16 +70,19 @@ public: virtual void renderScene() { CommonRigidBodyBase::renderScene(); - btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); + + + btDeformableMultiBodyDynamicsWorld* 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()); + //btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer()); + btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// StddeformableWorld->getDrawFlags()); } } + } }; @@ -200,6 +203,10 @@ void DeformableContact::initPhysics() getDeformableDynamicsWorld()->setImplicit(false); getDeformableDynamicsWorld()->setLineSearch(false); m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); + int numInstances = m_guiHelper->getRenderInterface()->getTotalNumInstances(); + double rgbaColors[3][4] = { { 1, 0, 0, 1 } , { 0, 1, 0, 1 } ,{ 0, 0, 1, 1 } }; + + } void DeformableContact::exitPhysics() diff --git a/examples/DeformableDemo/DeformableMultibody.cpp b/examples/DeformableDemo/DeformableMultibody.cpp index 40db119b9..1274a3721 100644 --- a/examples/DeformableDemo/DeformableMultibody.cpp +++ b/examples/DeformableDemo/DeformableMultibody.cpp @@ -86,7 +86,7 @@ public: btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i]; { btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer()); - btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); + btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags()); } } } diff --git a/examples/DeformableDemo/DeformableRigid.cpp b/examples/DeformableDemo/DeformableRigid.cpp index 9a3ca9403..f6c087d2a 100644 --- a/examples/DeformableDemo/DeformableRigid.cpp +++ b/examples/DeformableDemo/DeformableRigid.cpp @@ -124,7 +124,7 @@ public: //if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe))) { btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer()); - btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); + btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags()); } } } diff --git a/examples/DeformableDemo/DeformableSelfCollision.cpp b/examples/DeformableDemo/DeformableSelfCollision.cpp index 6b1d92611..20caa45d5 100644 --- a/examples/DeformableDemo/DeformableSelfCollision.cpp +++ b/examples/DeformableDemo/DeformableSelfCollision.cpp @@ -79,7 +79,7 @@ public: btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i]; { btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer()); - btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); + btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags()); } } } diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index a1952169d..475fa9095 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -162,7 +162,7 @@ public: btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i]; { btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer()); - btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); + btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags()); } } } diff --git a/examples/DeformableDemo/MultibodyClothAnchor.cpp b/examples/DeformableDemo/MultibodyClothAnchor.cpp index eeeb4d33c..ba90a9e20 100644 --- a/examples/DeformableDemo/MultibodyClothAnchor.cpp +++ b/examples/DeformableDemo/MultibodyClothAnchor.cpp @@ -81,7 +81,7 @@ public: //if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe))) { btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer()); - btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); + btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags()); } } } diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp index eecf94df6..6f4b7686f 100644 --- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp +++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp @@ -1433,6 +1433,11 @@ void OpenGLGuiHelper::autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWor color.setValue(1, 1, 1, 1); } createCollisionObjectGraphicsObject(colObj, color); + if (sb) + { + int graphicsInstanceId = colObj->getUserIndex(); + changeInstanceFlags(graphicsInstanceId, B3_INSTANCE_DOUBLE_SIDED); + } } } diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp index 809d87b1f..e27547839 100644 --- a/examples/OpenGLWindow/GLInstancingRenderer.cpp +++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp @@ -139,11 +139,7 @@ static InternalDataRenderer* sData2; GLint lineWidthRange[2] = {1, 1}; -enum -{ - eGfxTransparency = 1, - eGfxHasTexture = 2, -}; + struct b3GraphicsInstance { @@ -492,6 +488,26 @@ void GLInstancingRenderer::readSingleInstanceTransformFromCPU(int srcIndex2, flo orientation[2] = m_data->m_instance_quaternion_ptr[srcIndex * 4 + 2]; orientation[3] = m_data->m_instance_quaternion_ptr[srcIndex * 4 + 3]; } + +void GLInstancingRenderer::writeSingleInstanceFlagsToCPU(int flags, int srcIndex2) +{ + b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2); + b3Assert(pg); + int srcIndex = pg->m_internalInstanceIndex; + + int shapeIndex = pg->m_shapeIndex; + b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex]; + if (flags & B3_INSTANCE_DOUBLE_SIDED) + { + gfxObj->m_flags |= B3_INSTANCE_DOUBLE_SIDED; + } + else + { + gfxObj->m_flags &= ~B3_INSTANCE_DOUBLE_SIDED; + } +} + + void GLInstancingRenderer::writeSingleInstanceColorToCPU(const double* color, int srcIndex2) { b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2); @@ -502,11 +518,11 @@ void GLInstancingRenderer::writeSingleInstanceColorToCPU(const double* color, in b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex]; if (color[3] < 1) { - gfxObj->m_flags |= eGfxTransparency; + gfxObj->m_flags |= B3_INSTANCE_TRANSPARANCY; } else { - gfxObj->m_flags &= ~eGfxTransparency; + gfxObj->m_flags &= ~B3_INSTANCE_TRANSPARANCY; } m_data->m_instance_colors_ptr[srcIndex * 4 + 0] = float(color[0]); @@ -525,11 +541,11 @@ void GLInstancingRenderer::writeSingleInstanceColorToCPU(const float* color, int if (color[3] < 1) { - gfxObj->m_flags |= eGfxTransparency; + gfxObj->m_flags |= B3_INSTANCE_TRANSPARANCY; } else { - gfxObj->m_flags &= ~eGfxTransparency; + gfxObj->m_flags &= ~B3_INSTANCE_TRANSPARANCY; } m_data->m_instance_colors_ptr[srcIndex * 4 + 0] = color[0]; @@ -916,7 +932,7 @@ int GLInstancingRenderer::registerGraphicsInstanceInternal(int newUid, const flo if (color[3] < 1 && color[3] > 0) { - gfxObj->m_flags |= eGfxTransparency; + gfxObj->m_flags |= B3_INSTANCE_TRANSPARANCY; } gfxObj->m_numGraphicsInstances++; m_data->m_totalNumInstances++; @@ -1018,11 +1034,11 @@ void GLInstancingRenderer::replaceTexture(int shapeIndex, int textureId) if (textureId >= 0 && textureId < m_data->m_textureHandles.size()) { gfxObj->m_textureIndex = textureId; - gfxObj->m_flags |= eGfxHasTexture; + gfxObj->m_flags |= B3_INSTANCE_TEXTURE; } else { gfxObj->m_textureIndex = -1; - gfxObj->m_flags &= ~eGfxHasTexture; + gfxObj->m_flags &= ~B3_INSTANCE_TEXTURE; } } } @@ -1110,7 +1126,7 @@ int GLInstancingRenderer::registerShape(const float* vertices, int numvertices, if (textureId >= 0) { gfxObj->m_textureIndex = textureId; - gfxObj->m_flags |= eGfxHasTexture; + gfxObj->m_flags |= B3_INSTANCE_TEXTURE; } gfxObj->m_primitiveType = primitiveType; @@ -1754,6 +1770,7 @@ static void b3CreateLookAt(const b3Vector3& eye, const b3Vector3& center, const result[3 * 4 + 3] = 1.f; } + void GLInstancingRenderer::drawTexturedTriangleMesh(float worldPosition[3], float worldOrientation[4], const float* vertices, int numvertices, const unsigned int* indices, int numIndices, float colorRGBA[4], int textureIndex, int vertexLayout) { int sz = sizeof(GfxVertexFormat0); @@ -2263,7 +2280,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) inst.m_shapeIndex = obj; - if ((gfxObj->m_flags & eGfxTransparency) == 0) + if ((gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) == 0) { inst.m_instanceId = curOffset; b3Vector3 centerPosition; @@ -2313,10 +2330,10 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex]; //only draw stuff (opaque/transparent) if it is the right pass - int drawThisPass = (pass == 0) == ((gfxObj->m_flags & eGfxTransparency) == 0); + int drawThisPass = (pass == 0) == ((gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) == 0); //transparent objects don't cast shadows (to simplify things) - if (gfxObj->m_flags & eGfxTransparency) + if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) { if (renderMode == B3_CREATE_SHADOWMAP_RENDERMODE) drawThisPass = 0; @@ -2326,7 +2343,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) { glActiveTexture(GL_TEXTURE0); GLuint curBindTexture = 0; - if (gfxObj->m_flags & eGfxHasTexture) + if (gfxObj->m_flags & B3_INSTANCE_TEXTURE) { curBindTexture = m_data->m_textureHandles[gfxObj->m_textureIndex].m_glTexture; @@ -2432,6 +2449,11 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) } else { + if (gfxObj->m_flags & B3_INSTANCE_DOUBLE_SIDED) + { + glDisable(GL_CULL_FACE); + } + switch (renderMode) { case B3_SEGMENTATION_MASK_RENDERMODE: @@ -2445,7 +2467,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) } case B3_DEFAULT_RENDERMODE: { - if (gfxObj->m_flags & eGfxTransparency) + if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) { glDepthMask(false); glEnable(GL_BLEND); @@ -2462,7 +2484,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) glUniform1i(uniform_texture_diffuse, 0); - if (gfxObj->m_flags & eGfxTransparency) + if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) { int instanceId = transparentInstances[i].m_instanceId; glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid*)((instanceId)*4 * sizeof(float) + m_data->m_maxShapeCapacityInBytes)); @@ -2477,7 +2499,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances); } - if (gfxObj->m_flags & eGfxTransparency) + if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) { glDisable(GL_BLEND); glDepthMask(true); @@ -2495,7 +2517,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) case B3_USE_SHADOWMAP_RENDERMODE: { - if (gfxObj->m_flags & eGfxTransparency) + if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) { glDepthMask(false); glEnable(GL_BLEND); @@ -2549,7 +2571,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) //gfxObj->m_instanceOffset - if (gfxObj->m_flags & eGfxTransparency) + if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) { int instanceId = transparentInstances[i].m_instanceId; glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid*)((instanceId)*4 * sizeof(float) + m_data->m_maxShapeCapacityInBytes)); @@ -2563,7 +2585,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances); } - if (gfxObj->m_flags & eGfxTransparency) + if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) { glDisable(GL_BLEND); glDepthMask(true); @@ -2577,7 +2599,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) } case B3_USE_PROJECTIVE_TEXTURE_RENDERMODE: { - if (gfxObj->m_flags & eGfxTransparency) + if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) { glDepthMask(false); glEnable(GL_BLEND); @@ -2617,7 +2639,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) glUniformMatrix4fv(projectiveTexture_TextureMVP, 1, false, &textureMVP[0]); //sort transparent objects - if (gfxObj->m_flags & eGfxTransparency) + if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) { int instanceId = transparentInstances[i].m_instanceId; glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid*)((instanceId)*4 * sizeof(float) + m_data->m_maxShapeCapacityInBytes)); @@ -2631,7 +2653,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances); } - if (gfxObj->m_flags & eGfxTransparency) + if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) { glDisable(GL_BLEND); glDepthMask(true); @@ -2646,6 +2668,10 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) // b3Assert(0); } }; + if (gfxObj->m_flags & B3_INSTANCE_DOUBLE_SIDED) + { + glEnable(GL_CULL_FACE); + } } //glDrawElementsInstanced(GL_LINE_LOOP, indexCount, GL_UNSIGNED_INT, (void*)indexOffset, gfxObj->m_numGraphicsInstances); diff --git a/examples/OpenGLWindow/GLInstancingRenderer.h b/examples/OpenGLWindow/GLInstancingRenderer.h index 821da5263..b6ef85250 100644 --- a/examples/OpenGLWindow/GLInstancingRenderer.h +++ b/examples/OpenGLWindow/GLInstancingRenderer.h @@ -95,6 +95,7 @@ public: virtual void writeSingleInstanceColorToCPU(const float* color, int srcIndex); virtual void writeSingleInstanceColorToCPU(const double* color, int srcIndex); + virtual void writeSingleInstanceFlagsToCPU(int flags, int srcIndex2); virtual void writeSingleInstanceSpecularColorToCPU(const double* specular, int srcIndex2); virtual void writeSingleInstanceSpecularColorToCPU(const float* specular, int srcIndex2); diff --git a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h index 320184d7c..d328c3cd5 100644 --- a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h +++ b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h @@ -40,7 +40,7 @@ public: virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex); virtual void writeSingleInstanceSpecularColorToCPU(const double* specular, int srcIndex) {} virtual void writeSingleInstanceSpecularColorToCPU(const float* specular, int srcIndex) {} - + virtual void writeSingleInstanceFlagsToCPU(int flags, int srcIndex) {} virtual void getCameraViewMatrix(float viewMat[16]) const; virtual void getCameraProjectionMatrix(float projMat[16]) const; virtual void drawTexturedTriangleMesh(float worldPosition[3], float worldOrientation[4], const float* vertices, int numvertices, const unsigned int* indices, int numIndices, float color[4], int textureIndex = -1, int vertexLayout = 0) diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 3eb7248b3..f16786e16 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -378,6 +378,22 @@ void btDeformableMultiBodyDynamicsWorld::reinitialize(btScalar timeStep) btMultiBodyDynamicsWorld::getSolverInfo().m_timeStep = timeStep; } + +void btDeformableMultiBodyDynamicsWorld::debugDrawWorld() +{ + + for (int i = 0; i < getSoftBodyArray().size(); i++) + { + btSoftBody* psb = (btSoftBody*)getSoftBodyArray()[i]; + { + btSoftBodyHelpers::DrawFrame(psb, getDebugDrawer()); + btSoftBodyHelpers::Draw(psb, getDebugDrawer(), getDrawFlags()); + } + } + + btMultiBodyDynamicsWorld::debugDrawWorld(); +} + void btDeformableMultiBodyDynamicsWorld::applyRigidBodyGravity(btScalar timeStep) { // Gravity is applied in stepSimulation and then cleared here and then applied here and then cleared here again diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h index d00183504..9fbebd6ed 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h @@ -93,7 +93,9 @@ public: } virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.)); - + + virtual void debugDrawWorld(); + void setSolverCallback(btSolverCallback cb) { m_solverCallback = cb; @@ -178,6 +180,7 @@ public: { m_lineSearch = lineSearch; } + }; #endif //BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H From cabef63b1cd17dd1802d2ed9fe8776401ad89087 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 12 Nov 2019 20:36:20 -0800 Subject: [PATCH 272/389] expose the double sided flag --- examples/CommonInterfaces/CommonGUIHelperInterface.h | 1 + examples/DeformableDemo/DeformableContact.cpp | 6 +++++- examples/ExampleBrowser/OpenGLGuiHelper.cpp | 8 ++++++++ examples/ExampleBrowser/OpenGLGuiHelper.h | 1 + 4 files changed, 15 insertions(+), 1 deletion(-) diff --git a/examples/CommonInterfaces/CommonGUIHelperInterface.h b/examples/CommonInterfaces/CommonGUIHelperInterface.h index 323fe103a..3e21a120e 100644 --- a/examples/CommonInterfaces/CommonGUIHelperInterface.h +++ b/examples/CommonInterfaces/CommonGUIHelperInterface.h @@ -43,6 +43,7 @@ struct GUIHelperInterface virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) = 0; virtual void removeAllGraphicsInstances() = 0; virtual void removeGraphicsInstance(int graphicsUid) {} + virtual void changeInstanceFlags(int instanceUid, int flags) {} virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]) {} virtual void changeSpecularColor(int instanceUid, const double specularColor[3]) {} virtual void changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height) {} diff --git a/examples/DeformableDemo/DeformableContact.cpp b/examples/DeformableDemo/DeformableContact.cpp index 850bcebb2..8523e0378 100644 --- a/examples/DeformableDemo/DeformableContact.cpp +++ b/examples/DeformableDemo/DeformableContact.cpp @@ -206,7 +206,11 @@ void DeformableContact::initPhysics() int numInstances = m_guiHelper->getRenderInterface()->getTotalNumInstances(); double rgbaColors[3][4] = { { 1, 0, 0, 1 } , { 0, 1, 0, 1 } ,{ 0, 0, 1, 1 } }; - + for (int i = 0; i < numInstances; i++) + { + m_guiHelper->changeInstanceFlags(i, B3_INSTANCE_DOUBLE_SIDED); + } + } void DeformableContact::exitPhysics() diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp index 6f4b7686f..610329425 100644 --- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp +++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp @@ -380,6 +380,14 @@ void OpenGLGuiHelper::replaceTexture(int shapeIndex, int textureUid) m_data->m_glApp->m_renderer->replaceTexture(shapeIndex, textureUid); }; } +void OpenGLGuiHelper::changeInstanceFlags(int instanceUid, int flags) +{ + if (instanceUid >= 0) + { + //careful, flags/instanceUid is swapped + m_data->m_glApp->m_renderer->writeSingleInstanceFlagsToCPU( flags, instanceUid); + } +} void OpenGLGuiHelper::changeRGBAColor(int instanceUid, const double rgbaColor[4]) { if (instanceUid >= 0) diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.h b/examples/ExampleBrowser/OpenGLGuiHelper.h index e4a43b4be..bdaa22772 100644 --- a/examples/ExampleBrowser/OpenGLGuiHelper.h +++ b/examples/ExampleBrowser/OpenGLGuiHelper.h @@ -27,6 +27,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling); virtual void removeAllGraphicsInstances(); virtual void removeGraphicsInstance(int graphicsUid); + virtual void changeInstanceFlags(int instanceUid, int flags); virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]); virtual void changeSpecularColor(int instanceUid, const double specularColor[3]); virtual void changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height); From 24a76614f8adb1286f8bb78ed521631f68932236 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 14 Nov 2019 17:07:08 -0800 Subject: [PATCH 273/389] PyBullet: fix memory leak in changeTexture command Fixes #2481 --- examples/pybullet/pybullet.c | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 356ecfa5c..2627ecc4c 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -1,4 +1,5 @@ -//#include "D:/develop/visual_leak_detector/include/vld.h" +//#include "D:/dev/visual leak detector/include/vld.h" + #include "../SharedMemory/PhysicsClientC_API.h" #include "../SharedMemory/PhysicsDirectC_API.h" #include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h" @@ -7259,6 +7260,7 @@ static PyObject* pybullet_changeTexture(PyObject* self, PyObject* args, PyObject } } + Py_DECREF(seqPixels); commandHandle = b3CreateChangeTextureCommandInit(sm, textureUniqueId, width, height, (const char*)pixelBuffer); free(pixelBuffer); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); From 72e0e7c223db0050c1f0830008fca0a6bf322f81 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 14 Nov 2019 21:20:42 -0800 Subject: [PATCH 274/389] fix load_soft_body.py example. add optional flags in pybullet.resetSimulation. fix compile issue due to SKIP_DEFORMABLE_WORLD fix issue in .obj importer (todo: replace with tiny_obj_loader) todo: replace std::ifstream fs; by fileIO usage. --- examples/SharedMemory/PhysicsClientC_API.cpp | 13 + examples/SharedMemory/PhysicsClientC_API.h | 1 + .../PhysicsServerCommandProcessor.cpp | 393 +++++++++++++----- .../PhysicsServerCommandProcessor.h | 7 +- examples/SharedMemory/SharedMemoryPublic.h | 7 + examples/pybullet/examples/load_soft_body.py | 16 +- examples/pybullet/pybullet.c | 16 +- src/BulletSoftBody/btSoftBodyHelpers.cpp | 47 ++- 8 files changed, 349 insertions(+), 151 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 9677197ca..5a5d3ad95 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -923,6 +923,19 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand2(b3Shared return (b3SharedMemoryCommandHandle)command; } +B3_SHARED_API int b3InitResetSimulationSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; + b3Assert(command); + btAssert(command->m_type == CMD_RESET_SIMULATION); + if (command->m_type == CMD_RESET_SIMULATION) + { + command->m_updateFlags = flags; + } + return 0; +} + + B3_SHARED_API b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode) { return b3JointControlCommandInit2(physClient, 0, controlMode); diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 4e0e0eb63..49e5848f2 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -373,6 +373,7 @@ extern "C" B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient); B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand2(b3SharedMemoryCommandHandle commandHandle); + B3_SHARED_API int b3InitResetSimulationSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags); ///Load a robot from a URDF file. Status type will CMD_URDF_LOADING_COMPLETED. ///Access the robot from the unique body index, through b3GetStatusBodyIndex(statusHandle); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 4558a421a..f28e722c3 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -92,6 +92,11 @@ #include "../TinyAudio/b3SoundEngine.h" #endif + +#ifdef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD +#define SKIP_DEFORMABLE_BODY 1 +#endif + #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD #include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h" #include "BulletSoftBody/btSoftBodySolvers.h" @@ -101,11 +106,17 @@ #include "BulletSoftBody/btDeformableBodySolver.h" #include "BulletSoftBody/btDeformableMultiBodyConstraintSolver.h" #include "../SoftDemo/BunnyMesh.h" -#else -#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h" -#endif +#endif//SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD + +#ifndef SKIP_DEFORMABLE_BODY +#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" +#include "BulletSoftBody/btDeformableBodySolver.h" +#include "BulletSoftBody/btDeformableMultiBodyConstraintSolver.h" +#endif//SKIP_DEFORMABLE_BODY + +#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h" + -#define SKIP_DEFORMABLE_BODY 1 int gInternalSimFlags = 0; bool gResetSimulation = 0; @@ -1619,26 +1630,24 @@ struct PhysicsServerCommandProcessorInternalData btHashedOverlappingPairCache* m_pairCache; btBroadphaseInterface* m_broadphase; btCollisionDispatcher* m_dispatcher; -#if defined(SKIP_DEFORMABLE_BODY) || defined(SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD) + btMultiBodyConstraintSolver* m_solver; -#else - btDeformableMultiBodyConstraintSolver* m_solver; -#endif btDefaultCollisionConfiguration* m_collisionConfiguration; -#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD -#ifndef SKIP_DEFORMABLE_BODY - btDeformableMultiBodyDynamicsWorld* m_dynamicsWorld; + +//#ifndef SKIP_DEFORMABLE_BODY + btDeformableBodySolver* m_deformablebodySolver; btAlignedObjectArray m_lf; -#else - btSoftMultiBodyDynamicsWorld* m_dynamicsWorld; - btSoftBodySolver* m_softbodySolver; -#endif -#else +//#else//SKIP_DEFORMABLE_BODY +//#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD + + +//#else//SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD btMultiBodyDynamicsWorld* m_dynamicsWorld; -#endif +//#endif//SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD +//#endif//SKIP_DEFORMABLE_BODY int m_constraintSolverType; SharedMemoryDebugDrawer* m_remoteDebugDrawer; @@ -1705,6 +1714,7 @@ struct PhysicsServerCommandProcessorInternalData m_solver(0), m_collisionConfiguration(0), m_dynamicsWorld(0), + m_deformablebodySolver(0), m_constraintSolverType(-1), m_remoteDebugDrawer(0), m_stateLoggersUniqueId(0), @@ -2592,7 +2602,27 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface } }; -void PhysicsServerCommandProcessor::createEmptyDynamicsWorld() +btDeformableMultiBodyDynamicsWorld* PhysicsServerCommandProcessor::getDeformableWorld() +{ + btDeformableMultiBodyDynamicsWorld* world = 0; + if (m_data->m_dynamicsWorld->getWorldType()== BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD) + { + world = (btDeformableMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld; + } + return world; +} + +btSoftMultiBodyDynamicsWorld* PhysicsServerCommandProcessor::getSoftWorld() +{ + btSoftMultiBodyDynamicsWorld* world = 0; + if (m_data->m_dynamicsWorld->getWorldType()== BT_SOFT_MULTIBODY_DYNAMICS_WORLD) + { + world = (btSoftMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld; + } + return world; +} + +void PhysicsServerCommandProcessor::createEmptyDynamicsWorld(int flags) { m_data->m_constraintSolverType = eConstraintSolverLCP_SI; ///collision configuration contains default setup for memory, collision setup @@ -2613,28 +2643,41 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld() m_data->m_pairCache->setOverlapFilterCallback(m_data->m_broadphaseCollisionFilterCallback); //int maxProxies = 32768; - //m_data->m_broadphase = new btSimpleBroadphase(maxProxies, m_data->m_pairCache); - btDbvtBroadphase* bv = new btDbvtBroadphase(m_data->m_pairCache); - bv->setVelocityPrediction(0); - m_data->m_broadphase = bv; - -#ifdef SKIP_DEFORMABLE_BODY - m_data->m_solver = new btMultiBodyConstraintSolver; -#endif - -#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD + if (flags&RESET_USE_SIMPLE_BROADPHASE) + { + m_data->m_broadphase = new btSimpleBroadphase(65536, m_data->m_pairCache); + } else + { + btDbvtBroadphase* bv = new btDbvtBroadphase(m_data->m_pairCache); + bv->setVelocityPrediction(0); + m_data->m_broadphase = bv; + } + + if (flags & RESET_USE_DEFORMABLE_WORLD) + { #ifndef SKIP_DEFORMABLE_BODY - m_data->m_deformablebodySolver = new btDeformableBodySolver(); - m_data->m_solver = new btDeformableMultiBodyConstraintSolver; - m_data->m_solver->setDeformableSolver(m_data->m_deformablebodySolver); - m_data->m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration, m_data->m_deformablebodySolver); -#else - m_data->m_dynamicsWorld = new btSoftMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration); -#endif -#else - m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration); + m_data->m_deformablebodySolver = new btDeformableBodySolver(); + btDeformableMultiBodyConstraintSolver* solver = new btDeformableMultiBodyConstraintSolver; + m_data->m_solver = solver; + solver->setDeformableSolver(m_data->m_deformablebodySolver); + m_data->m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, solver, m_data->m_collisionConfiguration, m_data->m_deformablebodySolver); #endif + } + if ((0==m_data->m_dynamicsWorld) && (0==(flags&RESET_USE_DISCRETE_DYNAMICS_WORLD))) + { +#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD + m_data->m_solver = new btMultiBodyConstraintSolver; + m_data->m_dynamicsWorld = new btSoftMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration); +#endif + } + + if (0==m_data->m_dynamicsWorld) + { + m_data->m_solver = new btMultiBodyConstraintSolver; + m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration); + } + //Workaround: in a VR application, where we avoid synchronizing between GFX/Physics threads, we don't want to resize this array, so pre-allocate it m_data->m_dynamicsWorld->getCollisionObjectArray().reserve(128 * 1024); @@ -2800,13 +2843,35 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld() m_data->m_lf.clear(); #endif #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; + btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld(); + if (softWorld) + { + for (i =softWorld->getSoftBodyArray().size() - 1; i >= 0; i--) + { + btSoftBody* sb =softWorld->getSoftBodyArray()[i]; + softWorld->removeSoftBody(sb); + delete sb; + } + } + } +#endif//SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD + +#ifndef SKIP_DEFORMABLE_BODY + { + btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); + if (deformWorld) + { + for (i =deformWorld->getSoftBodyArray().size() - 1; i >= 0; i--) + { + btSoftBody* sb =deformWorld->getSoftBodyArray()[i]; + deformWorld->removeSoftBody(sb); + delete sb; + } + } } #endif + } for (int i = 0; i < constraints.size(); i++) @@ -8019,12 +8084,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024); } - // add _sim.vtk postfix - char relativeSimFileName[1024]; - char sim_file_ending[9] = "_sim.vtk"; - strncpy(relativeSimFileName, relativeFileName, strlen(relativeFileName)); - strncpy(relativeSimFileName + strlen(relativeFileName)-4, sim_file_ending, sizeof(sim_file_ending)); - + const std::string& error_message_prefix = ""; std::string out_found_filename; std::string out_found_sim_filename; @@ -8035,7 +8095,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type); if (out_type == UrdfGeometry::FILE_OBJ) { - bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeSimFileName, error_message_prefix, &out_found_sim_filename, &out_sim_type); + foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_sim_filename, &out_sim_type); render_mesh_is_sim_mesh = !foundFile; } @@ -8066,59 +8126,83 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar int numTris = shape.mesh.indices.size() / 3; if (numTris > 0) { - psb = btSoftBodyHelpers::CreateFromTriMesh(m_data->m_dynamicsWorld->getWorldInfo(), &vertices[0], &indices[0], numTris); + { + btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld(); + if (softWorld) + { + psb = btSoftBodyHelpers::CreateFromTriMesh(softWorld->getWorldInfo(), &vertices[0], &indices[0], numTris); + } + } + { + btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); + if (deformWorld) + { + psb = btSoftBodyHelpers::CreateFromTriMesh(deformWorld->getWorldInfo(), &vertices[0], &indices[0], numTris); + } + } } } #ifndef SKIP_DEFORMABLE_BODY btScalar spring_elastic_stiffness, spring_damping_stiffness; if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE) { - spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; - spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; - btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false); - m_data->m_dynamicsWorld->addForce(psb, springForce); - m_data->m_lf.push_back(springForce); + btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); + if (deformWorld) + { + spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; + spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; + btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false); + deformWorld->addForce(psb, springForce); + m_data->m_lf.push_back(springForce); + } } #endif } else if (out_sim_type == UrdfGeometry::FILE_VTK) { #ifndef SKIP_DEFORMABLE_BODY - psb = btSoftBodyHelpers::CreateFromVtkFile(m_data->m_dynamicsWorld->getWorldInfo(), out_found_sim_filename.c_str()); - btScalar corotated_mu, corotated_lambda; - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE) - { - corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu; - corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda; - btDeformableLagrangianForce* corotatedForce = new btDeformableCorotatedForce(corotated_mu, corotated_lambda); - m_data->m_dynamicsWorld->addForce(psb, corotatedForce); - m_data->m_lf.push_back(corotatedForce); - } - btScalar neohookean_mu, neohookean_lambda, neohookean_damping; - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE) - { - neohookean_mu = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanMu; - neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda; - neohookean_damping = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanDamping; - btDeformableLagrangianForce* neohookeanForce = new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda, neohookean_damping); - m_data->m_dynamicsWorld->addForce(psb, neohookeanForce); - m_data->m_lf.push_back(neohookeanForce); - } - btScalar spring_elastic_stiffness, spring_damping_stiffness; - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE) - { - spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; - spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; - btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true); - m_data->m_dynamicsWorld->addForce(psb, springForce); - m_data->m_lf.push_back(springForce); - } + btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); + if (deformWorld) + { + psb = btSoftBodyHelpers::CreateFromVtkFile(deformWorld->getWorldInfo(), out_found_sim_filename.c_str()); + btScalar corotated_mu, corotated_lambda; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE) + { + corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu; + corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda; + btDeformableLagrangianForce* corotatedForce = new btDeformableCorotatedForce(corotated_mu, corotated_lambda); + deformWorld->addForce(psb, corotatedForce); + m_data->m_lf.push_back(corotatedForce); + } + btScalar neohookean_mu, neohookean_lambda, neohookean_damping; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE) + { + neohookean_mu = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanMu; + neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda; + neohookean_damping = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanDamping; + btDeformableLagrangianForce* neohookeanForce = new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda, neohookean_damping); + deformWorld->addForce(psb, neohookeanForce); + m_data->m_lf.push_back(neohookeanForce); + } + btScalar spring_elastic_stiffness, spring_damping_stiffness; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE) + { + spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; + spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; + btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true); + deformWorld->addForce(psb, springForce); + m_data->m_lf.push_back(springForce); + } + } #endif } if (psb != NULL) { #ifndef SKIP_DEFORMABLE_BODY + btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); + if (deformWorld) + { if (!render_mesh_is_sim_mesh) { // load render mesh @@ -8131,7 +8215,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar } btVector3 gravity = m_data->m_dynamicsWorld->getGravity(); btDeformableLagrangianForce* gravityForce = new btDeformableGravityForce(gravity); - m_data->m_dynamicsWorld->addForce(psb, gravityForce); + deformWorld->addForce(psb, gravityForce); m_data->m_lf.push_back(gravityForce); btScalar collision_hardness = 1; psb->m_cfg.kKHR = collision_hardness; @@ -8169,25 +8253,44 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar use_self_collision = loadSoftBodyArgs.m_useSelfCollision; } psb->setSelfCollision(use_self_collision); -#else - 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; - //turn on softbody vs softbody collision - psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS; - psb->randomizeConstraints(); - psb->setTotalMass(mass, true); -#endif + } +#endif//SKIP_DEFORMABLE_BODY +#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD + + btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld(); + if (softWorld) + { + 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; + //turn on softbody vs softbody collision + psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS; + psb->randomizeConstraints(); + psb->setTotalMass(mass, true); + } +#endif //SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD psb->scale(btVector3(scale, scale, scale)); psb->rotate(initialOrn); psb->translate(initialPos); psb->getCollisionShape()->setMargin(collisionMargin); psb->getCollisionShape()->setUserPointer(psb); - m_data->m_dynamicsWorld->addSoftBody(psb); +#ifndef SKIP_DEFORMABLE_BODY + if (deformWorld) + { + deformWorld->addSoftBody(psb); + } else +#endif//SKIP_DEFORMABLE_BODY + { + btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld(); + if (softWorld) + { + softWorld->addSoftBody(psb); + } + } m_data->m_guiHelper->createCollisionShapeGraphicsObject(psb->getCollisionShape()); m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld); int bodyUniqueId = m_data->m_bodyHandles.allocHandle(); @@ -9188,7 +9291,17 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st clientCmd.m_physSimParamArgs.m_gravityAcceleration[2]); this->m_data->m_dynamicsWorld->setGravity(grav); #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD - m_data->m_dynamicsWorld->getWorldInfo().m_gravity = grav; + btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld(); + if (softWorld) + { + softWorld->getWorldInfo().m_gravity = grav; + } + btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); + if (deformWorld) + { + deformWorld->getWorldInfo().m_gravity = grav; + } + #endif if (m_data->m_verboseOutput) @@ -9547,7 +9660,8 @@ bool PhysicsServerCommandProcessor::processResetSimulationCommand(const struct S bool hasStatus = true; BT_PROFILE("CMD_RESET_SIMULATION"); m_data->m_guiHelper->setVisualizerFlag(COV_ENABLE_SYNC_RENDERING_INTERNAL, 0); - resetSimulation(); + + resetSimulation(clientCmd.m_updateFlags); m_data->m_guiHelper->setVisualizerFlag(COV_ENABLE_SYNC_RENDERING_INTERNAL, 1); SharedMemoryStatus& serverCmd = serverStatusOut; @@ -10414,7 +10528,17 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared m_data->m_pluginManager.getRenderInterface()->removeVisualShape(psb->getBroadphaseHandle()->getUid()); } serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId; - m_data->m_dynamicsWorld->removeSoftBody(psb); + btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld(); + if (softWorld) + { + softWorld->removeSoftBody(psb); + } + btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); + if (deformWorld) + { + deformWorld->removeSoftBody(psb); + } + int graphicsInstance = psb->getUserIndex2(); m_data->m_guiHelper->removeGraphicsInstance(graphicsInstance); delete psb; @@ -12844,18 +12968,22 @@ void PhysicsServerCommandProcessor::renderScene(int renderFlags) #ifndef SKIP_DEFORMABLE_BODY if (m_data->m_dynamicsWorld) { - if (m_data->m_dynamicsWorld->getSoftBodyArray().size()) + btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); + if (deformWorld) { - for (int i = 0; i < m_data->m_dynamicsWorld->getSoftBodyArray().size(); i++) + if (deformWorld->getSoftBodyArray().size()) { - btSoftBody* psb = (btSoftBody*)m_data->m_dynamicsWorld->getSoftBodyArray()[i]; + for (int i = 0; i < deformWorld->getSoftBodyArray().size(); i++) { - btSoftBodyHelpers::DrawFrame(psb, m_data->m_dynamicsWorld->getDebugDrawer()); - btSoftBodyHelpers::Draw(psb, m_data->m_dynamicsWorld->getDebugDrawer(), m_data->m_dynamicsWorld->getDrawFlags()); + 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(); } - m_data->m_guiHelper->drawDebugDrawerLines(); - m_data->m_guiHelper->clearLines(); } } #endif @@ -12873,15 +13001,36 @@ void PhysicsServerCommandProcessor::physicsDebugDraw(int debugDrawFlags) m_data->m_dynamicsWorld->debugDrawWorld(); #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]; - if (m_data->m_dynamicsWorld->getDebugDrawer() && !(m_data->m_dynamicsWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe))) + btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); + if (deformWorld) + { + for (int i = 0; i < deformWorld->getSoftBodyArray().size(); i++) { - //btSoftBodyHelpers::DrawFrame(psb,m_data->m_dynamicsWorld->getDebugDrawer()); - btSoftBodyHelpers::Draw(psb, m_data->m_dynamicsWorld->getDebugDrawer(), m_data->m_dynamicsWorld->getDrawFlags()); + btSoftBody* psb = (btSoftBody*)deformWorld->getSoftBodyArray()[i]; + if (m_data->m_dynamicsWorld->getDebugDrawer() && !(m_data->m_dynamicsWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe))) + { + //btSoftBodyHelpers::DrawFrame(psb,m_data->m_dynamicsWorld->getDebugDrawer()); + btSoftBodyHelpers::Draw(psb, m_data->m_dynamicsWorld->getDebugDrawer(),deformWorld->getDrawFlags()); + } } } + } + { + btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld(); + if (softWorld) + { + for (int i = 0; i < softWorld->getSoftBodyArray().size(); i++) + { + btSoftBody* psb = (btSoftBody*)softWorld->getSoftBodyArray()[i]; + if (m_data->m_dynamicsWorld->getDebugDrawer() && !(m_data->m_dynamicsWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe))) + { + //btSoftBodyHelpers::DrawFrame(psb,m_data->m_dynamicsWorld->getDebugDrawer()); + btSoftBodyHelpers::Draw(psb, m_data->m_dynamicsWorld->getDebugDrawer(),softWorld->getDrawFlags()); + } + } + } + } #endif } } @@ -13270,7 +13419,7 @@ void PhysicsServerCommandProcessor::addBodyChangedNotifications() } } -void PhysicsServerCommandProcessor::resetSimulation() +void PhysicsServerCommandProcessor::resetSimulation(int flags) { //clean up all data m_data->m_remoteSyncTransformTime = m_data->m_remoteSyncTransformInterval; @@ -13281,7 +13430,21 @@ void PhysicsServerCommandProcessor::resetSimulation() #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD if (m_data && m_data->m_dynamicsWorld) { - m_data->m_dynamicsWorld->getWorldInfo().m_sparsesdf.Reset(); + { + btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); + if (deformWorld) + { + deformWorld ->getWorldInfo().m_sparsesdf.Reset(); + } + } + { + btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld(); + if (softWorld) + { + softWorld->getWorldInfo().m_sparsesdf.Reset(); + } + } + } #endif if (m_data && m_data->m_guiHelper) @@ -13312,7 +13475,7 @@ void PhysicsServerCommandProcessor::resetSimulation() removePickingConstraint(); deleteDynamicsWorld(); - createEmptyDynamicsWorld(); + createEmptyDynamicsWorld(flags); m_data->m_bodyHandles.exitHandles(); m_data->m_bodyHandles.initHandles(); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.h b/examples/SharedMemory/PhysicsServerCommandProcessor.h index d36b1a713..78bc9da83 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.h +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.h @@ -17,9 +17,12 @@ class PhysicsServerCommandProcessor : public CommandProcessorInterface { struct PhysicsServerCommandProcessorInternalData* m_data; - void resetSimulation(); + void resetSimulation(int flags=0); void createThreadPool(); + class btDeformableMultiBodyDynamicsWorld* getDeformableWorld(); + class btSoftMultiBodyDynamicsWorld* getSoftWorld(); + protected: bool processStateLoggingCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes); bool processRequestCameraImageCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes); @@ -114,7 +117,7 @@ public: void createJointMotors(class btMultiBody* body); - virtual void createEmptyDynamicsWorld(); + virtual void createEmptyDynamicsWorld(int flags=0); virtual void deleteDynamicsWorld(); virtual bool connect() diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index 3db75d397..2e3d9ae26 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -563,6 +563,13 @@ enum b3NotificationType SOFTBODY_CHANGED = 9, }; +enum b3ResetSimulationFlags +{ + RESET_USE_DEFORMABLE_WORLD=1, + RESET_USE_DISCRETE_DYNAMICS_WORLD=2, + RESET_USE_SIMPLE_BROADPHASE=4, +}; + struct b3BodyNotificationArgs { int m_bodyUniqueId; diff --git a/examples/pybullet/examples/load_soft_body.py b/examples/pybullet/examples/load_soft_body.py index 1d1052c88..3c55ca2e6 100644 --- a/examples/pybullet/examples/load_soft_body.py +++ b/examples/pybullet/examples/load_soft_body.py @@ -1,24 +1,24 @@ import pybullet as p from time import sleep -physicsClient = p.connect(p.DIRECT) - +physicsClient = p.connect(p.GUI) p.setGravity(0, 0, -10) -planeId = p.loadURDF("plane.urdf") -boxId = p.loadURDF("cube.urdf", useMaximalCoordinates = True) -bunnyId = p.loadSoftBody("bunny.obj") +planeId = p.loadURDF("plane.urdf", [0,0,-2]) +boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True) +bunnyId = p.loadSoftBody("bunny.obj")#.obj")#.vtk") + #meshData = p.getMeshData(bunnyId) #print("meshData=",meshData) -p.loadURDF("cube_small.urdf", [1, 0, 1]) +#p.loadURDF("cube_small.urdf", [1, 0, 1]) useRealTimeSimulation = 1 if (useRealTimeSimulation): p.setRealTimeSimulation(1) print(p.getDynamicsInfo(planeId, -1)) -print(p.getDynamicsInfo(bunnyId, 0)) +#print(p.getDynamicsInfo(bunnyId, 0)) print(p.getDynamicsInfo(boxId, -1)) - +p.changeDynamics(boxId,-1,mass=10) while p.isConnected(): p.setGravity(0, 0, -10) if (useRealTimeSimulation): diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 2627ecc4c..6e673bc1b 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -2050,10 +2050,11 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject* static PyObject* pybullet_resetSimulation(PyObject* self, PyObject* args, PyObject* keywds) { int physicsClientId = 0; - static char* kwlist[] = {"physicsClientId", NULL}; + int flags = 0; + static char* kwlist[] = {"flags", "physicsClientId", NULL}; b3PhysicsClientHandle sm = 0; - if (!PyArg_ParseTupleAndKeywords(args, keywds, "|i", kwlist, &physicsClientId)) + if (!PyArg_ParseTupleAndKeywords(args, keywds, "|ii", kwlist, &flags, &physicsClientId)) { return NULL; } @@ -2065,9 +2066,12 @@ static PyObject* pybullet_resetSimulation(PyObject* self, PyObject* args, PyObje } { + b3SharedMemoryCommandHandle commandHandle; b3SharedMemoryStatusHandle statusHandle; + commandHandle = b3InitResetSimulationCommand(sm); + b3InitResetSimulationSetFlags(commandHandle, flags); statusHandle = b3SubmitClientCommandAndWaitStatus( - sm, b3InitResetSimulationCommand(sm)); + sm, commandHandle); } Py_INCREF(Py_None); return Py_None; @@ -11721,7 +11725,7 @@ static PyMethodDef SpamMethods[] = { {"resetSimulation", (PyCFunction)pybullet_resetSimulation, METH_VARARGS | METH_KEYWORDS, "resetSimulation(physicsClientId=0)\n" "Reset the simulation: remove all objects and start from an empty world."}, - + {"stepSimulation", (PyCFunction)pybullet_stepSimulation, METH_VARARGS | METH_KEYWORDS, "stepSimulation(physicsClientId=0)\n" "Step the simulation using forward dynamics."}, @@ -12376,6 +12380,10 @@ initpybullet(void) //PyModule_AddIntConstant(m, "CONSTRAINT_SOLVER_LCP_NNCF",eConstraintSolverLCP_NNCG); //PyModule_AddIntConstant(m, "CONSTRAINT_SOLVER_LCP_BLOCK",eConstraintSolverLCP_BLOCK_PGS); + PyModule_AddIntConstant(m, "RESET_USE_DEFORMABLE_WORLD", RESET_USE_DEFORMABLE_WORLD); + PyModule_AddIntConstant(m, "RESET_USE_DISCRETE_DYNAMICS_WORLD", RESET_USE_DISCRETE_DYNAMICS_WORLD); + PyModule_AddIntConstant(m, "RESET_USE_SIMPLE_BROADPHASE", RESET_USE_SIMPLE_BROADPHASE); + PyModule_AddIntConstant(m, "VR_BUTTON_IS_DOWN", eButtonIsDown); PyModule_AddIntConstant(m, "VR_BUTTON_WAS_TRIGGERED", eButtonTriggered); PyModule_AddIntConstant(m, "VR_BUTTON_WAS_RELEASED", eButtonReleased); diff --git a/src/BulletSoftBody/btSoftBodyHelpers.cpp b/src/BulletSoftBody/btSoftBodyHelpers.cpp index 3aafe23d2..c9e4af382 100644 --- a/src/BulletSoftBody/btSoftBodyHelpers.cpp +++ b/src/BulletSoftBody/btSoftBodyHelpers.cpp @@ -1509,28 +1509,31 @@ void btSoftBodyHelpers::readRenderMeshFromObj(const char* file, btSoftBody* psb) while (std::getline(fs, line)) { std::stringstream ss(line); - if (line[0] == 'v' && line[1] != 't' && line[1] != 'n') - { - ss.ignore(); - for (size_t i = 0; i < 3; i++) - ss >> pos[i]; - btSoftBody::Node n; - n.m_x = pos; - psb->m_renderNodes.push_back(n); - } - else if (line[0] == 'f') - { - ss.ignore(); - int id0, id1, id2; - ss >> id0; - ss >> id1; - ss >> id2; - btSoftBody::Face f; - f.m_n[0] = &psb->m_renderNodes[id0-1]; - f.m_n[1] = &psb->m_renderNodes[id1-1]; - f.m_n[2] = &psb->m_renderNodes[id2-1]; - psb->m_renderFaces.push_back(f); - } + if (line.length()>1) + { + if (line[0] == 'v' && line[1] != 't' && line[1] != 'n') + { + ss.ignore(); + for (size_t i = 0; i < 3; i++) + ss >> pos[i]; + btSoftBody::Node n; + n.m_x = pos; + psb->m_renderNodes.push_back(n); + } + else if (line[0] == 'f') + { + ss.ignore(); + int id0, id1, id2; + ss >> id0; + ss >> id1; + ss >> id2; + btSoftBody::Face f; + f.m_n[0] = &psb->m_renderNodes[id0-1]; + f.m_n[1] = &psb->m_renderNodes[id1-1]; + f.m_n[2] = &psb->m_renderNodes[id2-1]; + psb->m_renderFaces.push_back(f); + } + } } fs.close(); } From a86710c5b6209946262c08a6d975e25fbbeffb48 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 15 Nov 2019 21:25:11 -0800 Subject: [PATCH 275/389] add python binding to allow loading deformable objects --- examples/SharedMemory/PhysicsClientC_API.cpp | 13 ++++++++-- examples/SharedMemory/PhysicsClientC_API.h | 3 ++- .../PhysicsServerCommandProcessor.cpp | 3 +-- examples/SharedMemory/SharedMemoryCommands.h | 6 +++-- .../pybullet/examples/deformable_torus.py | 17 ++++++++++++ examples/pybullet/pybullet.c | 26 +++++++++++++++++-- 6 files changed, 59 insertions(+), 9 deletions(-) create mode 100644 examples/pybullet/examples/deformable_torus.py diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 5a5d3ad95..0f6f255fb 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -386,12 +386,12 @@ B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle return 0; } -B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision) +B3_SHARED_API int b3LoadSoftBodyUseSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command->m_type == CMD_LOAD_SOFT_BODY); command->m_loadSoftBodyArguments.m_useSelfCollision = useSelfCollision; - command->m_updateFlags |= LOAD_SOFT_BODY_SET_SELF_COLLISION; + command->m_updateFlags |= LOAD_SOFT_BODY_USE_SELF_COLLISION; return 0; } @@ -413,6 +413,15 @@ B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle co return 0; } +B3_SHARED_API int b3LoadSoftBodyUseFaceContact(b3SharedMemoryCommandHandle commandHandle, int useFaceContact) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; + b3Assert(command->m_type == CMD_LOAD_SOFT_BODY); + command->m_loadSoftBodyArguments.m_useFaceContact = useFaceContact; + command->m_updateFlags |= LOAD_SOFT_BODY_USE_FACE_CONTACT; + return 0; +} + B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName) { PhysicsClient* cl = (PhysicsClient*)physClient; diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 49e5848f2..d2037d02e 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -638,7 +638,8 @@ extern "C" B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness); B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ); B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness); - B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision); + B3_SHARED_API int b3LoadSoftBodyUseSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision); + B3_SHARED_API int b3LoadSoftBodyUseFaceContact(b3SharedMemoryCommandHandle commandHandle, int useFaceContact); B3_SHARED_API int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle commandHandle, double frictionCoefficient); B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle commandHandle, int useBendingSprings); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index f28e722c3..ac9db5e10 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -8248,7 +8248,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar psb->setCollisionFlags(0); psb->setTotalMass(mass); bool use_self_collision = false; - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_SELF_COLLISION) + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_USE_SELF_COLLISION) { use_self_collision = loadSoftBodyArgs.m_useSelfCollision; } @@ -13444,7 +13444,6 @@ void PhysicsServerCommandProcessor::resetSimulation(int flags) softWorld->getWorldInfo().m_sparsesdf.Reset(); } } - } #endif if (m_data && m_data->m_guiHelper) diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 610bfe275..4d4324013 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -502,7 +502,8 @@ enum EnumLoadSoftBodyUpdateFlags LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT = 1<<10, LOAD_SOFT_BODY_ADD_BENDING_SPRINGS = 1<<11, LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE = 1<<12, - LOAD_SOFT_BODY_SET_SELF_COLLISION = 1<<13, + LOAD_SOFT_BODY_USE_SELF_COLLISION = 1<<13, + LOAD_SOFT_BODY_USE_FACE_CONTACT = 1<<14, }; enum EnumSimParamInternalSimFlags @@ -525,13 +526,14 @@ struct LoadSoftBodyArgs double m_springDampingStiffness; double m_corotatedMu; double m_corotatedLambda; - bool m_useBendingSprings; + int m_useBendingSprings; double m_collisionHardness; double m_useSelfCollision; double m_frictionCoeff; double m_NeoHookeanMu; double m_NeoHookeanLambda; double m_NeoHookeanDamping; + int m_useFaceContact; }; struct b3LoadSoftBodyResultArgs diff --git a/examples/pybullet/examples/deformable_torus.py b/examples/pybullet/examples/deformable_torus.py new file mode 100644 index 000000000..8bebe38ab --- /dev/null +++ b/examples/pybullet/examples/deformable_torus.py @@ -0,0 +1,17 @@ +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) + +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.setGravity(0, 0, -10) +while p.isConnected(): + p.stepSimulation() diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 6e673bc1b..0b1ef28cf 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -1963,13 +1963,25 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject* int physicsClientId = 0; int flags = 0; - static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "scale", "mass", "collisionMargin", "physicsClientId", NULL}; + static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "scale", "mass", "collisionMargin", "physicsClientId", "useMassSpring", "useBendingSprings", "useNeoHookean", "springElasticStiffness", "springDampingStiffness", "NeoHookeanMu", "NeoHookeanLambda", "NeoHookeanDamping", "frictionCoeff", "useFaceContact", "useSelfCollision", NULL}; int bodyUniqueId = -1; const char* fileName = ""; double scale = -1; double mass = -1; double collisionMargin = -1; + int useMassSpring = 0; + int useBendingSprings = 0; + int useNeoHookean = 0; + double springElasticStiffness = 1; + double springDampingStiffness = 0.1; + double NeoHookeanMu = 1; + double NeoHookeanLambda = 1; + double NeoHookeanDamping = 0.1; + double frictionCoeff = 0; + int useFaceContact = 0; + int useSelfCollision = 0; + b3PhysicsClientHandle sm = 0; @@ -1980,7 +1992,7 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject* PyObject* basePosObj = 0; PyObject* baseOrnObj = 0; - if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOdddi", kwlist, &fileName, &basePosObj, &baseOrnObj, &scale, &mass, &collisionMargin, &physicsClientId)) + if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOdddiiiiddddddii", kwlist, &fileName, &basePosObj, &baseOrnObj, &scale, &mass, &collisionMargin, &physicsClientId, &useMassSpring, &useBendingSprings, &useNeoHookean, &springElasticStiffness, &springDampingStiffness, &NeoHookeanMu, &NeoHookeanLambda, &NeoHookeanDamping, &frictionCoeff, &useFaceContact, &useSelfCollision)) { return NULL; } @@ -2033,6 +2045,16 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject* { b3LoadSoftBodySetCollisionMargin(command, collisionMargin); } + if (useMassSpring) + { + b3LoadSoftBodyAddMassSpringForce(command, springElasticStiffness, springDampingStiffness); + b3LoadSoftBodyUseBendingSprings(command, useBendingSprings); + } + if (useNeoHookean) + { + b3LoadSoftBodyAddNeoHookeanForce(command, NeoHookeanMu, NeoHookeanLambda, NeoHookeanDamping); + } + b3LoadSoftBodySetFrictionCoefficient(command, frictionCoeff); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); statusType = b3GetStatusType(statusHandle); if (statusType != CMD_LOAD_SOFT_BODY_COMPLETED) From bca87426f4cde9e889e9c722c455a33b231d437b Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 15 Nov 2019 22:38:47 -0800 Subject: [PATCH 276/389] enable real time simulation --- examples/pybullet/examples/deformable_torus.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/examples/pybullet/examples/deformable_torus.py b/examples/pybullet/examples/deformable_torus.py index 8bebe38ab..ee5c78772 100644 --- a/examples/pybullet/examples/deformable_torus.py +++ b/examples/pybullet/examples/deformable_torus.py @@ -12,6 +12,8 @@ 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.setGravity(0, 0, -10) +p.setRealTimeSimulation(1) + while p.isConnected(): - p.stepSimulation() + p.setGravity(0,0,-10) + sleep(1./240.) 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zR)-bR@JGYj3Y?S8YHU#fxVK5m?H#=#%|h#ud)Jhs;>#7ObrwdkJ1R#3uv9d4K^gH~ zp+b_Xz*SMvdJ}Xt@lG9#s@qFK!-4JnXj!?B-okmouXKj{FZ~HQM<7UOQKJtqWDWra zSm+WTG3gKkii4NuzX~33A{^m25IgHvW*PCXx&quLTs)jS?7S>yTx^`Y<|dzm*Ua3M z*MyVJ*p!EzTj>Aoq5nU5%qdE8SjL#cSNs{9RUSt(&BvnA4wK`d6fO&*$>R0uk)lC~ zKoAyuZ9g_?5UfZNmP`pUFF1KhpU2@uC-YP*%$Sa3t9Se^aQV7EI+KM&RWHT|DZXF-5ye%& zR|DFoFrq2mHKaVW8ilunm~cZQm=C5#TTu77uG{hSt^hPiP}#0RrJ+hhx#s?RTF26Y z_dVEZ%6uwnzSht0)W{_``7ksg_J|^-R8a40fI(Bm=>67$Yjy5!u+Ovosj3#!%-*Z^ zuKa1Qh0W%o7l+;6U1=+4V|PU9W%}-lg=W>7(mP&bb};`WazyNh;b!~E6mX)n6_oAr z&c|!Fbrr#jWvA@~{^-TPop55B64R9zFdh%vD&_}jG_j#Vj zHped**VCU<*!;>|tMc!6i^k;Gg`x|FW0>hR@4t&i@x$M@x5QDgwK1wyxQ4nSaQf3)fsibq6~%H>v~j Lp}>%+gjoLz;eJSp From 1f6d504e44ef1d6337eec1ed16338c16437a7fd3 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 18 Nov 2019 10:22:56 -0800 Subject: [PATCH 278/389] fix memory issues in btSparseSDF.h (hash function on structure with uninitialized padding, and Reset not called in destructor) expose sparseSdfVoxelSize in PyBullet.setPhysicsEngineParameter don't call deformable wireframe drawing in the wrong thread/place (it can cause crashes) --- examples/SharedMemory/PhysicsClientC_API.cpp | 9 ++++ examples/SharedMemory/PhysicsClientC_API.h | 3 +- .../PhysicsServerCommandProcessor.cpp | 48 +++++++++---------- examples/SharedMemory/SharedMemoryCommands.h | 1 + examples/SharedMemory/SharedMemoryPublic.h | 5 +- examples/pybullet/examples/deformable_ball.py | 27 +++++++++++ .../pybullet/examples/deformable_torus.py | 1 + examples/pybullet/pybullet.c | 10 +++- .../btDeformableMultiBodyDynamicsWorld.cpp | 4 +- src/BulletSoftBody/btSparseSDF.h | 9 +++- 10 files changed, 85 insertions(+), 32 deletions(-) create mode 100644 examples/pybullet/examples/deformable_ball.py diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 0f6f255fb..0284d1d1b 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -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; diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index d2037d02e..ff59cef46 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -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); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index ac9db5e10..c1aca27c7 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -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 } } diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 4d4324013..ec79d77c5 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -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, }; diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index 2e3d9ae26..feed391a8 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -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; }; diff --git a/examples/pybullet/examples/deformable_ball.py b/examples/pybullet/examples/deformable_ball.py new file mode 100644 index 000000000..8803e2fb2 --- /dev/null +++ b/examples/pybullet/examples/deformable_ball.py @@ -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) \ No newline at end of file diff --git a/examples/pybullet/examples/deformable_torus.py b/examples/pybullet/examples/deformable_torus.py index ee5c78772..ff02237d6 100644 --- a/examples/pybullet/examples/deformable_torus.py +++ b/examples/pybullet/examples/deformable_torus.py @@ -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(): diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 0b1ef28cf..260f6db68 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -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); } diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index f16786e16..25ee65450 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -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) diff --git a/src/BulletSoftBody/btSparseSDF.h b/src/BulletSoftBody/btSparseSDF.h index 8258c3eeb..37e657d62 100644 --- a/src/BulletSoftBody/btSparseSDF.h +++ b/src/BulletSoftBody/btSparseSDF.h @@ -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; From c4e73ec8a74600e568233bcedef215fc27db0144 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 18 Nov 2019 14:47:57 -0800 Subject: [PATCH 279/389] Add faces to volumetric objects in deformable demos --- examples/DeformableDemo/Pinch.cpp | 1 + examples/DeformableDemo/VolumetricDeformable.cpp | 1 + 2 files changed, 2 insertions(+) diff --git a/examples/DeformableDemo/Pinch.cpp b/examples/DeformableDemo/Pinch.cpp index 7c966cc4d..ed811a417 100644 --- a/examples/DeformableDemo/Pinch.cpp +++ b/examples/DeformableDemo/Pinch.cpp @@ -314,6 +314,7 @@ void Pinch::initPhysics() psb->m_cfg.kDF = 2; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addSoftBody(psb); + btSoftBodyHelpers::generateBoundaryFaces(psb); btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(1,0.05); getDeformableDynamicsWorld()->addForce(psb, mass_spring); diff --git a/examples/DeformableDemo/VolumetricDeformable.cpp b/examples/DeformableDemo/VolumetricDeformable.cpp index 7eaf9aa37..1f23071d4 100644 --- a/examples/DeformableDemo/VolumetricDeformable.cpp +++ b/examples/DeformableDemo/VolumetricDeformable.cpp @@ -220,6 +220,7 @@ void VolumetricDeformable::initPhysics() psb->m_cfg.kCHR = 1; // collision hardness with rigid body psb->m_cfg.kDF = 0.5; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; + btSoftBodyHelpers::generateBoundaryFaces(psb); btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); getDeformableDynamicsWorld()->addForce(psb, gravity_force); From 363dc8d431c4eb4c657c21273391b78f4a26229b Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 18 Nov 2019 21:46:05 -0800 Subject: [PATCH 280/389] tweak hash function (sdf) --- src/BulletSoftBody/btSparseSDF.h | 64 +++++++++++++++++++------------- 1 file changed, 39 insertions(+), 25 deletions(-) diff --git a/src/BulletSoftBody/btSparseSDF.h b/src/BulletSoftBody/btSparseSDF.h index 37e657d62..c6342c285 100644 --- a/src/BulletSoftBody/btSparseSDF.h +++ b/src/BulletSoftBody/btSparseSDF.h @@ -20,27 +20,38 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btCollisionObject.h" #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" -// Modified Paul Hsieh hash -template -unsigned int HsiehHash(const void* pdata) -{ - const unsigned short* data = (const unsigned short*)pdata; - unsigned hash = DWORDLEN << 2, tmp; - for (int i = 0; i < DWORDLEN; ++i) - { - hash += data[0]; - tmp = (data[1] << 11) ^ hash; - hash = (hash << 16) ^ tmp; - data += 2; - hash += hash >> 11; - } - hash ^= hash << 3; - hash += hash >> 5; - hash ^= hash << 4; - hash += hash >> 17; - hash ^= hash << 25; - hash += hash >> 6; - return (hash); +// Fast Hash + +#if !defined (get16bits) +#define get16bits(d) ((((unsigned int)(((const unsigned char *)(d))[1])) << 8)\ ++(unsigned int)(((const unsigned char *)(d))[0]) ) +#endif +// +// super hash function by Paul Hsieh +// +inline unsigned int HsiehHash (const char * data, int len) { + unsigned int hash = len, tmp; + len>>=2; + + /* Main loop */ + for (;len > 0; len--) { + hash += get16bits (data); + tmp = (get16bits (data+2) << 11) ^ hash; + hash = (hash << 16) ^ tmp; + data += 2*sizeof (unsigned short); + hash += hash >> 11; + } + + + /* Force "avalanching" of final 127 bits */ + hash ^= hash << 3; + hash += hash >> 5; + hash ^= hash << 4; + hash += hash >> 17; + hash ^= hash << 25; + hash += hash >> 6; + + return hash; } template @@ -209,6 +220,9 @@ struct btSparseSdf } else { + // printf("c->hash/c[0][1][2]=%d,%d,%d,%d\n", c->hash, c->c[0], c->c[1],c->c[2]); + //printf("h,ixb,iyb,izb=%d,%d,%d,%d\n", h,ix.b, iy.b, iz.b); + c = c->next; } } @@ -334,22 +348,22 @@ struct btSparseSdf { struct btS { - int x, y, z, w; + int x, y, z,w; void* p; }; btS myset; //memset may be needed in case of additional (uninitialized) padding! - //memset(myset, 0, sizeof(btS)); + //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; + const char* ptr = (const char*)&myset; - unsigned int result = HsiehHash(ptr); + unsigned int result = HsiehHash(ptr, sizeof(btS) ); return result; } From c0836939ecec17d86d925e6d0f23b9002b3a8354 Mon Sep 17 00:00:00 2001 From: sjdrc Date: Thu, 31 Oct 2019 13:53:00 +1100 Subject: [PATCH 281/389] Update bullet.pc.cmake Change pkgconfig file to match example in pkg-config man files --- bullet.pc.cmake | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/bullet.pc.cmake b/bullet.pc.cmake index 8b989faba..1630d2979 100644 --- a/bullet.pc.cmake +++ b/bullet.pc.cmake @@ -1,6 +1,11 @@ +prefix=@CMAKE_INSTALL_PREFIX@ +exec_prefix=${prefix} +libdir=${exec_prefix}/@LIB_DESTINATION@ +includedir=${prefix}/@INCLUDE_INSTALL_DIR@ + Name: bullet Description: Bullet Continuous Collision Detection and Physics Library -Requires: Version: @BULLET_VERSION@ -Libs: -L@CMAKE_INSTALL_PREFIX@/@LIB_DESTINATION@ -lBulletSoftBody -lBulletDynamics -lBulletCollision -lLinearMath -Cflags: @BULLET_DOUBLE_DEF@ -I@CMAKE_INSTALL_PREFIX@/@INCLUDE_INSTALL_DIR@ -I@CMAKE_INSTALL_PREFIX@/include +Requires: +Libs: -L${libdir} -lBulletSoftBody -lBulletDynamics -lBulletCollision -lLinearMath +Cflags: @BULLET_DOUBLE_DEF@ -I${includedir} -I${prefix}/include From 920b253e8720556c7cb77fd023e3f8a775413ad1 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 12 Nov 2019 20:08:49 -0800 Subject: [PATCH 282/389] Deformables: enable double sided rendering, reduced the number of debug lines in regular rendering. --- .../CommonInterfaces/CommonRenderInterface.h | 10 ++- examples/DeformableDemo/ClothFriction.cpp | 5 +- .../DeformableDemo/DeformableClothAnchor.cpp | 4 +- examples/DeformableDemo/DeformableContact.cpp | 13 +++- .../DeformableDemo/DeformableMultibody.cpp | 2 +- examples/DeformableDemo/DeformableRigid.cpp | 2 +- .../DeformableSelfCollision.cpp | 2 +- examples/DeformableDemo/GraspDeformable.cpp | 2 +- .../DeformableDemo/MultibodyClothAnchor.cpp | 2 +- examples/ExampleBrowser/OpenGLGuiHelper.cpp | 5 ++ .../OpenGLWindow/GLInstancingRenderer.cpp | 78 ++++++++++++------- examples/OpenGLWindow/GLInstancingRenderer.h | 1 + examples/OpenGLWindow/SimpleOpenGL2Renderer.h | 2 +- .../btDeformableMultiBodyDynamicsWorld.cpp | 16 ++++ .../btDeformableMultiBodyDynamicsWorld.h | 5 +- 15 files changed, 108 insertions(+), 41 deletions(-) diff --git a/examples/CommonInterfaces/CommonRenderInterface.h b/examples/CommonInterfaces/CommonRenderInterface.h index 37787ab4b..d94d24650 100644 --- a/examples/CommonInterfaces/CommonRenderInterface.h +++ b/examples/CommonInterfaces/CommonRenderInterface.h @@ -9,6 +9,13 @@ enum B3_GL_POINTS }; +enum +{ + B3_INSTANCE_TRANSPARANCY = 1, + B3_INSTANCE_TEXTURE = 2, + B3_INSTANCE_DOUBLE_SIDED = 4, +}; + enum { B3_DEFAULT_RENDERMODE = 1, @@ -94,7 +101,8 @@ struct CommonRenderInterface virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex) = 0; virtual void writeSingleInstanceSpecularColorToCPU(const double* specular, int srcIndex) = 0; virtual void writeSingleInstanceSpecularColorToCPU(const float* specular, int srcIndex) = 0; - + virtual void writeSingleInstanceFlagsToCPU(int flags, int srcIndex) = 0; + virtual int getTotalNumInstances() const = 0; virtual void writeTransforms() = 0; diff --git a/examples/DeformableDemo/ClothFriction.cpp b/examples/DeformableDemo/ClothFriction.cpp index e62dab0d2..192769db4 100644 --- a/examples/DeformableDemo/ClothFriction.cpp +++ b/examples/DeformableDemo/ClothFriction.cpp @@ -75,10 +75,11 @@ public: { btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i]; { - btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer()); - btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); + //btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer()); + btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags()); } } + } }; diff --git a/examples/DeformableDemo/DeformableClothAnchor.cpp b/examples/DeformableDemo/DeformableClothAnchor.cpp index 49fd3184b..e7fe6484b 100644 --- a/examples/DeformableDemo/DeformableClothAnchor.cpp +++ b/examples/DeformableDemo/DeformableClothAnchor.cpp @@ -80,8 +80,8 @@ public: 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()); + //btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer()); + btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags()); } } } diff --git a/examples/DeformableDemo/DeformableContact.cpp b/examples/DeformableDemo/DeformableContact.cpp index 8712d6de8..850bcebb2 100644 --- a/examples/DeformableDemo/DeformableContact.cpp +++ b/examples/DeformableDemo/DeformableContact.cpp @@ -70,16 +70,19 @@ public: virtual void renderScene() { CommonRigidBodyBase::renderScene(); - btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); + + + btDeformableMultiBodyDynamicsWorld* 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()); + //btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer()); + btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// StddeformableWorld->getDrawFlags()); } } + } }; @@ -200,6 +203,10 @@ void DeformableContact::initPhysics() getDeformableDynamicsWorld()->setImplicit(false); getDeformableDynamicsWorld()->setLineSearch(false); m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); + int numInstances = m_guiHelper->getRenderInterface()->getTotalNumInstances(); + double rgbaColors[3][4] = { { 1, 0, 0, 1 } , { 0, 1, 0, 1 } ,{ 0, 0, 1, 1 } }; + + } void DeformableContact::exitPhysics() diff --git a/examples/DeformableDemo/DeformableMultibody.cpp b/examples/DeformableDemo/DeformableMultibody.cpp index 40db119b9..1274a3721 100644 --- a/examples/DeformableDemo/DeformableMultibody.cpp +++ b/examples/DeformableDemo/DeformableMultibody.cpp @@ -86,7 +86,7 @@ public: btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i]; { btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer()); - btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); + btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags()); } } } diff --git a/examples/DeformableDemo/DeformableRigid.cpp b/examples/DeformableDemo/DeformableRigid.cpp index 9a3ca9403..f6c087d2a 100644 --- a/examples/DeformableDemo/DeformableRigid.cpp +++ b/examples/DeformableDemo/DeformableRigid.cpp @@ -124,7 +124,7 @@ public: //if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe))) { btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer()); - btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); + btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags()); } } } diff --git a/examples/DeformableDemo/DeformableSelfCollision.cpp b/examples/DeformableDemo/DeformableSelfCollision.cpp index 6b1d92611..20caa45d5 100644 --- a/examples/DeformableDemo/DeformableSelfCollision.cpp +++ b/examples/DeformableDemo/DeformableSelfCollision.cpp @@ -79,7 +79,7 @@ public: btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i]; { btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer()); - btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); + btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags()); } } } diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index a1952169d..475fa9095 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -162,7 +162,7 @@ public: btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i]; { btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer()); - btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); + btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags()); } } } diff --git a/examples/DeformableDemo/MultibodyClothAnchor.cpp b/examples/DeformableDemo/MultibodyClothAnchor.cpp index eeeb4d33c..ba90a9e20 100644 --- a/examples/DeformableDemo/MultibodyClothAnchor.cpp +++ b/examples/DeformableDemo/MultibodyClothAnchor.cpp @@ -81,7 +81,7 @@ public: //if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe))) { btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer()); - btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); + btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags()); } } } diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp index eecf94df6..6f4b7686f 100644 --- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp +++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp @@ -1433,6 +1433,11 @@ void OpenGLGuiHelper::autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWor color.setValue(1, 1, 1, 1); } createCollisionObjectGraphicsObject(colObj, color); + if (sb) + { + int graphicsInstanceId = colObj->getUserIndex(); + changeInstanceFlags(graphicsInstanceId, B3_INSTANCE_DOUBLE_SIDED); + } } } diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp index 809d87b1f..e27547839 100644 --- a/examples/OpenGLWindow/GLInstancingRenderer.cpp +++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp @@ -139,11 +139,7 @@ static InternalDataRenderer* sData2; GLint lineWidthRange[2] = {1, 1}; -enum -{ - eGfxTransparency = 1, - eGfxHasTexture = 2, -}; + struct b3GraphicsInstance { @@ -492,6 +488,26 @@ void GLInstancingRenderer::readSingleInstanceTransformFromCPU(int srcIndex2, flo orientation[2] = m_data->m_instance_quaternion_ptr[srcIndex * 4 + 2]; orientation[3] = m_data->m_instance_quaternion_ptr[srcIndex * 4 + 3]; } + +void GLInstancingRenderer::writeSingleInstanceFlagsToCPU(int flags, int srcIndex2) +{ + b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2); + b3Assert(pg); + int srcIndex = pg->m_internalInstanceIndex; + + int shapeIndex = pg->m_shapeIndex; + b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex]; + if (flags & B3_INSTANCE_DOUBLE_SIDED) + { + gfxObj->m_flags |= B3_INSTANCE_DOUBLE_SIDED; + } + else + { + gfxObj->m_flags &= ~B3_INSTANCE_DOUBLE_SIDED; + } +} + + void GLInstancingRenderer::writeSingleInstanceColorToCPU(const double* color, int srcIndex2) { b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2); @@ -502,11 +518,11 @@ void GLInstancingRenderer::writeSingleInstanceColorToCPU(const double* color, in b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex]; if (color[3] < 1) { - gfxObj->m_flags |= eGfxTransparency; + gfxObj->m_flags |= B3_INSTANCE_TRANSPARANCY; } else { - gfxObj->m_flags &= ~eGfxTransparency; + gfxObj->m_flags &= ~B3_INSTANCE_TRANSPARANCY; } m_data->m_instance_colors_ptr[srcIndex * 4 + 0] = float(color[0]); @@ -525,11 +541,11 @@ void GLInstancingRenderer::writeSingleInstanceColorToCPU(const float* color, int if (color[3] < 1) { - gfxObj->m_flags |= eGfxTransparency; + gfxObj->m_flags |= B3_INSTANCE_TRANSPARANCY; } else { - gfxObj->m_flags &= ~eGfxTransparency; + gfxObj->m_flags &= ~B3_INSTANCE_TRANSPARANCY; } m_data->m_instance_colors_ptr[srcIndex * 4 + 0] = color[0]; @@ -916,7 +932,7 @@ int GLInstancingRenderer::registerGraphicsInstanceInternal(int newUid, const flo if (color[3] < 1 && color[3] > 0) { - gfxObj->m_flags |= eGfxTransparency; + gfxObj->m_flags |= B3_INSTANCE_TRANSPARANCY; } gfxObj->m_numGraphicsInstances++; m_data->m_totalNumInstances++; @@ -1018,11 +1034,11 @@ void GLInstancingRenderer::replaceTexture(int shapeIndex, int textureId) if (textureId >= 0 && textureId < m_data->m_textureHandles.size()) { gfxObj->m_textureIndex = textureId; - gfxObj->m_flags |= eGfxHasTexture; + gfxObj->m_flags |= B3_INSTANCE_TEXTURE; } else { gfxObj->m_textureIndex = -1; - gfxObj->m_flags &= ~eGfxHasTexture; + gfxObj->m_flags &= ~B3_INSTANCE_TEXTURE; } } } @@ -1110,7 +1126,7 @@ int GLInstancingRenderer::registerShape(const float* vertices, int numvertices, if (textureId >= 0) { gfxObj->m_textureIndex = textureId; - gfxObj->m_flags |= eGfxHasTexture; + gfxObj->m_flags |= B3_INSTANCE_TEXTURE; } gfxObj->m_primitiveType = primitiveType; @@ -1754,6 +1770,7 @@ static void b3CreateLookAt(const b3Vector3& eye, const b3Vector3& center, const result[3 * 4 + 3] = 1.f; } + void GLInstancingRenderer::drawTexturedTriangleMesh(float worldPosition[3], float worldOrientation[4], const float* vertices, int numvertices, const unsigned int* indices, int numIndices, float colorRGBA[4], int textureIndex, int vertexLayout) { int sz = sizeof(GfxVertexFormat0); @@ -2263,7 +2280,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) inst.m_shapeIndex = obj; - if ((gfxObj->m_flags & eGfxTransparency) == 0) + if ((gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) == 0) { inst.m_instanceId = curOffset; b3Vector3 centerPosition; @@ -2313,10 +2330,10 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex]; //only draw stuff (opaque/transparent) if it is the right pass - int drawThisPass = (pass == 0) == ((gfxObj->m_flags & eGfxTransparency) == 0); + int drawThisPass = (pass == 0) == ((gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) == 0); //transparent objects don't cast shadows (to simplify things) - if (gfxObj->m_flags & eGfxTransparency) + if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) { if (renderMode == B3_CREATE_SHADOWMAP_RENDERMODE) drawThisPass = 0; @@ -2326,7 +2343,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) { glActiveTexture(GL_TEXTURE0); GLuint curBindTexture = 0; - if (gfxObj->m_flags & eGfxHasTexture) + if (gfxObj->m_flags & B3_INSTANCE_TEXTURE) { curBindTexture = m_data->m_textureHandles[gfxObj->m_textureIndex].m_glTexture; @@ -2432,6 +2449,11 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) } else { + if (gfxObj->m_flags & B3_INSTANCE_DOUBLE_SIDED) + { + glDisable(GL_CULL_FACE); + } + switch (renderMode) { case B3_SEGMENTATION_MASK_RENDERMODE: @@ -2445,7 +2467,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) } case B3_DEFAULT_RENDERMODE: { - if (gfxObj->m_flags & eGfxTransparency) + if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) { glDepthMask(false); glEnable(GL_BLEND); @@ -2462,7 +2484,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) glUniform1i(uniform_texture_diffuse, 0); - if (gfxObj->m_flags & eGfxTransparency) + if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) { int instanceId = transparentInstances[i].m_instanceId; glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid*)((instanceId)*4 * sizeof(float) + m_data->m_maxShapeCapacityInBytes)); @@ -2477,7 +2499,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances); } - if (gfxObj->m_flags & eGfxTransparency) + if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) { glDisable(GL_BLEND); glDepthMask(true); @@ -2495,7 +2517,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) case B3_USE_SHADOWMAP_RENDERMODE: { - if (gfxObj->m_flags & eGfxTransparency) + if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) { glDepthMask(false); glEnable(GL_BLEND); @@ -2549,7 +2571,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) //gfxObj->m_instanceOffset - if (gfxObj->m_flags & eGfxTransparency) + if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) { int instanceId = transparentInstances[i].m_instanceId; glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid*)((instanceId)*4 * sizeof(float) + m_data->m_maxShapeCapacityInBytes)); @@ -2563,7 +2585,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances); } - if (gfxObj->m_flags & eGfxTransparency) + if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) { glDisable(GL_BLEND); glDepthMask(true); @@ -2577,7 +2599,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) } case B3_USE_PROJECTIVE_TEXTURE_RENDERMODE: { - if (gfxObj->m_flags & eGfxTransparency) + if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) { glDepthMask(false); glEnable(GL_BLEND); @@ -2617,7 +2639,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) glUniformMatrix4fv(projectiveTexture_TextureMVP, 1, false, &textureMVP[0]); //sort transparent objects - if (gfxObj->m_flags & eGfxTransparency) + if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) { int instanceId = transparentInstances[i].m_instanceId; glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid*)((instanceId)*4 * sizeof(float) + m_data->m_maxShapeCapacityInBytes)); @@ -2631,7 +2653,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances); } - if (gfxObj->m_flags & eGfxTransparency) + if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) { glDisable(GL_BLEND); glDepthMask(true); @@ -2646,6 +2668,10 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) // b3Assert(0); } }; + if (gfxObj->m_flags & B3_INSTANCE_DOUBLE_SIDED) + { + glEnable(GL_CULL_FACE); + } } //glDrawElementsInstanced(GL_LINE_LOOP, indexCount, GL_UNSIGNED_INT, (void*)indexOffset, gfxObj->m_numGraphicsInstances); diff --git a/examples/OpenGLWindow/GLInstancingRenderer.h b/examples/OpenGLWindow/GLInstancingRenderer.h index 821da5263..b6ef85250 100644 --- a/examples/OpenGLWindow/GLInstancingRenderer.h +++ b/examples/OpenGLWindow/GLInstancingRenderer.h @@ -95,6 +95,7 @@ public: virtual void writeSingleInstanceColorToCPU(const float* color, int srcIndex); virtual void writeSingleInstanceColorToCPU(const double* color, int srcIndex); + virtual void writeSingleInstanceFlagsToCPU(int flags, int srcIndex2); virtual void writeSingleInstanceSpecularColorToCPU(const double* specular, int srcIndex2); virtual void writeSingleInstanceSpecularColorToCPU(const float* specular, int srcIndex2); diff --git a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h index 320184d7c..d328c3cd5 100644 --- a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h +++ b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h @@ -40,7 +40,7 @@ public: virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex); virtual void writeSingleInstanceSpecularColorToCPU(const double* specular, int srcIndex) {} virtual void writeSingleInstanceSpecularColorToCPU(const float* specular, int srcIndex) {} - + virtual void writeSingleInstanceFlagsToCPU(int flags, int srcIndex) {} virtual void getCameraViewMatrix(float viewMat[16]) const; virtual void getCameraProjectionMatrix(float projMat[16]) const; virtual void drawTexturedTriangleMesh(float worldPosition[3], float worldOrientation[4], const float* vertices, int numvertices, const unsigned int* indices, int numIndices, float color[4], int textureIndex = -1, int vertexLayout = 0) diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 3eb7248b3..f16786e16 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -378,6 +378,22 @@ void btDeformableMultiBodyDynamicsWorld::reinitialize(btScalar timeStep) btMultiBodyDynamicsWorld::getSolverInfo().m_timeStep = timeStep; } + +void btDeformableMultiBodyDynamicsWorld::debugDrawWorld() +{ + + for (int i = 0; i < getSoftBodyArray().size(); i++) + { + btSoftBody* psb = (btSoftBody*)getSoftBodyArray()[i]; + { + btSoftBodyHelpers::DrawFrame(psb, getDebugDrawer()); + btSoftBodyHelpers::Draw(psb, getDebugDrawer(), getDrawFlags()); + } + } + + btMultiBodyDynamicsWorld::debugDrawWorld(); +} + void btDeformableMultiBodyDynamicsWorld::applyRigidBodyGravity(btScalar timeStep) { // Gravity is applied in stepSimulation and then cleared here and then applied here and then cleared here again diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h index d00183504..9fbebd6ed 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h @@ -93,7 +93,9 @@ public: } virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.)); - + + virtual void debugDrawWorld(); + void setSolverCallback(btSolverCallback cb) { m_solverCallback = cb; @@ -178,6 +180,7 @@ public: { m_lineSearch = lineSearch; } + }; #endif //BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H From 8f16332708dda2957bf0a5f7cfe67fe286e7e6f2 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 12 Nov 2019 20:36:20 -0800 Subject: [PATCH 283/389] expose the double sided flag --- examples/CommonInterfaces/CommonGUIHelperInterface.h | 1 + examples/DeformableDemo/DeformableContact.cpp | 6 +++++- examples/ExampleBrowser/OpenGLGuiHelper.cpp | 8 ++++++++ examples/ExampleBrowser/OpenGLGuiHelper.h | 1 + 4 files changed, 15 insertions(+), 1 deletion(-) diff --git a/examples/CommonInterfaces/CommonGUIHelperInterface.h b/examples/CommonInterfaces/CommonGUIHelperInterface.h index 323fe103a..3e21a120e 100644 --- a/examples/CommonInterfaces/CommonGUIHelperInterface.h +++ b/examples/CommonInterfaces/CommonGUIHelperInterface.h @@ -43,6 +43,7 @@ struct GUIHelperInterface virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) = 0; virtual void removeAllGraphicsInstances() = 0; virtual void removeGraphicsInstance(int graphicsUid) {} + virtual void changeInstanceFlags(int instanceUid, int flags) {} virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]) {} virtual void changeSpecularColor(int instanceUid, const double specularColor[3]) {} virtual void changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height) {} diff --git a/examples/DeformableDemo/DeformableContact.cpp b/examples/DeformableDemo/DeformableContact.cpp index 850bcebb2..8523e0378 100644 --- a/examples/DeformableDemo/DeformableContact.cpp +++ b/examples/DeformableDemo/DeformableContact.cpp @@ -206,7 +206,11 @@ void DeformableContact::initPhysics() int numInstances = m_guiHelper->getRenderInterface()->getTotalNumInstances(); double rgbaColors[3][4] = { { 1, 0, 0, 1 } , { 0, 1, 0, 1 } ,{ 0, 0, 1, 1 } }; - + for (int i = 0; i < numInstances; i++) + { + m_guiHelper->changeInstanceFlags(i, B3_INSTANCE_DOUBLE_SIDED); + } + } void DeformableContact::exitPhysics() diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp index 6f4b7686f..610329425 100644 --- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp +++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp @@ -380,6 +380,14 @@ void OpenGLGuiHelper::replaceTexture(int shapeIndex, int textureUid) m_data->m_glApp->m_renderer->replaceTexture(shapeIndex, textureUid); }; } +void OpenGLGuiHelper::changeInstanceFlags(int instanceUid, int flags) +{ + if (instanceUid >= 0) + { + //careful, flags/instanceUid is swapped + m_data->m_glApp->m_renderer->writeSingleInstanceFlagsToCPU( flags, instanceUid); + } +} void OpenGLGuiHelper::changeRGBAColor(int instanceUid, const double rgbaColor[4]) { if (instanceUid >= 0) diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.h b/examples/ExampleBrowser/OpenGLGuiHelper.h index e4a43b4be..bdaa22772 100644 --- a/examples/ExampleBrowser/OpenGLGuiHelper.h +++ b/examples/ExampleBrowser/OpenGLGuiHelper.h @@ -27,6 +27,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling); virtual void removeAllGraphicsInstances(); virtual void removeGraphicsInstance(int graphicsUid); + virtual void changeInstanceFlags(int instanceUid, int flags); virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]); virtual void changeSpecularColor(int instanceUid, const double specularColor[3]); virtual void changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height); From dc26d2e3602e24c69dc926c674ad89b866f80ec3 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 14 Nov 2019 17:07:08 -0800 Subject: [PATCH 284/389] PyBullet: fix memory leak in changeTexture command Fixes #2481 --- examples/pybullet/pybullet.c | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 356ecfa5c..2627ecc4c 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -1,4 +1,5 @@ -//#include "D:/develop/visual_leak_detector/include/vld.h" +//#include "D:/dev/visual leak detector/include/vld.h" + #include "../SharedMemory/PhysicsClientC_API.h" #include "../SharedMemory/PhysicsDirectC_API.h" #include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h" @@ -7259,6 +7260,7 @@ static PyObject* pybullet_changeTexture(PyObject* self, PyObject* args, PyObject } } + Py_DECREF(seqPixels); commandHandle = b3CreateChangeTextureCommandInit(sm, textureUniqueId, width, height, (const char*)pixelBuffer); free(pixelBuffer); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); From 655981c6add5e2d795e57bd572a3310cbb00485f Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 14 Nov 2019 21:20:42 -0800 Subject: [PATCH 285/389] fix load_soft_body.py example. add optional flags in pybullet.resetSimulation. fix compile issue due to SKIP_DEFORMABLE_WORLD fix issue in .obj importer (todo: replace with tiny_obj_loader) todo: replace std::ifstream fs; by fileIO usage. --- examples/SharedMemory/PhysicsClientC_API.cpp | 13 + examples/SharedMemory/PhysicsClientC_API.h | 1 + .../PhysicsServerCommandProcessor.cpp | 393 +++++++++++++----- .../PhysicsServerCommandProcessor.h | 7 +- examples/SharedMemory/SharedMemoryPublic.h | 7 + examples/pybullet/examples/load_soft_body.py | 16 +- examples/pybullet/pybullet.c | 16 +- src/BulletSoftBody/btSoftBodyHelpers.cpp | 47 ++- 8 files changed, 349 insertions(+), 151 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 9677197ca..5a5d3ad95 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -923,6 +923,19 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand2(b3Shared return (b3SharedMemoryCommandHandle)command; } +B3_SHARED_API int b3InitResetSimulationSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; + b3Assert(command); + btAssert(command->m_type == CMD_RESET_SIMULATION); + if (command->m_type == CMD_RESET_SIMULATION) + { + command->m_updateFlags = flags; + } + return 0; +} + + B3_SHARED_API b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode) { return b3JointControlCommandInit2(physClient, 0, controlMode); diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 4e0e0eb63..49e5848f2 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -373,6 +373,7 @@ extern "C" B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient); B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand2(b3SharedMemoryCommandHandle commandHandle); + B3_SHARED_API int b3InitResetSimulationSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags); ///Load a robot from a URDF file. Status type will CMD_URDF_LOADING_COMPLETED. ///Access the robot from the unique body index, through b3GetStatusBodyIndex(statusHandle); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 96766b861..c2f73668d 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -92,6 +92,11 @@ #include "../TinyAudio/b3SoundEngine.h" #endif + +#ifdef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD +#define SKIP_DEFORMABLE_BODY 1 +#endif + #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD #include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h" #include "BulletSoftBody/btSoftBodySolvers.h" @@ -101,11 +106,17 @@ #include "BulletSoftBody/btDeformableBodySolver.h" #include "BulletSoftBody/btDeformableMultiBodyConstraintSolver.h" #include "../SoftDemo/BunnyMesh.h" -#else -#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h" -#endif +#endif//SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD + +#ifndef SKIP_DEFORMABLE_BODY +#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" +#include "BulletSoftBody/btDeformableBodySolver.h" +#include "BulletSoftBody/btDeformableMultiBodyConstraintSolver.h" +#endif//SKIP_DEFORMABLE_BODY + +#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h" + -#define SKIP_DEFORMABLE_BODY 1 int gInternalSimFlags = 0; bool gResetSimulation = 0; @@ -1619,26 +1630,24 @@ struct PhysicsServerCommandProcessorInternalData btHashedOverlappingPairCache* m_pairCache; btBroadphaseInterface* m_broadphase; btCollisionDispatcher* m_dispatcher; -#if defined(SKIP_DEFORMABLE_BODY) || defined(SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD) + btMultiBodyConstraintSolver* m_solver; -#else - btDeformableMultiBodyConstraintSolver* m_solver; -#endif btDefaultCollisionConfiguration* m_collisionConfiguration; -#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD -#ifndef SKIP_DEFORMABLE_BODY - btDeformableMultiBodyDynamicsWorld* m_dynamicsWorld; + +//#ifndef SKIP_DEFORMABLE_BODY + btDeformableBodySolver* m_deformablebodySolver; btAlignedObjectArray m_lf; -#else - btSoftMultiBodyDynamicsWorld* m_dynamicsWorld; - btSoftBodySolver* m_softbodySolver; -#endif -#else +//#else//SKIP_DEFORMABLE_BODY +//#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD + + +//#else//SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD btMultiBodyDynamicsWorld* m_dynamicsWorld; -#endif +//#endif//SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD +//#endif//SKIP_DEFORMABLE_BODY int m_constraintSolverType; SharedMemoryDebugDrawer* m_remoteDebugDrawer; @@ -1705,6 +1714,7 @@ struct PhysicsServerCommandProcessorInternalData m_solver(0), m_collisionConfiguration(0), m_dynamicsWorld(0), + m_deformablebodySolver(0), m_constraintSolverType(-1), m_remoteDebugDrawer(0), m_stateLoggersUniqueId(0), @@ -2592,7 +2602,27 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface } }; -void PhysicsServerCommandProcessor::createEmptyDynamicsWorld() +btDeformableMultiBodyDynamicsWorld* PhysicsServerCommandProcessor::getDeformableWorld() +{ + btDeformableMultiBodyDynamicsWorld* world = 0; + if (m_data->m_dynamicsWorld->getWorldType()== BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD) + { + world = (btDeformableMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld; + } + return world; +} + +btSoftMultiBodyDynamicsWorld* PhysicsServerCommandProcessor::getSoftWorld() +{ + btSoftMultiBodyDynamicsWorld* world = 0; + if (m_data->m_dynamicsWorld->getWorldType()== BT_SOFT_MULTIBODY_DYNAMICS_WORLD) + { + world = (btSoftMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld; + } + return world; +} + +void PhysicsServerCommandProcessor::createEmptyDynamicsWorld(int flags) { m_data->m_constraintSolverType = eConstraintSolverLCP_SI; ///collision configuration contains default setup for memory, collision setup @@ -2613,28 +2643,41 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld() m_data->m_pairCache->setOverlapFilterCallback(m_data->m_broadphaseCollisionFilterCallback); //int maxProxies = 32768; - //m_data->m_broadphase = new btSimpleBroadphase(maxProxies, m_data->m_pairCache); - btDbvtBroadphase* bv = new btDbvtBroadphase(m_data->m_pairCache); - bv->setVelocityPrediction(0); - m_data->m_broadphase = bv; - -#ifdef SKIP_DEFORMABLE_BODY - m_data->m_solver = new btMultiBodyConstraintSolver; -#endif - -#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD + if (flags&RESET_USE_SIMPLE_BROADPHASE) + { + m_data->m_broadphase = new btSimpleBroadphase(65536, m_data->m_pairCache); + } else + { + btDbvtBroadphase* bv = new btDbvtBroadphase(m_data->m_pairCache); + bv->setVelocityPrediction(0); + m_data->m_broadphase = bv; + } + + if (flags & RESET_USE_DEFORMABLE_WORLD) + { #ifndef SKIP_DEFORMABLE_BODY - m_data->m_deformablebodySolver = new btDeformableBodySolver(); - m_data->m_solver = new btDeformableMultiBodyConstraintSolver; - m_data->m_solver->setDeformableSolver(m_data->m_deformablebodySolver); - m_data->m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration, m_data->m_deformablebodySolver); -#else - m_data->m_dynamicsWorld = new btSoftMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration); -#endif -#else - m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration); + m_data->m_deformablebodySolver = new btDeformableBodySolver(); + btDeformableMultiBodyConstraintSolver* solver = new btDeformableMultiBodyConstraintSolver; + m_data->m_solver = solver; + solver->setDeformableSolver(m_data->m_deformablebodySolver); + m_data->m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, solver, m_data->m_collisionConfiguration, m_data->m_deformablebodySolver); #endif + } + if ((0==m_data->m_dynamicsWorld) && (0==(flags&RESET_USE_DISCRETE_DYNAMICS_WORLD))) + { +#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD + m_data->m_solver = new btMultiBodyConstraintSolver; + m_data->m_dynamicsWorld = new btSoftMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration); +#endif + } + + if (0==m_data->m_dynamicsWorld) + { + m_data->m_solver = new btMultiBodyConstraintSolver; + m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration); + } + //Workaround: in a VR application, where we avoid synchronizing between GFX/Physics threads, we don't want to resize this array, so pre-allocate it m_data->m_dynamicsWorld->getCollisionObjectArray().reserve(128 * 1024); @@ -2800,13 +2843,35 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld() m_data->m_lf.clear(); #endif #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; + btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld(); + if (softWorld) + { + for (i =softWorld->getSoftBodyArray().size() - 1; i >= 0; i--) + { + btSoftBody* sb =softWorld->getSoftBodyArray()[i]; + softWorld->removeSoftBody(sb); + delete sb; + } + } + } +#endif//SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD + +#ifndef SKIP_DEFORMABLE_BODY + { + btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); + if (deformWorld) + { + for (i =deformWorld->getSoftBodyArray().size() - 1; i >= 0; i--) + { + btSoftBody* sb =deformWorld->getSoftBodyArray()[i]; + deformWorld->removeSoftBody(sb); + delete sb; + } + } } #endif + } for (int i = 0; i < constraints.size(); i++) @@ -8019,12 +8084,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024); } - // add _sim.vtk postfix - char relativeSimFileName[1024]; - char sim_file_ending[9] = "_sim.vtk"; - strncpy(relativeSimFileName, relativeFileName, strlen(relativeFileName)); - strncpy(relativeSimFileName + strlen(relativeFileName)-4, sim_file_ending, sizeof(sim_file_ending)); - + const std::string& error_message_prefix = ""; std::string out_found_filename; std::string out_found_sim_filename; @@ -8035,7 +8095,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type); if (out_type == UrdfGeometry::FILE_OBJ) { - bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeSimFileName, error_message_prefix, &out_found_sim_filename, &out_sim_type); + foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_sim_filename, &out_sim_type); render_mesh_is_sim_mesh = !foundFile; } @@ -8066,59 +8126,83 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar int numTris = shape.mesh.indices.size() / 3; if (numTris > 0) { - psb = btSoftBodyHelpers::CreateFromTriMesh(m_data->m_dynamicsWorld->getWorldInfo(), &vertices[0], &indices[0], numTris); + { + btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld(); + if (softWorld) + { + psb = btSoftBodyHelpers::CreateFromTriMesh(softWorld->getWorldInfo(), &vertices[0], &indices[0], numTris); + } + } + { + btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); + if (deformWorld) + { + psb = btSoftBodyHelpers::CreateFromTriMesh(deformWorld->getWorldInfo(), &vertices[0], &indices[0], numTris); + } + } } } #ifndef SKIP_DEFORMABLE_BODY btScalar spring_elastic_stiffness, spring_damping_stiffness; if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE) { - spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; - spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; - btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false); - m_data->m_dynamicsWorld->addForce(psb, springForce); - m_data->m_lf.push_back(springForce); + btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); + if (deformWorld) + { + spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; + spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; + btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false); + deformWorld->addForce(psb, springForce); + m_data->m_lf.push_back(springForce); + } } #endif } else if (out_sim_type == UrdfGeometry::FILE_VTK) { #ifndef SKIP_DEFORMABLE_BODY - psb = btSoftBodyHelpers::CreateFromVtkFile(m_data->m_dynamicsWorld->getWorldInfo(), out_found_sim_filename.c_str()); - btScalar corotated_mu, corotated_lambda; - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE) - { - corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu; - corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda; - btDeformableLagrangianForce* corotatedForce = new btDeformableCorotatedForce(corotated_mu, corotated_lambda); - m_data->m_dynamicsWorld->addForce(psb, corotatedForce); - m_data->m_lf.push_back(corotatedForce); - } - btScalar neohookean_mu, neohookean_lambda, neohookean_damping; - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE) - { - neohookean_mu = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanMu; - neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda; - neohookean_damping = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanDamping; - btDeformableLagrangianForce* neohookeanForce = new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda, neohookean_damping); - m_data->m_dynamicsWorld->addForce(psb, neohookeanForce); - m_data->m_lf.push_back(neohookeanForce); - } - btScalar spring_elastic_stiffness, spring_damping_stiffness; - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE) - { - spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; - spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; - btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true); - m_data->m_dynamicsWorld->addForce(psb, springForce); - m_data->m_lf.push_back(springForce); - } + btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); + if (deformWorld) + { + psb = btSoftBodyHelpers::CreateFromVtkFile(deformWorld->getWorldInfo(), out_found_sim_filename.c_str()); + btScalar corotated_mu, corotated_lambda; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE) + { + corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu; + corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda; + btDeformableLagrangianForce* corotatedForce = new btDeformableCorotatedForce(corotated_mu, corotated_lambda); + deformWorld->addForce(psb, corotatedForce); + m_data->m_lf.push_back(corotatedForce); + } + btScalar neohookean_mu, neohookean_lambda, neohookean_damping; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE) + { + neohookean_mu = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanMu; + neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda; + neohookean_damping = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanDamping; + btDeformableLagrangianForce* neohookeanForce = new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda, neohookean_damping); + deformWorld->addForce(psb, neohookeanForce); + m_data->m_lf.push_back(neohookeanForce); + } + btScalar spring_elastic_stiffness, spring_damping_stiffness; + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE) + { + spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; + spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; + btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true); + deformWorld->addForce(psb, springForce); + m_data->m_lf.push_back(springForce); + } + } #endif } if (psb != NULL) { #ifndef SKIP_DEFORMABLE_BODY + btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); + if (deformWorld) + { if (!render_mesh_is_sim_mesh) { // load render mesh @@ -8133,7 +8217,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar psb->setCollisionQuadrature(5); btVector3 gravity = m_data->m_dynamicsWorld->getGravity(); btDeformableLagrangianForce* gravityForce = new btDeformableGravityForce(gravity); - m_data->m_dynamicsWorld->addForce(psb, gravityForce); + deformWorld->addForce(psb, gravityForce); m_data->m_lf.push_back(gravityForce); btScalar collision_hardness = 1; psb->m_cfg.kKHR = collision_hardness; @@ -8171,25 +8255,44 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar use_self_collision = loadSoftBodyArgs.m_useSelfCollision; } psb->setSelfCollision(use_self_collision); -#else - 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; - //turn on softbody vs softbody collision - psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS; - psb->randomizeConstraints(); - psb->setTotalMass(mass, true); -#endif + } +#endif//SKIP_DEFORMABLE_BODY +#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD + + btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld(); + if (softWorld) + { + 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; + //turn on softbody vs softbody collision + psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS; + psb->randomizeConstraints(); + psb->setTotalMass(mass, true); + } +#endif //SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD psb->scale(btVector3(scale, scale, scale)); psb->rotate(initialOrn); psb->translate(initialPos); psb->getCollisionShape()->setMargin(collisionMargin); psb->getCollisionShape()->setUserPointer(psb); - m_data->m_dynamicsWorld->addSoftBody(psb); +#ifndef SKIP_DEFORMABLE_BODY + if (deformWorld) + { + deformWorld->addSoftBody(psb); + } else +#endif//SKIP_DEFORMABLE_BODY + { + btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld(); + if (softWorld) + { + softWorld->addSoftBody(psb); + } + } m_data->m_guiHelper->createCollisionShapeGraphicsObject(psb->getCollisionShape()); m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld); int bodyUniqueId = m_data->m_bodyHandles.allocHandle(); @@ -9190,7 +9293,17 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st clientCmd.m_physSimParamArgs.m_gravityAcceleration[2]); this->m_data->m_dynamicsWorld->setGravity(grav); #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD - m_data->m_dynamicsWorld->getWorldInfo().m_gravity = grav; + btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld(); + if (softWorld) + { + softWorld->getWorldInfo().m_gravity = grav; + } + btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); + if (deformWorld) + { + deformWorld->getWorldInfo().m_gravity = grav; + } + #endif if (m_data->m_verboseOutput) @@ -9549,7 +9662,8 @@ bool PhysicsServerCommandProcessor::processResetSimulationCommand(const struct S bool hasStatus = true; BT_PROFILE("CMD_RESET_SIMULATION"); m_data->m_guiHelper->setVisualizerFlag(COV_ENABLE_SYNC_RENDERING_INTERNAL, 0); - resetSimulation(); + + resetSimulation(clientCmd.m_updateFlags); m_data->m_guiHelper->setVisualizerFlag(COV_ENABLE_SYNC_RENDERING_INTERNAL, 1); SharedMemoryStatus& serverCmd = serverStatusOut; @@ -10416,7 +10530,17 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared m_data->m_pluginManager.getRenderInterface()->removeVisualShape(psb->getBroadphaseHandle()->getUid()); } serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId; - m_data->m_dynamicsWorld->removeSoftBody(psb); + btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld(); + if (softWorld) + { + softWorld->removeSoftBody(psb); + } + btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); + if (deformWorld) + { + deformWorld->removeSoftBody(psb); + } + int graphicsInstance = psb->getUserIndex2(); m_data->m_guiHelper->removeGraphicsInstance(graphicsInstance); delete psb; @@ -12846,18 +12970,22 @@ void PhysicsServerCommandProcessor::renderScene(int renderFlags) #ifndef SKIP_DEFORMABLE_BODY if (m_data->m_dynamicsWorld) { - if (m_data->m_dynamicsWorld->getSoftBodyArray().size()) + btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); + if (deformWorld) { - for (int i = 0; i < m_data->m_dynamicsWorld->getSoftBodyArray().size(); i++) + if (deformWorld->getSoftBodyArray().size()) { - btSoftBody* psb = (btSoftBody*)m_data->m_dynamicsWorld->getSoftBodyArray()[i]; + for (int i = 0; i < deformWorld->getSoftBodyArray().size(); i++) { - btSoftBodyHelpers::DrawFrame(psb, m_data->m_dynamicsWorld->getDebugDrawer()); - btSoftBodyHelpers::Draw(psb, m_data->m_dynamicsWorld->getDebugDrawer(), m_data->m_dynamicsWorld->getDrawFlags()); + 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(); } - m_data->m_guiHelper->drawDebugDrawerLines(); - m_data->m_guiHelper->clearLines(); } } #endif @@ -12875,15 +13003,36 @@ void PhysicsServerCommandProcessor::physicsDebugDraw(int debugDrawFlags) m_data->m_dynamicsWorld->debugDrawWorld(); #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]; - if (m_data->m_dynamicsWorld->getDebugDrawer() && !(m_data->m_dynamicsWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe))) + btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); + if (deformWorld) + { + for (int i = 0; i < deformWorld->getSoftBodyArray().size(); i++) { - //btSoftBodyHelpers::DrawFrame(psb,m_data->m_dynamicsWorld->getDebugDrawer()); - btSoftBodyHelpers::Draw(psb, m_data->m_dynamicsWorld->getDebugDrawer(), m_data->m_dynamicsWorld->getDrawFlags()); + btSoftBody* psb = (btSoftBody*)deformWorld->getSoftBodyArray()[i]; + if (m_data->m_dynamicsWorld->getDebugDrawer() && !(m_data->m_dynamicsWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe))) + { + //btSoftBodyHelpers::DrawFrame(psb,m_data->m_dynamicsWorld->getDebugDrawer()); + btSoftBodyHelpers::Draw(psb, m_data->m_dynamicsWorld->getDebugDrawer(),deformWorld->getDrawFlags()); + } } } + } + { + btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld(); + if (softWorld) + { + for (int i = 0; i < softWorld->getSoftBodyArray().size(); i++) + { + btSoftBody* psb = (btSoftBody*)softWorld->getSoftBodyArray()[i]; + if (m_data->m_dynamicsWorld->getDebugDrawer() && !(m_data->m_dynamicsWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe))) + { + //btSoftBodyHelpers::DrawFrame(psb,m_data->m_dynamicsWorld->getDebugDrawer()); + btSoftBodyHelpers::Draw(psb, m_data->m_dynamicsWorld->getDebugDrawer(),softWorld->getDrawFlags()); + } + } + } + } #endif } } @@ -13272,7 +13421,7 @@ void PhysicsServerCommandProcessor::addBodyChangedNotifications() } } -void PhysicsServerCommandProcessor::resetSimulation() +void PhysicsServerCommandProcessor::resetSimulation(int flags) { //clean up all data m_data->m_remoteSyncTransformTime = m_data->m_remoteSyncTransformInterval; @@ -13283,7 +13432,21 @@ void PhysicsServerCommandProcessor::resetSimulation() #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD if (m_data && m_data->m_dynamicsWorld) { - m_data->m_dynamicsWorld->getWorldInfo().m_sparsesdf.Reset(); + { + btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); + if (deformWorld) + { + deformWorld ->getWorldInfo().m_sparsesdf.Reset(); + } + } + { + btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld(); + if (softWorld) + { + softWorld->getWorldInfo().m_sparsesdf.Reset(); + } + } + } #endif if (m_data && m_data->m_guiHelper) @@ -13314,7 +13477,7 @@ void PhysicsServerCommandProcessor::resetSimulation() removePickingConstraint(); deleteDynamicsWorld(); - createEmptyDynamicsWorld(); + createEmptyDynamicsWorld(flags); m_data->m_bodyHandles.exitHandles(); m_data->m_bodyHandles.initHandles(); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.h b/examples/SharedMemory/PhysicsServerCommandProcessor.h index d36b1a713..78bc9da83 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.h +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.h @@ -17,9 +17,12 @@ class PhysicsServerCommandProcessor : public CommandProcessorInterface { struct PhysicsServerCommandProcessorInternalData* m_data; - void resetSimulation(); + void resetSimulation(int flags=0); void createThreadPool(); + class btDeformableMultiBodyDynamicsWorld* getDeformableWorld(); + class btSoftMultiBodyDynamicsWorld* getSoftWorld(); + protected: bool processStateLoggingCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes); bool processRequestCameraImageCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes); @@ -114,7 +117,7 @@ public: void createJointMotors(class btMultiBody* body); - virtual void createEmptyDynamicsWorld(); + virtual void createEmptyDynamicsWorld(int flags=0); virtual void deleteDynamicsWorld(); virtual bool connect() diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index 3db75d397..2e3d9ae26 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -563,6 +563,13 @@ enum b3NotificationType SOFTBODY_CHANGED = 9, }; +enum b3ResetSimulationFlags +{ + RESET_USE_DEFORMABLE_WORLD=1, + RESET_USE_DISCRETE_DYNAMICS_WORLD=2, + RESET_USE_SIMPLE_BROADPHASE=4, +}; + struct b3BodyNotificationArgs { int m_bodyUniqueId; diff --git a/examples/pybullet/examples/load_soft_body.py b/examples/pybullet/examples/load_soft_body.py index 1d1052c88..3c55ca2e6 100644 --- a/examples/pybullet/examples/load_soft_body.py +++ b/examples/pybullet/examples/load_soft_body.py @@ -1,24 +1,24 @@ import pybullet as p from time import sleep -physicsClient = p.connect(p.DIRECT) - +physicsClient = p.connect(p.GUI) p.setGravity(0, 0, -10) -planeId = p.loadURDF("plane.urdf") -boxId = p.loadURDF("cube.urdf", useMaximalCoordinates = True) -bunnyId = p.loadSoftBody("bunny.obj") +planeId = p.loadURDF("plane.urdf", [0,0,-2]) +boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True) +bunnyId = p.loadSoftBody("bunny.obj")#.obj")#.vtk") + #meshData = p.getMeshData(bunnyId) #print("meshData=",meshData) -p.loadURDF("cube_small.urdf", [1, 0, 1]) +#p.loadURDF("cube_small.urdf", [1, 0, 1]) useRealTimeSimulation = 1 if (useRealTimeSimulation): p.setRealTimeSimulation(1) print(p.getDynamicsInfo(planeId, -1)) -print(p.getDynamicsInfo(bunnyId, 0)) +#print(p.getDynamicsInfo(bunnyId, 0)) print(p.getDynamicsInfo(boxId, -1)) - +p.changeDynamics(boxId,-1,mass=10) while p.isConnected(): p.setGravity(0, 0, -10) if (useRealTimeSimulation): diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 2627ecc4c..6e673bc1b 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -2050,10 +2050,11 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject* static PyObject* pybullet_resetSimulation(PyObject* self, PyObject* args, PyObject* keywds) { int physicsClientId = 0; - static char* kwlist[] = {"physicsClientId", NULL}; + int flags = 0; + static char* kwlist[] = {"flags", "physicsClientId", NULL}; b3PhysicsClientHandle sm = 0; - if (!PyArg_ParseTupleAndKeywords(args, keywds, "|i", kwlist, &physicsClientId)) + if (!PyArg_ParseTupleAndKeywords(args, keywds, "|ii", kwlist, &flags, &physicsClientId)) { return NULL; } @@ -2065,9 +2066,12 @@ static PyObject* pybullet_resetSimulation(PyObject* self, PyObject* args, PyObje } { + b3SharedMemoryCommandHandle commandHandle; b3SharedMemoryStatusHandle statusHandle; + commandHandle = b3InitResetSimulationCommand(sm); + b3InitResetSimulationSetFlags(commandHandle, flags); statusHandle = b3SubmitClientCommandAndWaitStatus( - sm, b3InitResetSimulationCommand(sm)); + sm, commandHandle); } Py_INCREF(Py_None); return Py_None; @@ -11721,7 +11725,7 @@ static PyMethodDef SpamMethods[] = { {"resetSimulation", (PyCFunction)pybullet_resetSimulation, METH_VARARGS | METH_KEYWORDS, "resetSimulation(physicsClientId=0)\n" "Reset the simulation: remove all objects and start from an empty world."}, - + {"stepSimulation", (PyCFunction)pybullet_stepSimulation, METH_VARARGS | METH_KEYWORDS, "stepSimulation(physicsClientId=0)\n" "Step the simulation using forward dynamics."}, @@ -12376,6 +12380,10 @@ initpybullet(void) //PyModule_AddIntConstant(m, "CONSTRAINT_SOLVER_LCP_NNCF",eConstraintSolverLCP_NNCG); //PyModule_AddIntConstant(m, "CONSTRAINT_SOLVER_LCP_BLOCK",eConstraintSolverLCP_BLOCK_PGS); + PyModule_AddIntConstant(m, "RESET_USE_DEFORMABLE_WORLD", RESET_USE_DEFORMABLE_WORLD); + PyModule_AddIntConstant(m, "RESET_USE_DISCRETE_DYNAMICS_WORLD", RESET_USE_DISCRETE_DYNAMICS_WORLD); + PyModule_AddIntConstant(m, "RESET_USE_SIMPLE_BROADPHASE", RESET_USE_SIMPLE_BROADPHASE); + PyModule_AddIntConstant(m, "VR_BUTTON_IS_DOWN", eButtonIsDown); PyModule_AddIntConstant(m, "VR_BUTTON_WAS_TRIGGERED", eButtonTriggered); PyModule_AddIntConstant(m, "VR_BUTTON_WAS_RELEASED", eButtonReleased); diff --git a/src/BulletSoftBody/btSoftBodyHelpers.cpp b/src/BulletSoftBody/btSoftBodyHelpers.cpp index 3aafe23d2..c9e4af382 100644 --- a/src/BulletSoftBody/btSoftBodyHelpers.cpp +++ b/src/BulletSoftBody/btSoftBodyHelpers.cpp @@ -1509,28 +1509,31 @@ void btSoftBodyHelpers::readRenderMeshFromObj(const char* file, btSoftBody* psb) while (std::getline(fs, line)) { std::stringstream ss(line); - if (line[0] == 'v' && line[1] != 't' && line[1] != 'n') - { - ss.ignore(); - for (size_t i = 0; i < 3; i++) - ss >> pos[i]; - btSoftBody::Node n; - n.m_x = pos; - psb->m_renderNodes.push_back(n); - } - else if (line[0] == 'f') - { - ss.ignore(); - int id0, id1, id2; - ss >> id0; - ss >> id1; - ss >> id2; - btSoftBody::Face f; - f.m_n[0] = &psb->m_renderNodes[id0-1]; - f.m_n[1] = &psb->m_renderNodes[id1-1]; - f.m_n[2] = &psb->m_renderNodes[id2-1]; - psb->m_renderFaces.push_back(f); - } + if (line.length()>1) + { + if (line[0] == 'v' && line[1] != 't' && line[1] != 'n') + { + ss.ignore(); + for (size_t i = 0; i < 3; i++) + ss >> pos[i]; + btSoftBody::Node n; + n.m_x = pos; + psb->m_renderNodes.push_back(n); + } + else if (line[0] == 'f') + { + ss.ignore(); + int id0, id1, id2; + ss >> id0; + ss >> id1; + ss >> id2; + btSoftBody::Face f; + f.m_n[0] = &psb->m_renderNodes[id0-1]; + f.m_n[1] = &psb->m_renderNodes[id1-1]; + f.m_n[2] = &psb->m_renderNodes[id2-1]; + psb->m_renderFaces.push_back(f); + } + } } fs.close(); } From 22fb2cfb5e9b1a8c011be46bc3d0f643e8ccbdfe Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 15 Nov 2019 21:25:11 -0800 Subject: [PATCH 286/389] add python binding to allow loading deformable objects --- examples/SharedMemory/PhysicsClientC_API.cpp | 13 ++++++++-- examples/SharedMemory/PhysicsClientC_API.h | 3 ++- .../PhysicsServerCommandProcessor.cpp | 3 +-- examples/SharedMemory/SharedMemoryCommands.h | 6 +++-- .../pybullet/examples/deformable_torus.py | 17 ++++++++++++ examples/pybullet/pybullet.c | 26 +++++++++++++++++-- 6 files changed, 59 insertions(+), 9 deletions(-) create mode 100644 examples/pybullet/examples/deformable_torus.py diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 5a5d3ad95..0f6f255fb 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -386,12 +386,12 @@ B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle return 0; } -B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision) +B3_SHARED_API int b3LoadSoftBodyUseSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command->m_type == CMD_LOAD_SOFT_BODY); command->m_loadSoftBodyArguments.m_useSelfCollision = useSelfCollision; - command->m_updateFlags |= LOAD_SOFT_BODY_SET_SELF_COLLISION; + command->m_updateFlags |= LOAD_SOFT_BODY_USE_SELF_COLLISION; return 0; } @@ -413,6 +413,15 @@ B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle co return 0; } +B3_SHARED_API int b3LoadSoftBodyUseFaceContact(b3SharedMemoryCommandHandle commandHandle, int useFaceContact) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; + b3Assert(command->m_type == CMD_LOAD_SOFT_BODY); + command->m_loadSoftBodyArguments.m_useFaceContact = useFaceContact; + command->m_updateFlags |= LOAD_SOFT_BODY_USE_FACE_CONTACT; + return 0; +} + B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName) { PhysicsClient* cl = (PhysicsClient*)physClient; diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 49e5848f2..d2037d02e 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -638,7 +638,8 @@ extern "C" B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness); B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ); B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness); - B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision); + B3_SHARED_API int b3LoadSoftBodyUseSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision); + B3_SHARED_API int b3LoadSoftBodyUseFaceContact(b3SharedMemoryCommandHandle commandHandle, int useFaceContact); B3_SHARED_API int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle commandHandle, double frictionCoefficient); B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle commandHandle, int useBendingSprings); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index c2f73668d..2d2a326fa 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -8250,7 +8250,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar psb->setCollisionFlags(0); psb->setTotalMass(mass); bool use_self_collision = false; - if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_SELF_COLLISION) + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_USE_SELF_COLLISION) { use_self_collision = loadSoftBodyArgs.m_useSelfCollision; } @@ -13446,7 +13446,6 @@ void PhysicsServerCommandProcessor::resetSimulation(int flags) softWorld->getWorldInfo().m_sparsesdf.Reset(); } } - } #endif if (m_data && m_data->m_guiHelper) diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 610bfe275..4d4324013 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -502,7 +502,8 @@ enum EnumLoadSoftBodyUpdateFlags LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT = 1<<10, LOAD_SOFT_BODY_ADD_BENDING_SPRINGS = 1<<11, LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE = 1<<12, - LOAD_SOFT_BODY_SET_SELF_COLLISION = 1<<13, + LOAD_SOFT_BODY_USE_SELF_COLLISION = 1<<13, + LOAD_SOFT_BODY_USE_FACE_CONTACT = 1<<14, }; enum EnumSimParamInternalSimFlags @@ -525,13 +526,14 @@ struct LoadSoftBodyArgs double m_springDampingStiffness; double m_corotatedMu; double m_corotatedLambda; - bool m_useBendingSprings; + int m_useBendingSprings; double m_collisionHardness; double m_useSelfCollision; double m_frictionCoeff; double m_NeoHookeanMu; double m_NeoHookeanLambda; double m_NeoHookeanDamping; + int m_useFaceContact; }; struct b3LoadSoftBodyResultArgs diff --git a/examples/pybullet/examples/deformable_torus.py b/examples/pybullet/examples/deformable_torus.py new file mode 100644 index 000000000..8bebe38ab --- /dev/null +++ b/examples/pybullet/examples/deformable_torus.py @@ -0,0 +1,17 @@ +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) + +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.setGravity(0, 0, -10) +while p.isConnected(): + p.stepSimulation() diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 6e673bc1b..0b1ef28cf 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -1963,13 +1963,25 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject* int physicsClientId = 0; int flags = 0; - static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "scale", "mass", "collisionMargin", "physicsClientId", NULL}; + static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "scale", "mass", "collisionMargin", "physicsClientId", "useMassSpring", "useBendingSprings", "useNeoHookean", "springElasticStiffness", "springDampingStiffness", "NeoHookeanMu", "NeoHookeanLambda", "NeoHookeanDamping", "frictionCoeff", "useFaceContact", "useSelfCollision", NULL}; int bodyUniqueId = -1; const char* fileName = ""; double scale = -1; double mass = -1; double collisionMargin = -1; + int useMassSpring = 0; + int useBendingSprings = 0; + int useNeoHookean = 0; + double springElasticStiffness = 1; + double springDampingStiffness = 0.1; + double NeoHookeanMu = 1; + double NeoHookeanLambda = 1; + double NeoHookeanDamping = 0.1; + double frictionCoeff = 0; + int useFaceContact = 0; + int useSelfCollision = 0; + b3PhysicsClientHandle sm = 0; @@ -1980,7 +1992,7 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject* PyObject* basePosObj = 0; PyObject* baseOrnObj = 0; - if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOdddi", kwlist, &fileName, &basePosObj, &baseOrnObj, &scale, &mass, &collisionMargin, &physicsClientId)) + if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOdddiiiiddddddii", kwlist, &fileName, &basePosObj, &baseOrnObj, &scale, &mass, &collisionMargin, &physicsClientId, &useMassSpring, &useBendingSprings, &useNeoHookean, &springElasticStiffness, &springDampingStiffness, &NeoHookeanMu, &NeoHookeanLambda, &NeoHookeanDamping, &frictionCoeff, &useFaceContact, &useSelfCollision)) { return NULL; } @@ -2033,6 +2045,16 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject* { b3LoadSoftBodySetCollisionMargin(command, collisionMargin); } + if (useMassSpring) + { + b3LoadSoftBodyAddMassSpringForce(command, springElasticStiffness, springDampingStiffness); + b3LoadSoftBodyUseBendingSprings(command, useBendingSprings); + } + if (useNeoHookean) + { + b3LoadSoftBodyAddNeoHookeanForce(command, NeoHookeanMu, NeoHookeanLambda, NeoHookeanDamping); + } + b3LoadSoftBodySetFrictionCoefficient(command, frictionCoeff); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); statusType = b3GetStatusType(statusHandle); if (statusType != CMD_LOAD_SOFT_BODY_COMPLETED) From 6268911a433ea6f1af17513921ef2f9c6c07effd Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 15 Nov 2019 22:38:47 -0800 Subject: [PATCH 287/389] enable real time simulation --- examples/pybullet/examples/deformable_torus.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/examples/pybullet/examples/deformable_torus.py b/examples/pybullet/examples/deformable_torus.py index 8bebe38ab..ee5c78772 100644 --- a/examples/pybullet/examples/deformable_torus.py +++ b/examples/pybullet/examples/deformable_torus.py @@ -12,6 +12,8 @@ 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.setGravity(0, 0, -10) +p.setRealTimeSimulation(1) + while p.isConnected(): - p.stepSimulation() + p.setGravity(0,0,-10) + sleep(1./240.) 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zR)-bR@JGYj3Y?S8YHU#fxVK5m?H#=#%|h#ud)Jhs;>#7ObrwdkJ1R#3uv9d4K^gH~ zp+b_Xz*SMvdJ}Xt@lG9#s@qFK!-4JnXj!?B-okmouXKj{FZ~HQM<7UOQKJtqWDWra zSm+WTG3gKkii4NuzX~33A{^m25IgHvW*PCXx&quLTs)jS?7S>yTx^`Y<|dzm*Ua3M z*MyVJ*p!EzTj>Aoq5nU5%qdE8SjL#cSNs{9RUSt(&BvnA4wK`d6fO&*$>R0uk)lC~ zKoAyuZ9g_?5UfZNmP`pUFF1KhpU2@uC-YP*%$Sa3t9Se^aQV7EI+KM&RWHT|DZXF-5ye%& zR|DFoFrq2mHKaVW8ilunm~cZQm=C5#TTu77uG{hSt^hPiP}#0RrJ+hhx#s?RTF26Y z_dVEZ%6uwnzSht0)W{_``7ksg_J|^-R8a40fI(Bm=>67$Yjy5!u+Ovosj3#!%-*Z^ zuKa1Qh0W%o7l+;6U1=+4V|PU9W%}-lg=W>7(mP&bb};`WazyNh;b!~E6mX)n6_oAr z&c|!Fbrr#jWvA@~{^-TPop55B64R9zFdh%vD&_}jG_j#Vj zHped**VCU<*!;>|tMc!6i^k;Gg`x|FW0>hR@4t&i@x$M@x5QDgwK1wyxQ4nSaQf3)fsibq6~%H>v~j Lp}>%+gjoLz;eJSp From e5ed15c3b2ec47ccb1dadb4b9eefe5b4361942f2 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 18 Nov 2019 10:22:56 -0800 Subject: [PATCH 289/389] fix memory issues in btSparseSDF.h (hash function on structure with uninitialized padding, and Reset not called in destructor) expose sparseSdfVoxelSize in PyBullet.setPhysicsEngineParameter don't call deformable wireframe drawing in the wrong thread/place (it can cause crashes) --- examples/SharedMemory/PhysicsClientC_API.cpp | 9 ++++ examples/SharedMemory/PhysicsClientC_API.h | 3 +- .../PhysicsServerCommandProcessor.cpp | 48 +++++++++---------- examples/SharedMemory/SharedMemoryCommands.h | 1 + examples/SharedMemory/SharedMemoryPublic.h | 5 +- examples/pybullet/examples/deformable_ball.py | 27 +++++++++++ .../pybullet/examples/deformable_torus.py | 1 + examples/pybullet/pybullet.c | 10 +++- .../btDeformableMultiBodyDynamicsWorld.cpp | 4 +- src/BulletSoftBody/btSparseSDF.h | 9 +++- 10 files changed, 85 insertions(+), 32 deletions(-) create mode 100644 examples/pybullet/examples/deformable_ball.py diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 0f6f255fb..0284d1d1b 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -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; diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index d2037d02e..ff59cef46 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -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); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 2d2a326fa..f5d5673ab 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -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; } @@ -9437,6 +9437,26 @@ 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; @@ -12966,30 +12986,6 @@ 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 } } diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 4d4324013..ec79d77c5 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -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, }; diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index 2e3d9ae26..feed391a8 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -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; }; diff --git a/examples/pybullet/examples/deformable_ball.py b/examples/pybullet/examples/deformable_ball.py new file mode 100644 index 000000000..8803e2fb2 --- /dev/null +++ b/examples/pybullet/examples/deformable_ball.py @@ -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) \ No newline at end of file diff --git a/examples/pybullet/examples/deformable_torus.py b/examples/pybullet/examples/deformable_torus.py index ee5c78772..ff02237d6 100644 --- a/examples/pybullet/examples/deformable_torus.py +++ b/examples/pybullet/examples/deformable_torus.py @@ -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(): diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 0b1ef28cf..260f6db68 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -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); } diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index f16786e16..25ee65450 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -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) diff --git a/src/BulletSoftBody/btSparseSDF.h b/src/BulletSoftBody/btSparseSDF.h index 8258c3eeb..37e657d62 100644 --- a/src/BulletSoftBody/btSparseSDF.h +++ b/src/BulletSoftBody/btSparseSDF.h @@ -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; From f5400b40d25b3f3fe97d422c81def6ef9c3f0fdb Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 18 Nov 2019 14:47:57 -0800 Subject: [PATCH 290/389] Add faces to volumetric objects in deformable demos --- examples/DeformableDemo/Pinch.cpp | 1 + examples/DeformableDemo/VolumetricDeformable.cpp | 1 + 2 files changed, 2 insertions(+) diff --git a/examples/DeformableDemo/Pinch.cpp b/examples/DeformableDemo/Pinch.cpp index 7c966cc4d..ed811a417 100644 --- a/examples/DeformableDemo/Pinch.cpp +++ b/examples/DeformableDemo/Pinch.cpp @@ -314,6 +314,7 @@ void Pinch::initPhysics() psb->m_cfg.kDF = 2; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addSoftBody(psb); + btSoftBodyHelpers::generateBoundaryFaces(psb); btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(1,0.05); getDeformableDynamicsWorld()->addForce(psb, mass_spring); diff --git a/examples/DeformableDemo/VolumetricDeformable.cpp b/examples/DeformableDemo/VolumetricDeformable.cpp index 7eaf9aa37..1f23071d4 100644 --- a/examples/DeformableDemo/VolumetricDeformable.cpp +++ b/examples/DeformableDemo/VolumetricDeformable.cpp @@ -220,6 +220,7 @@ void VolumetricDeformable::initPhysics() psb->m_cfg.kCHR = 1; // collision hardness with rigid body psb->m_cfg.kDF = 0.5; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; + btSoftBodyHelpers::generateBoundaryFaces(psb); btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); getDeformableDynamicsWorld()->addForce(psb, gravity_force); From 6c34c91ca7226985a6a277d13453df48017859e4 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Sun, 17 Nov 2019 00:01:52 -0800 Subject: [PATCH 291/389] load render mesh from command --- examples/SharedMemory/PhysicsClientC_API.cpp | 18 +++++++ examples/SharedMemory/PhysicsClientC_API.h | 3 +- .../PhysicsServerCommandProcessor.cpp | 54 ++++++++++--------- examples/SharedMemory/SharedMemoryCommands.h | 2 + 4 files changed, 50 insertions(+), 27 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 0284d1d1b..651457385 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -338,6 +338,24 @@ B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle return 0; } +B3_SHARED_API int b3LoadSoftBodyAddRenderMesh(b3SharedMemoryCommandHandle commandHandle, const char* filename) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; + b3Assert(command->m_type == CMD_LOAD_SOFT_BODY); + int len = strlen(filename); + if (len < MAX_FILENAME_LENGTH) + { + strcpy(command->m_loadSoftBodyArguments.m_renderFileName, filename); + } + else + { + command->m_loadSoftBodyArguments.m_renderFileName[0] = 0; + } + command->m_updateFlags |= LOAD_SOFT_BODY_RENDER_MESH; + return 0; + +} + B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index ff59cef46..ee3f26119 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -375,7 +375,6 @@ extern "C" B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient); B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand2(b3SharedMemoryCommandHandle commandHandle); B3_SHARED_API int b3InitResetSimulationSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags); - ///Load a robot from a URDF file. Status type will CMD_URDF_LOADING_COMPLETED. ///Access the robot from the unique body index, through b3GetStatusBodyIndex(statusHandle); B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName); @@ -634,7 +633,9 @@ extern "C" B3_SHARED_API int b3LoadSoftBodySetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, double collisionMargin); B3_SHARED_API int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ); B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW); + B3_SHARED_API int b3LoadSoftBodyAddRenderMesh(b3SharedMemoryCommandHandle commandHandle, const char* filename); B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda); + B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda); B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda, double NeoHookeanDamping); B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness); B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index f5d5673ab..75d32524f 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -8087,29 +8087,14 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar const std::string& error_message_prefix = ""; std::string out_found_filename; - std::string out_found_sim_filename; - int out_type(0), out_sim_type(0); - - bool render_mesh_is_sim_mesh = true; + int out_type(0); bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type); if (out_type == UrdfGeometry::FILE_OBJ) - { - foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_sim_filename, &out_sim_type); - render_mesh_is_sim_mesh = !foundFile; - } - - if (render_mesh_is_sim_mesh) - { - out_sim_type = out_type; - out_found_sim_filename = out_found_filename; - } - - if (out_sim_type == UrdfGeometry::FILE_OBJ) { std::vector shapes; tinyobj::attrib_t attribute; - std::string err = tinyobj::LoadObj(attribute, shapes, out_found_sim_filename.c_str(), "", fileIO); + std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), "", fileIO); if (!shapes.empty()) { const tinyobj::shape_t& shape = shapes[0]; @@ -8158,13 +8143,13 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar } #endif } - else if (out_sim_type == UrdfGeometry::FILE_VTK) + else if (out_type == UrdfGeometry::FILE_VTK) { #ifndef SKIP_DEFORMABLE_BODY btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); if (deformWorld) { - psb = btSoftBodyHelpers::CreateFromVtkFile(deformWorld->getWorldInfo(), out_found_sim_filename.c_str()); + psb = btSoftBodyHelpers::CreateFromVtkFile(deformWorld->getWorldInfo(), out_found_filename.c_str()); btScalar corotated_mu, corotated_lambda; if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE) { @@ -8193,6 +8178,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar deformWorld->addForce(psb, springForce); m_data->m_lf.push_back(springForce); } + } #endif } @@ -8201,15 +8187,31 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar { #ifndef SKIP_DEFORMABLE_BODY btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); + bool foundRenderMesh = false; if (deformWorld) { - if (!render_mesh_is_sim_mesh) - { - // load render mesh - btSoftBodyHelpers::readRenderMeshFromObj(out_found_filename.c_str(), psb); - btSoftBodyHelpers::interpolateBarycentricWeights(psb); - } - else + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_RENDER_MESH) + { + int out_render_type(0); + std::string out_found_render_filename; + char relativeRenderFileName[1024]; + char pathRenderPrefix[1024]; + pathRenderPrefix[0] = 0; + if (fileIO->findResourcePath(loadSoftBodyArgs.m_renderFileName, relativeRenderFileName, 1024)) + { + b3FileUtils::extractPath(relativeRenderFileName, pathRenderPrefix, 1024); + } + foundRenderMesh = UrdfFindMeshFile(fileIO, pathRenderPrefix, relativeRenderFileName, error_message_prefix, &out_found_render_filename, &out_render_type); + // load render mesh + if (foundRenderMesh) + { + btSoftBodyHelpers::readRenderMeshFromObj(out_found_render_filename.c_str(), psb); + btSoftBodyHelpers::interpolateBarycentricWeights(psb); + } + } + + + if (!foundRenderMesh) { psb->m_renderNodes.resize(0); } diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index ec79d77c5..935844f37 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -505,6 +505,7 @@ enum EnumLoadSoftBodyUpdateFlags LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE = 1<<12, LOAD_SOFT_BODY_USE_SELF_COLLISION = 1<<13, LOAD_SOFT_BODY_USE_FACE_CONTACT = 1<<14, + LOAD_SOFT_BODY_RENDER_MESH = 1<<15, }; enum EnumSimParamInternalSimFlags @@ -535,6 +536,7 @@ struct LoadSoftBodyArgs double m_NeoHookeanLambda; double m_NeoHookeanDamping; int m_useFaceContact; + char m_renderFileName[MAX_FILENAME_LENGTH]; }; struct b3LoadSoftBodyResultArgs From d42cf2d0ca96c09f73722ca5fdf2444f983adc9b Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 19 Nov 2019 12:20:33 -0800 Subject: [PATCH 292/389] enable compilation without deformables/soft bodies (for some unit tests in premake) --- .../SharedMemory/PhysicsServerCommandProcessor.cpp | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index c1aca27c7..6d83611bf 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -1636,18 +1636,14 @@ struct PhysicsServerCommandProcessorInternalData btDefaultCollisionConfiguration* m_collisionConfiguration; -//#ifndef SKIP_DEFORMABLE_BODY +#ifndef SKIP_DEFORMABLE_BODY btDeformableBodySolver* m_deformablebodySolver; btAlignedObjectArray m_lf; -//#else//SKIP_DEFORMABLE_BODY -//#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD +#endif -//#else//SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD btMultiBodyDynamicsWorld* m_dynamicsWorld; -//#endif//SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD -//#endif//SKIP_DEFORMABLE_BODY int m_constraintSolverType; SharedMemoryDebugDrawer* m_remoteDebugDrawer; @@ -1714,7 +1710,9 @@ struct PhysicsServerCommandProcessorInternalData m_solver(0), m_collisionConfiguration(0), m_dynamicsWorld(0), +#ifndef SKIP_DEFORMABLE_BODY m_deformablebodySolver(0), +#endif m_constraintSolverType(-1), m_remoteDebugDrawer(0), m_stateLoggersUniqueId(0), @@ -9437,6 +9435,7 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_SPARSE_SDF) { +#ifndef SKIP_DEFORMABLE_BODY { btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); if (deformWorld) @@ -9445,6 +9444,8 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st deformWorld ->getWorldInfo().m_sparsesdf.Reset(); } } +#endif +#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD { btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld(); if (softWorld) @@ -9453,6 +9454,7 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st softWorld->getWorldInfo().m_sparsesdf.Reset(); } } +#endif } if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD) From ebf742e2654418a26c1dbab446ade99a52c9d25f Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Tue, 19 Nov 2019 13:11:24 -0800 Subject: [PATCH 293/389] Update README.md add citation for usage of PyBullet --- README.md | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index e84da725f..f6930828f 100644 --- a/README.md +++ b/README.md @@ -5,7 +5,20 @@ This is the official C++ source code repository of the Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc. -New in Bullet 2.85: pybullet Python bindings, improved support for robotics and VR. Use pip install pybullet and see [PyBullet Quickstart Guide](https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.2ye70wns7io3). +## PyBullet ## +New in Bullet 2.85: pybullet Python bindings, improved support for robotics and VR. Use pip install pybullet and checkout the [PyBullet Quickstart Guide](https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.2ye70wns7io3). + +If you use PyBullet in your research, please cite it like this: + +``` +@MISC{coumans2019, +author = {Erwin Coumans and Yunfei Bai}, +title = {PyBullet, a Python module for physics simulation for games, robotics and machine learning}, +howpublished = {\url{http://pybullet.org}}, +year = {2016--2019} +} +``` + The Bullet 2 API will stay default and up-to-date while slowly moving to a new API. The steps towards a new API is in a nutshell: From 431a71ebada0852fbd813c53165d75bb82cd544a Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 19 Nov 2019 16:27:57 -0800 Subject: [PATCH 294/389] fix indexing in tetrahedra --- src/BulletSoftBody/btSoftBody.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 6c410733b..85bd2b142 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -3872,7 +3872,7 @@ const char* btSoftBody::serialize(void* dataBuffer, class btSerializer* serializ for (int j = 0; j < 4; j++) { m_tetras[i].m_c0[j].serializeFloat(memPtr->m_c0[j]); - memPtr->m_nodeIndices[j] = m_tetras[j].m_n[j] ? m_tetras[j].m_n[j] - &m_nodes[0] : -1; + memPtr->m_nodeIndices[j] = m_tetras[i].m_n[j] ? m_tetras[i].m_n[j] - &m_nodes[0] : -1; } memPtr->m_c1 = m_tetras[i].m_c1; memPtr->m_c2 = m_tetras[i].m_c2; From 96deb42aa55ad2b91faaaa3f90fc87873ba2aa8b Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 19 Nov 2019 19:20:08 -0800 Subject: [PATCH 295/389] pybullet.createSoftBodyAnchor --- data/cloth.obj | 64 +++++++++ data/cloth_z_up.obj | 64 +++++++++ examples/SharedMemory/PhysicsClientC_API.cpp | 24 ++++ examples/SharedMemory/PhysicsClientC_API.h | 2 + .../PhysicsServerCommandProcessor.cpp | 124 +++++++++++++++++- examples/SharedMemory/SharedMemoryCommands.h | 1 + .../pybullet/examples/deformable_anchor.py | 29 ++++ examples/pybullet/pybullet.c | 58 ++++++++ src/BulletSoftBody/btSoftBody.cpp | 8 +- src/BulletSoftBody/btSoftBodyHelpers.cpp | 37 ------ src/BulletSoftBody/btSoftBodyHelpers.h | 2 - src/BulletSoftBody/btSparseSDF.h | 2 +- 12 files changed, 370 insertions(+), 45 deletions(-) create mode 100644 data/cloth.obj create mode 100644 data/cloth_z_up.obj create mode 100644 examples/pybullet/examples/deformable_anchor.py diff --git a/data/cloth.obj b/data/cloth.obj new file mode 100644 index 000000000..e5d7a3128 --- /dev/null +++ b/data/cloth.obj @@ -0,0 +1,64 @@ +# Blender v2.79 (sub 0) OBJ File: '' +# www.blender.org +mtllib cloth.mtl +o Plane_Plane.001 +v -1.000000 0.000000 1.000000 +v 1.000000 0.000000 1.000000 +v -1.000000 0.000000 -1.000000 +v 1.000000 0.000000 -1.000000 +v -1.000000 0.000000 0.000000 +v 0.000000 0.000000 1.000000 +v 1.000000 0.000000 0.000000 +v 0.000000 0.000000 -1.000000 +v 0.000000 0.000000 0.000000 +v -1.000000 0.000000 0.500000 +v 0.500000 0.000000 1.000000 +v 1.000000 0.000000 -0.500000 +v -0.500000 0.000000 -1.000000 +v -1.000000 0.000000 -0.500000 +v -0.500000 0.000000 1.000000 +v 1.000000 0.000000 0.500000 +v 0.500000 0.000000 -1.000000 +v 0.000000 0.000000 -0.500000 +v 0.000000 0.000000 0.500000 +v -0.500000 0.000000 0.000000 +v 0.500000 0.000000 0.000000 +v 0.500000 0.000000 0.500000 +v -0.500000 0.000000 0.500000 +v -0.500000 0.000000 -0.500000 +v 0.500000 0.000000 -0.500000 +vn 0.0000 1.0000 0.0000 +usemtl None +s off +f 12//1 17//1 25//1 +f 18//1 13//1 24//1 +f 19//1 20//1 23//1 +f 16//1 21//1 22//1 +f 22//1 9//1 19//1 +f 11//1 19//1 6//1 +f 2//1 22//1 11//1 +f 23//1 5//1 10//1 +f 15//1 10//1 1//1 +f 6//1 23//1 15//1 +f 24//1 3//1 14//1 +f 20//1 14//1 5//1 +f 9//1 24//1 20//1 +f 25//1 8//1 18//1 +f 21//1 18//1 9//1 +f 7//1 25//1 21//1 +f 12//1 4//1 17//1 +f 18//1 8//1 13//1 +f 19//1 9//1 20//1 +f 16//1 7//1 21//1 +f 22//1 21//1 9//1 +f 11//1 22//1 19//1 +f 2//1 16//1 22//1 +f 23//1 20//1 5//1 +f 15//1 23//1 10//1 +f 6//1 19//1 23//1 +f 24//1 13//1 3//1 +f 20//1 24//1 14//1 +f 9//1 18//1 24//1 +f 25//1 17//1 8//1 +f 21//1 25//1 18//1 +f 7//1 12//1 25//1 diff --git a/data/cloth_z_up.obj b/data/cloth_z_up.obj new file mode 100644 index 000000000..e2667a984 --- /dev/null +++ b/data/cloth_z_up.obj @@ -0,0 +1,64 @@ +# Blender v2.79 (sub 0) OBJ File: '' +# www.blender.org +mtllib cloth_z_up.mtl +o Plane_Plane.001 +v -1.000000 -1.000000 0.000000 +v 1.000000 -1.000000 0.000000 +v -1.000000 1.000000 -0.000000 +v 1.000000 1.000000 -0.000000 +v -1.000000 0.000000 0.000000 +v -0.000000 -1.000000 0.000000 +v 1.000000 -0.000000 -0.000000 +v 0.000000 1.000000 -0.000000 +v 0.000000 0.000000 0.000000 +v -1.000000 -0.500000 0.000000 +v 0.500000 -1.000000 0.000000 +v 1.000000 0.500000 -0.000000 +v -0.500000 1.000000 -0.000000 +v -1.000000 0.500000 -0.000000 +v -0.500000 -1.000000 0.000000 +v 1.000000 -0.500000 0.000000 +v 0.500000 1.000000 -0.000000 +v 0.000000 0.500000 -0.000000 +v -0.000000 -0.500000 0.000000 +v -0.500000 0.000000 0.000000 +v 0.500000 -0.000000 -0.000000 +v 0.500000 -0.500000 0.000000 +v -0.500000 -0.500000 0.000000 +v -0.500000 0.500000 -0.000000 +v 0.500000 0.500000 -0.000000 +vn 0.0000 0.0000 1.0000 +usemtl None +s off +f 12//1 17//1 25//1 +f 18//1 13//1 24//1 +f 19//1 20//1 23//1 +f 16//1 21//1 22//1 +f 22//1 9//1 19//1 +f 11//1 19//1 6//1 +f 2//1 22//1 11//1 +f 23//1 5//1 10//1 +f 15//1 10//1 1//1 +f 6//1 23//1 15//1 +f 24//1 3//1 14//1 +f 20//1 14//1 5//1 +f 9//1 24//1 20//1 +f 25//1 8//1 18//1 +f 21//1 18//1 9//1 +f 7//1 25//1 21//1 +f 12//1 4//1 17//1 +f 18//1 8//1 13//1 +f 19//1 9//1 20//1 +f 16//1 7//1 21//1 +f 22//1 21//1 9//1 +f 11//1 22//1 19//1 +f 2//1 16//1 22//1 +f 23//1 20//1 5//1 +f 15//1 23//1 10//1 +f 6//1 19//1 23//1 +f 24//1 13//1 3//1 +f 20//1 24//1 14//1 +f 9//1 18//1 24//1 +f 25//1 17//1 8//1 +f 21//1 25//1 18//1 +f 7//1 12//1 25//1 diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 0284d1d1b..611a75655 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -3248,6 +3248,30 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetActivationState(b3SharedMemoryCommandHa return 0; } +B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateSoftBodyAnchorConstraintCommand(b3PhysicsClientHandle physClient, int softBodyUniqueId, int nodeIndex, int bodyUniqueId, int linkIndex, const double bodyFramePosition[3]) +{ + PhysicsClient* cl = (PhysicsClient*)physClient; + b3Assert(cl); + b3Assert(cl->canSubmitCommand()); + struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); + b3Assert(command); + command->m_type = CMD_USER_CONSTRAINT; + command->m_updateFlags = USER_CONSTRAINT_ADD_SOFT_BODY_ANCHOR; + command->m_userConstraintArguments.m_parentBodyIndex = softBodyUniqueId; + command->m_userConstraintArguments.m_parentJointIndex = nodeIndex; + command->m_userConstraintArguments.m_childBodyIndex = bodyUniqueId; + command->m_userConstraintArguments.m_childJointIndex = linkIndex; + command->m_userConstraintArguments.m_childFrame[0] = bodyFramePosition[0]; + command->m_userConstraintArguments.m_childFrame[1] = bodyFramePosition[1]; + command->m_userConstraintArguments.m_childFrame[2] = bodyFramePosition[2]; + command->m_userConstraintArguments.m_childFrame[3] = 0.; + command->m_userConstraintArguments.m_childFrame[4] = 0.; + command->m_userConstraintArguments.m_childFrame[5] = 0.; + command->m_userConstraintArguments.m_childFrame[6] = 1.; + + return (b3SharedMemoryCommandHandle)command; +} + B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyUniqueId, int parentJointIndex, int childBodyUniqueId, int childJointIndex, struct b3JointInfo* info) { PhysicsClient* cl = (PhysicsClient*)physClient; diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index ff59cef46..220e5582f 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -643,6 +643,8 @@ extern "C" B3_SHARED_API int b3LoadSoftBodyUseFaceContact(b3SharedMemoryCommandHandle commandHandle, int useFaceContact); B3_SHARED_API int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle commandHandle, double frictionCoefficient); B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle commandHandle, int useBendingSprings); + + B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateSoftBodyAnchorConstraintCommand(b3PhysicsClientHandle physClient, int softBodyUniqueId, int nodeIndex, int bodyUniqueId, int linkIndex, const double bodyFramePosition[3]); B3_SHARED_API b3SharedMemoryCommandHandle b3RequestVREventsCommandInit(b3PhysicsClientHandle physClient); B3_SHARED_API void b3VREventsSetDeviceTypeFilter(b3SharedMemoryCommandHandle commandHandle, int deviceTypeFilter); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 6d83611bf..74c49a408 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -53,7 +53,7 @@ #include "../Extras/Serialize/BulletFileLoader/btBulletFile.h" #include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h" #include "LinearMath/TaskScheduler/btThreadSupportInterface.h" - +#include "Wavefront/tiny_obj_loader.h" #ifndef SKIP_COLLISION_FILTER_PLUGIN #include "plugins/collisionFilterPlugin/collisionFilterPlugin.h" #endif @@ -1709,10 +1709,11 @@ struct PhysicsServerCommandProcessorInternalData m_dispatcher(0), m_solver(0), m_collisionConfiguration(0), - m_dynamicsWorld(0), + #ifndef SKIP_DEFORMABLE_BODY m_deformablebodySolver(0), #endif + m_dynamicsWorld(0), m_constraintSolverType(-1), m_remoteDebugDrawer(0), m_stateLoggersUniqueId(0), @@ -8204,7 +8205,46 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar if (!render_mesh_is_sim_mesh) { // load render mesh - btSoftBodyHelpers::readRenderMeshFromObj(out_found_filename.c_str(), psb); + + + { + + tinyobj::attrib_t attribute; + std::vector shapes; + + std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), pathPrefix, m_data->m_pluginManager.getFileIOInterface()); + + for (int s = 0; s < (int)shapes.size(); s++) + { + tinyobj::shape_t& shape = shapes[s]; + int faceCount = shape.mesh.indices.size(); + int vertexCount = attribute.vertices.size()/3; + for (int v=0;vm_renderNodes.push_back(n); + } + + for (int f = 0; f < faceCount; f += 3) + { + if (f < 0 && f >= int(shape.mesh.indices.size())) + { + continue; + } + tinyobj::index_t v_0 = shape.mesh.indices[f]; + tinyobj::index_t v_1 = shape.mesh.indices[f + 1]; + tinyobj::index_t v_2 = shape.mesh.indices[f + 2]; + btSoftBody::Face ff; + ff.m_n[0] = &psb->m_renderNodes[v_0.vertex_index]; + ff.m_n[1] = &psb->m_renderNodes[v_1.vertex_index]; + ff.m_n[2] = &psb->m_renderNodes[v_2.vertex_index]; + psb->m_renderFaces.push_back(ff); + } + } + + } + btSoftBodyHelpers::interpolateBarycentricWeights(psb); } else @@ -10645,6 +10685,84 @@ bool PhysicsServerCommandProcessor::processCreateUserConstraintCommand(const str SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_USER_CONSTRAINT_FAILED; hasStatus = true; + if (clientCmd.m_updateFlags & USER_CONSTRAINT_ADD_SOFT_BODY_ANCHOR) + { +#ifndef SKIP_DEFORMABLE_BODY + InternalBodyHandle* sbodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_parentBodyIndex); + if (sbodyHandle) + { + if (sbodyHandle->m_softBody) + { + int nodeIndex = clientCmd.m_userConstraintArguments.m_parentJointIndex; + if (nodeIndex>=0 && nodeIndex < sbodyHandle->m_softBody->m_nodes.size()) + { + int bodyUniqueId = clientCmd.m_userConstraintArguments.m_childBodyIndex; + if (bodyUniqueId<=0) + { + //fixed anchor (mass = 0) + sbodyHandle->m_softBody->setMass(nodeIndex,0.0); + int uid = m_data->m_userConstraintUIDGenerator++; + serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid; + serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED; + } else + { + InternalBodyHandle* mbodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId); + if (mbodyHandle && mbodyHandle->m_multiBody) + { + + btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); + if (deformWorld) + { + int linkIndex = clientCmd.m_userConstraintArguments.m_childJointIndex; + if (linkIndex<0) + { + sbodyHandle->m_softBody->appendDeformableAnchor(nodeIndex, mbodyHandle->m_multiBody->getBaseCollider()); + } else + { + if (linkIndex < mbodyHandle->m_multiBody->getNumLinks()) + { + sbodyHandle->m_softBody->appendDeformableAnchor(nodeIndex, mbodyHandle->m_multiBody->getLinkCollider(linkIndex)); + } + } + } + } + if (mbodyHandle && mbodyHandle->m_rigidBody) + { + btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); + if (deformWorld) + { + //todo: expose those values + bool disableCollisionBetweenLinkedBodies = true; + //btVector3 localPivot(0,0,0); + sbodyHandle->m_softBody->appendDeformableAnchor(nodeIndex, mbodyHandle->m_rigidBody); + } + +#if 1 + btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld(); + if (softWorld) + { + bool disableCollisionBetweenLinkedBodies = true; + btVector3 localPivot(clientCmd.m_userConstraintArguments.m_childFrame[0], + clientCmd.m_userConstraintArguments.m_childFrame[1], + clientCmd.m_userConstraintArguments.m_childFrame[2]); + + sbodyHandle->m_softBody->appendAnchor(nodeIndex, mbodyHandle->m_rigidBody, localPivot, disableCollisionBetweenLinkedBodies); + } +#endif + } + int uid = m_data->m_userConstraintUIDGenerator++; + serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid; + serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED; + + } + + } + + + } + } +#endif + } if (clientCmd.m_updateFlags & USER_CONSTRAINT_REQUEST_STATE) { int constraintUid = clientCmd.m_userConstraintArguments.m_userConstraintUniqueId; diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index ec79d77c5..ab39daaa0 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -800,6 +800,7 @@ enum EnumUserConstraintFlags USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET = 512, USER_CONSTRAINT_CHANGE_ERP = 1024, USER_CONSTRAINT_REQUEST_STATE = 2048, + USER_CONSTRAINT_ADD_SOFT_BODY_ANCHOR = 4096, }; enum EnumBodyChangeFlags diff --git a/examples/pybullet/examples/deformable_anchor.py b/examples/pybullet/examples/deformable_anchor.py new file mode 100644 index 000000000..d55a1bc79 --- /dev/null +++ b/examples/pybullet/examples/deformable_anchor.py @@ -0,0 +1,29 @@ +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", [0,1,2],useMaximalCoordinates = True) + +clothId = p.loadSoftBody("cloth_z_up.obj", basePosition = [0,0,2], scale = 0.5, mass = 1., useNeoHookean = 0, useBendingSprings=1,useMassSpring=1, springElasticStiffness=40, springDampingStiffness=.1, useSelfCollision = 0, frictionCoeff = .5, useFaceContact=1) + + +p.createSoftBodyAnchor(clothId ,0,-1,-1) +p.createSoftBodyAnchor(clothId ,1,-1,-1) +p.createSoftBodyAnchor(clothId ,3,boxId,-1, [0.5,-0.5,0]) +p.createSoftBodyAnchor(clothId ,2,boxId,-1, [-0.5,-0.5,0]) +p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25) +p.setRealTimeSimulation(1) + + +while p.isConnected(): + p.getNumBodies() + sleep(1./240.) + \ No newline at end of file diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 260f6db68..0857ea0da 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -1963,6 +1963,10 @@ static PyObject* pybullet_loadSDF(PyObject* self, PyObject* args, PyObject* keyw } #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD + + + + // Load a softbody from an obj file static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject* keywds) { @@ -2072,6 +2076,56 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject* } return PyLong_FromLong(bodyUniqueId); } + +static PyObject* pybullet_createSoftBodyAnchor(PyObject* self, PyObject* args, PyObject* keywds) +{ + b3SharedMemoryCommandHandle commandHandle; + int softBodyUniqueId = -1; + int nodeIndex = -1; + int bodyUniqueId = -1; + int linkIndex = -1; + PyObject* bodyFramePositionObj = 0; + double bodyFramePosition[3] = {0, 0, 0}; + struct b3JointInfo jointInfo; + b3SharedMemoryStatusHandle statusHandle; + int statusType; + int physicsClientId = 0; + b3PhysicsClientHandle sm = 0; + static char* kwlist[] = {"softBodyBodyUniqueId", "nodeIndex", + "bodyUniqueId", "linkIndex", "bodyFramePosition", + "physicsClientId", + NULL}; + + if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|iiOi", kwlist, &softBodyUniqueId, &nodeIndex, + &bodyUniqueId, &linkIndex,&bodyFramePositionObj,&physicsClientId)) + { + return NULL; + } + + sm = getPhysicsClient(physicsClientId); + if (sm == 0) + { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + + pybullet_internalSetVectord(bodyFramePositionObj, bodyFramePosition); + + commandHandle = b3InitCreateSoftBodyAnchorConstraintCommand(sm, softBodyUniqueId, nodeIndex, bodyUniqueId, linkIndex, bodyFramePosition); + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); + statusType = b3GetStatusType(statusHandle); + if (statusType == CMD_USER_CONSTRAINT_COMPLETED) + { + int userConstraintUid = b3GetStatusUserConstraintUniqueId(statusHandle); + PyObject* ob = PyLong_FromLong(userConstraintUid); + return ob; + } + + PyErr_SetString(SpamError, "createSoftBodyAnchor failed."); + return NULL; +} + + #endif // Reset the simulation to remove all loaded objects @@ -11798,6 +11852,10 @@ static PyMethodDef SpamMethods[] = { #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD {"loadSoftBody", (PyCFunction)pybullet_loadSoftBody, METH_VARARGS | METH_KEYWORDS, "Load a softbody from an obj file."}, + + {"createSoftBodyAnchor", (PyCFunction)pybullet_createSoftBodyAnchor, METH_VARARGS | METH_KEYWORDS, + "Create an anchor (attachment) between a soft body and a rigid or multi body."}, + #endif {"loadBullet", (PyCFunction)pybullet_loadBullet, METH_VARARGS | METH_KEYWORDS, "Load a world from a .bullet file."}, diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 85bd2b142..e4219b959 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -2496,7 +2496,8 @@ void btSoftBody::updateNormals() btSoftBody::Face& f = m_faces[i]; const btVector3 n = btCross(f.m_n[1]->m_x - f.m_n[0]->m_x, f.m_n[2]->m_x - f.m_n[0]->m_x); - f.m_normal = n.normalized(); + f.m_normal = n; + f.m_normal.safeNormalize(); f.m_n[0]->m_n += n; f.m_n[1]->m_n += n; f.m_n[2]->m_n += n; @@ -3306,7 +3307,10 @@ void btSoftBody::interpolateRenderMesh() n.m_x.setZero(); for (int j = 0; j < 4; ++j) { - n.m_x += m_renderNodesParents[i][j]->m_x * m_renderNodesInterpolationWeights[i][j]; + if (m_renderNodesParents[i].size()) + { + n.m_x += m_renderNodesParents[i][j]->m_x * m_renderNodesInterpolationWeights[i][j]; + } } } } diff --git a/src/BulletSoftBody/btSoftBodyHelpers.cpp b/src/BulletSoftBody/btSoftBodyHelpers.cpp index c9e4af382..27221b574 100644 --- a/src/BulletSoftBody/btSoftBodyHelpers.cpp +++ b/src/BulletSoftBody/btSoftBodyHelpers.cpp @@ -1500,43 +1500,6 @@ void btSoftBodyHelpers::getBarycentricWeights(const btVector3& a, const btVector bary = btVector4(va6*v6, vb6*v6, vc6*v6, vd6*v6); } -void btSoftBodyHelpers::readRenderMeshFromObj(const char* file, btSoftBody* psb) -{ - std::ifstream fs; - fs.open(file); - std::string line; - btVector3 pos; - while (std::getline(fs, line)) - { - std::stringstream ss(line); - if (line.length()>1) - { - if (line[0] == 'v' && line[1] != 't' && line[1] != 'n') - { - ss.ignore(); - for (size_t i = 0; i < 3; i++) - ss >> pos[i]; - btSoftBody::Node n; - n.m_x = pos; - psb->m_renderNodes.push_back(n); - } - else if (line[0] == 'f') - { - ss.ignore(); - int id0, id1, id2; - ss >> id0; - ss >> id1; - ss >> id2; - btSoftBody::Face f; - f.m_n[0] = &psb->m_renderNodes[id0-1]; - f.m_n[1] = &psb->m_renderNodes[id1-1]; - f.m_n[2] = &psb->m_renderNodes[id2-1]; - psb->m_renderFaces.push_back(f); - } - } - } - fs.close(); -} // Iterate through all render nodes to find the simulation tetrahedron that contains the render node and record the barycentric weights // If the node is not inside any tetrahedron, assign it to the tetrahedron in which the node has the least negative barycentric weight diff --git a/src/BulletSoftBody/btSoftBodyHelpers.h b/src/BulletSoftBody/btSoftBodyHelpers.h index d5d7c3648..b20f2f6d6 100644 --- a/src/BulletSoftBody/btSoftBodyHelpers.h +++ b/src/BulletSoftBody/btSoftBodyHelpers.h @@ -148,8 +148,6 @@ struct btSoftBodyHelpers static void getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, const btVector3& p, btVector4& bary); - static void readRenderMeshFromObj(const char* file, btSoftBody* psb); - static void interpolateBarycentricWeights(btSoftBody* psb); static void generateBoundaryFaces(btSoftBody* psb); diff --git a/src/BulletSoftBody/btSparseSDF.h b/src/BulletSoftBody/btSparseSDF.h index c6342c285..97b068caa 100644 --- a/src/BulletSoftBody/btSparseSDF.h +++ b/src/BulletSoftBody/btSparseSDF.h @@ -274,7 +274,7 @@ struct btSparseSdf Lerp(gy[2], gy[3], ix.f), iz.f)); normal.setZ(Lerp(Lerp(gz[0], gz[1], ix.f), Lerp(gz[2], gz[3], ix.f), iy.f)); - normal = normal.normalized(); + normal.safeNormalize(); #else normal = btVector3(d[1] - d[0], d[3] - d[0], d[4] - d[0]).normalized(); #endif From 66951ac102fb737a55c77cf21ab0a2bd38b3004c Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 19 Nov 2019 19:35:28 -0800 Subject: [PATCH 296/389] fix Mac version of deformable_anchor.py --- examples/pybullet/examples/deformable_anchor.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/examples/pybullet/examples/deformable_anchor.py b/examples/pybullet/examples/deformable_anchor.py index d55a1bc79..135a55c71 100644 --- a/examples/pybullet/examples/deformable_anchor.py +++ b/examples/pybullet/examples/deformable_anchor.py @@ -4,8 +4,8 @@ from time import sleep physicsClient = p.connect(p.GUI) p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD) - -p.setGravity(0, 0, -10) +gravZ=-10 +p.setGravity(0, 0, gravZ) planeOrn = [0,0,0,1]#p.getQuaternionFromEuler([0.3,0,0]) planeId = p.loadURDF("plane.urdf", [0,0,-2],planeOrn) @@ -24,6 +24,6 @@ p.setRealTimeSimulation(1) while p.isConnected(): - p.getNumBodies() + p.setGravity(0,0,gravZ) sleep(1./240.) - \ No newline at end of file + From 64e5e007e330d34ad8f837389a8a38978c006ea2 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Sun, 17 Nov 2019 00:01:52 -0800 Subject: [PATCH 297/389] load render mesh from command --- examples/SharedMemory/PhysicsClientC_API.cpp | 18 +++++++++++++ examples/SharedMemory/PhysicsClientC_API.h | 3 ++- .../PhysicsServerCommandProcessor.cpp | 26 +++++-------------- examples/SharedMemory/SharedMemoryCommands.h | 2 ++ 4 files changed, 28 insertions(+), 21 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 611a75655..5038f6e4b 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -338,6 +338,24 @@ B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle return 0; } +B3_SHARED_API int b3LoadSoftBodyAddRenderMesh(b3SharedMemoryCommandHandle commandHandle, const char* filename) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; + b3Assert(command->m_type == CMD_LOAD_SOFT_BODY); + int len = strlen(filename); + if (len < MAX_FILENAME_LENGTH) + { + strcpy(command->m_loadSoftBodyArguments.m_renderFileName, filename); + } + else + { + command->m_loadSoftBodyArguments.m_renderFileName[0] = 0; + } + command->m_updateFlags |= LOAD_SOFT_BODY_RENDER_MESH; + return 0; + +} + B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 220e5582f..df9e44895 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -375,7 +375,6 @@ extern "C" B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient); B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand2(b3SharedMemoryCommandHandle commandHandle); B3_SHARED_API int b3InitResetSimulationSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags); - ///Load a robot from a URDF file. Status type will CMD_URDF_LOADING_COMPLETED. ///Access the robot from the unique body index, through b3GetStatusBodyIndex(statusHandle); B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName); @@ -634,7 +633,9 @@ extern "C" B3_SHARED_API int b3LoadSoftBodySetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, double collisionMargin); B3_SHARED_API int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ); B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW); + B3_SHARED_API int b3LoadSoftBodyAddRenderMesh(b3SharedMemoryCommandHandle commandHandle, const char* filename); B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda); + B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda); B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda, double NeoHookeanDamping); B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness); B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 74c49a408..4c1e4253a 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -8086,29 +8086,14 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar const std::string& error_message_prefix = ""; std::string out_found_filename; - std::string out_found_sim_filename; - int out_type(0), out_sim_type(0); - - bool render_mesh_is_sim_mesh = true; + int out_type(0); bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type); if (out_type == UrdfGeometry::FILE_OBJ) - { - foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_sim_filename, &out_sim_type); - render_mesh_is_sim_mesh = !foundFile; - } - - if (render_mesh_is_sim_mesh) - { - out_sim_type = out_type; - out_found_sim_filename = out_found_filename; - } - - if (out_sim_type == UrdfGeometry::FILE_OBJ) { std::vector shapes; tinyobj::attrib_t attribute; - std::string err = tinyobj::LoadObj(attribute, shapes, out_found_sim_filename.c_str(), "", fileIO); + std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), "", fileIO); if (!shapes.empty()) { const tinyobj::shape_t& shape = shapes[0]; @@ -8157,13 +8142,13 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar } #endif } - else if (out_sim_type == UrdfGeometry::FILE_VTK) + else if (out_type == UrdfGeometry::FILE_VTK) { #ifndef SKIP_DEFORMABLE_BODY btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); if (deformWorld) { - psb = btSoftBodyHelpers::CreateFromVtkFile(deformWorld->getWorldInfo(), out_found_sim_filename.c_str()); + psb = btSoftBodyHelpers::CreateFromVtkFile(deformWorld->getWorldInfo(), out_found_filename.c_str()); btScalar corotated_mu, corotated_lambda; if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE) { @@ -8192,6 +8177,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar deformWorld->addForce(psb, springForce); m_data->m_lf.push_back(springForce); } + } #endif } @@ -8200,6 +8186,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar { #ifndef SKIP_DEFORMABLE_BODY btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); + bool foundRenderMesh = false; if (deformWorld) { if (!render_mesh_is_sim_mesh) @@ -8208,7 +8195,6 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar { - tinyobj::attrib_t attribute; std::vector shapes; diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index ab39daaa0..a03d2ca9f 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -505,6 +505,7 @@ enum EnumLoadSoftBodyUpdateFlags LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE = 1<<12, LOAD_SOFT_BODY_USE_SELF_COLLISION = 1<<13, LOAD_SOFT_BODY_USE_FACE_CONTACT = 1<<14, + LOAD_SOFT_BODY_RENDER_MESH = 1<<15, }; enum EnumSimParamInternalSimFlags @@ -535,6 +536,7 @@ struct LoadSoftBodyArgs double m_NeoHookeanLambda; double m_NeoHookeanDamping; int m_useFaceContact; + char m_renderFileName[MAX_FILENAME_LENGTH]; }; struct b3LoadSoftBodyResultArgs From 00add5490f3e5976a33d879e00d05ab316deeb3e Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 19 Nov 2019 21:01:28 -0800 Subject: [PATCH 298/389] fix separate render and sim mesh --- examples/SharedMemory/PhysicsClientC_API.cpp | 8 +- examples/SharedMemory/PhysicsClientC_API.h | 2 +- .../PhysicsServerCommandProcessor.cpp | 169 +++++++++--------- examples/SharedMemory/SharedMemoryCommands.h | 4 +- examples/SharedMemory/SharedMemoryPublic.h | 2 +- 5 files changed, 96 insertions(+), 89 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 5038f6e4b..ee506c143 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -338,20 +338,20 @@ B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle return 0; } -B3_SHARED_API int b3LoadSoftBodyAddRenderMesh(b3SharedMemoryCommandHandle commandHandle, const char* filename) +B3_SHARED_API int b3LoadSoftBodyUpdateSimMesh(b3SharedMemoryCommandHandle commandHandle, const char* filename) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command->m_type == CMD_LOAD_SOFT_BODY); int len = strlen(filename); if (len < MAX_FILENAME_LENGTH) { - strcpy(command->m_loadSoftBodyArguments.m_renderFileName, filename); + strcpy(command->m_loadSoftBodyArguments.m_simFileName, filename); } else { - command->m_loadSoftBodyArguments.m_renderFileName[0] = 0; + command->m_loadSoftBodyArguments.m_simFileName[0] = 0; } - command->m_updateFlags |= LOAD_SOFT_BODY_RENDER_MESH; + command->m_updateFlags |= LOAD_SOFT_BODY_SIM_MESH; return 0; } diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index df9e44895..c67f79d9c 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -633,7 +633,7 @@ extern "C" B3_SHARED_API int b3LoadSoftBodySetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, double collisionMargin); B3_SHARED_API int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ); B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW); - B3_SHARED_API int b3LoadSoftBodyAddRenderMesh(b3SharedMemoryCommandHandle commandHandle, const char* filename); + B3_SHARED_API int b3LoadSoftBodyUpdateSimMesh(b3SharedMemoryCommandHandle commandHandle, const char* filename); B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda); B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda); B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda, double NeoHookeanDamping); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 4c1e4253a..1f96b2d09 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -1709,7 +1709,6 @@ struct PhysicsServerCommandProcessorInternalData m_dispatcher(0), m_solver(0), m_collisionConfiguration(0), - #ifndef SKIP_DEFORMABLE_BODY m_deformablebodySolver(0), #endif @@ -2651,23 +2650,25 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld(int flags) bv->setVelocityPrediction(0); m_data->m_broadphase = bv; } - - if (flags & RESET_USE_DEFORMABLE_WORLD) + + if (flags & RESET_USE_SOFT_MULTIBODY_WORLD) { -#ifndef SKIP_DEFORMABLE_BODY - m_data->m_deformablebodySolver = new btDeformableBodySolver(); - btDeformableMultiBodyConstraintSolver* solver = new btDeformableMultiBodyConstraintSolver; - m_data->m_solver = solver; - solver->setDeformableSolver(m_data->m_deformablebodySolver); - m_data->m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, solver, m_data->m_collisionConfiguration, m_data->m_deformablebodySolver); + m_data->m_solver = new btMultiBodyConstraintSolver; +#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); #endif } - if ((0==m_data->m_dynamicsWorld) && (0==(flags&RESET_USE_DISCRETE_DYNAMICS_WORLD))) + if ((0==m_data->m_dynamicsWorld) && (0==(flags&RESET_USE_DISCRETE_DYNAMICS_WORLD))) { -#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD - m_data->m_solver = new btMultiBodyConstraintSolver; - m_data->m_dynamicsWorld = new btSoftMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration); +#ifndef SKIP_DEFORMABLE_BODY + m_data->m_deformablebodySolver = new btDeformableBodySolver(); + btDeformableMultiBodyConstraintSolver* solver = new btDeformableMultiBodyConstraintSolver; + m_data->m_solver = solver; + solver->setDeformableSolver(m_data->m_deformablebodySolver); + m_data->m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, solver, m_data->m_collisionConfiguration, m_data->m_deformablebodySolver); #endif } @@ -5126,24 +5127,24 @@ bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct S { btSoftBody* psb = bodyHandle->m_softBody; int totalBytesPerVertex = sizeof(btVector3); - bool separateRenderMesh = (psb->m_renderNodes.size() != 0); - int numVertices = separateRenderMesh ? psb->m_renderNodes.size() : psb->m_nodes.size(); + bool separateRenderMesh = (psb->m_renderNodes.size() != 0); + int numVertices = separateRenderMesh ? psb->m_renderNodes.size() : psb->m_nodes.size(); int maxNumVertices = bufferSizeInBytes / totalBytesPerVertex - 1; int numVerticesRemaining = numVertices - clientCmd.m_requestMeshDataArgs.m_startingVertex; int verticesCopied = btMin(maxNumVertices, numVerticesRemaining); btVector3* verticesOut = (btVector3*)bufferServerToClient; for (int i = 0; i < verticesCopied; ++i) { - if (separateRenderMesh) - { - const btSoftBody::Node& n = psb->m_renderNodes[i + clientCmd.m_requestMeshDataArgs.m_startingVertex]; - verticesOut[i] = n.m_x; - } - else - { - const btSoftBody::Node& n = psb->m_nodes[i + clientCmd.m_requestMeshDataArgs.m_startingVertex]; - verticesOut[i] = n.m_x; - } + if (separateRenderMesh) + { + const btSoftBody::Node& n = psb->m_renderNodes[i + clientCmd.m_requestMeshDataArgs.m_startingVertex]; + verticesOut[i] = n.m_x; + } + else + { + const btSoftBody::Node& n = psb->m_nodes[i + clientCmd.m_requestMeshDataArgs.m_startingVertex]; + verticesOut[i] = n.m_x; + } } serverStatusOut.m_type = CMD_REQUEST_MESH_DATA_COMPLETED; @@ -8069,7 +8070,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar { collisionMargin = clientCmd.m_loadSoftBodyArguments.m_collisionMargin; } - + { btSoftBody* psb = NULL; @@ -8083,17 +8084,26 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024); } - const std::string& error_message_prefix = ""; - std::string out_found_filename; - int out_type(0); + std::string out_found_filename, out_found_sim_filename; + int out_type(0), out_sim_type(0); bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type); - if (out_type == UrdfGeometry::FILE_OBJ) + + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SIM_MESH) + { + bool foundSimMesh = UrdfFindMeshFile(fileIO, pathPrefix, loadSoftBodyArgs.m_simFileName, error_message_prefix, &out_found_sim_filename, &out_sim_type); + } + else + { + out_sim_type = out_type; + out_found_sim_filename = out_found_filename; + } + if (out_sim_type == UrdfGeometry::FILE_OBJ) { std::vector shapes; tinyobj::attrib_t attribute; - std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), "", fileIO); + std::string err = tinyobj::LoadObj(attribute, shapes, out_found_sim_filename.c_str(), "", fileIO); if (!shapes.empty()) { const tinyobj::shape_t& shape = shapes[0]; @@ -8142,13 +8152,13 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar } #endif } - else if (out_type == UrdfGeometry::FILE_VTK) + else if (out_sim_type == UrdfGeometry::FILE_VTK) { #ifndef SKIP_DEFORMABLE_BODY btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); if (deformWorld) { - psb = btSoftBodyHelpers::CreateFromVtkFile(deformWorld->getWorldInfo(), out_found_filename.c_str()); + psb = btSoftBodyHelpers::CreateFromVtkFile(deformWorld->getWorldInfo(), out_found_sim_filename.c_str()); btScalar corotated_mu, corotated_lambda; if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE) { @@ -8185,58 +8195,55 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar if (psb != NULL) { #ifndef SKIP_DEFORMABLE_BODY - btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); - bool foundRenderMesh = false; + btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); if (deformWorld) { - if (!render_mesh_is_sim_mesh) - { - // load render mesh + // load render mesh + if (out_found_sim_filename != out_found_filename) + { + // load render mesh + { + tinyobj::attrib_t attribute; + std::vector shapes; + + std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), pathPrefix, m_data->m_pluginManager.getFileIOInterface()); + for (int s = 0; s < (int)shapes.size(); s++) + { + tinyobj::shape_t& shape = shapes[s]; + int faceCount = shape.mesh.indices.size(); + int vertexCount = attribute.vertices.size()/3; + for (int v=0;vm_renderNodes.push_back(n); + } - { - tinyobj::attrib_t attribute; - std::vector shapes; - - std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), pathPrefix, m_data->m_pluginManager.getFileIOInterface()); - - for (int s = 0; s < (int)shapes.size(); s++) - { - tinyobj::shape_t& shape = shapes[s]; - int faceCount = shape.mesh.indices.size(); - int vertexCount = attribute.vertices.size()/3; - for (int v=0;vm_renderNodes.push_back(n); - } - - for (int f = 0; f < faceCount; f += 3) - { - if (f < 0 && f >= int(shape.mesh.indices.size())) - { - continue; - } - tinyobj::index_t v_0 = shape.mesh.indices[f]; - tinyobj::index_t v_1 = shape.mesh.indices[f + 1]; - tinyobj::index_t v_2 = shape.mesh.indices[f + 2]; - btSoftBody::Face ff; - ff.m_n[0] = &psb->m_renderNodes[v_0.vertex_index]; - ff.m_n[1] = &psb->m_renderNodes[v_1.vertex_index]; - ff.m_n[2] = &psb->m_renderNodes[v_2.vertex_index]; - psb->m_renderFaces.push_back(ff); - } - } - - } - - btSoftBodyHelpers::interpolateBarycentricWeights(psb); - } - else - { - psb->m_renderNodes.resize(0); - } + for (int f = 0; f < faceCount; f += 3) + { + if (f < 0 && f >= int(shape.mesh.indices.size())) + { + continue; + } + tinyobj::index_t v_0 = shape.mesh.indices[f]; + tinyobj::index_t v_1 = shape.mesh.indices[f + 1]; + tinyobj::index_t v_2 = shape.mesh.indices[f + 2]; + btSoftBody::Face ff; + ff.m_n[0] = &psb->m_renderNodes[v_0.vertex_index]; + ff.m_n[1] = &psb->m_renderNodes[v_1.vertex_index]; + ff.m_n[2] = &psb->m_renderNodes[v_2.vertex_index]; + psb->m_renderFaces.push_back(ff); + } + } + + } + btSoftBodyHelpers::interpolateBarycentricWeights(psb); + } + else + { + psb->m_renderNodes.resize(0); + } btVector3 gravity = m_data->m_dynamicsWorld->getGravity(); btDeformableLagrangianForce* gravityForce = new btDeformableGravityForce(gravity); deformWorld->addForce(psb, gravityForce); diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index a03d2ca9f..ccb6357fe 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -505,7 +505,7 @@ enum EnumLoadSoftBodyUpdateFlags LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE = 1<<12, LOAD_SOFT_BODY_USE_SELF_COLLISION = 1<<13, LOAD_SOFT_BODY_USE_FACE_CONTACT = 1<<14, - LOAD_SOFT_BODY_RENDER_MESH = 1<<15, + LOAD_SOFT_BODY_SIM_MESH = 1<<15, }; enum EnumSimParamInternalSimFlags @@ -536,7 +536,7 @@ struct LoadSoftBodyArgs double m_NeoHookeanLambda; double m_NeoHookeanDamping; int m_useFaceContact; - char m_renderFileName[MAX_FILENAME_LENGTH]; + char m_simFileName[MAX_FILENAME_LENGTH]; }; struct b3LoadSoftBodyResultArgs diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index feed391a8..fa7d02f2b 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -567,7 +567,7 @@ enum b3NotificationType enum b3ResetSimulationFlags { - RESET_USE_DEFORMABLE_WORLD=1, + RESET_USE_SOFT_MULTIBODY_WORLD=1, RESET_USE_DISCRETE_DYNAMICS_WORLD=2, RESET_USE_SIMPLE_BROADPHASE=4, }; From edffb0cc551d0ef6139bc0b0a78df270f13051a9 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 19 Nov 2019 23:09:49 -0800 Subject: [PATCH 299/389] update pybullet examples --- examples/pybullet/examples/deformable_anchor.py | 2 +- examples/pybullet/examples/deformable_ball.py | 4 ++-- examples/pybullet/examples/deformable_torus.py | 2 -- examples/pybullet/examples/load_soft_body.py | 1 + examples/pybullet/pybullet.c | 2 +- 5 files changed, 5 insertions(+), 6 deletions(-) diff --git a/examples/pybullet/examples/deformable_anchor.py b/examples/pybullet/examples/deformable_anchor.py index 135a55c71..66753b0a6 100644 --- a/examples/pybullet/examples/deformable_anchor.py +++ b/examples/pybullet/examples/deformable_anchor.py @@ -3,7 +3,7 @@ from time import sleep physicsClient = p.connect(p.GUI) -p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD) +#p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD) gravZ=-10 p.setGravity(0, 0, gravZ) diff --git a/examples/pybullet/examples/deformable_ball.py b/examples/pybullet/examples/deformable_ball.py index 8803e2fb2..757994ad5 100644 --- a/examples/pybullet/examples/deformable_ball.py +++ b/examples/pybullet/examples/deformable_ball.py @@ -3,7 +3,7 @@ from time import sleep physicsClient = p.connect(p.GUI) -p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD) +#p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD) p.setGravity(0, 0, -10) @@ -24,4 +24,4 @@ while p.isConnected(): sleep(1./240.) #p.resetSimulation() -#p.stopStateLogging(logId) \ No newline at end of file +#p.stopStateLogging(logId) diff --git a/examples/pybullet/examples/deformable_torus.py b/examples/pybullet/examples/deformable_torus.py index ff02237d6..e71d0653c 100644 --- a/examples/pybullet/examples/deformable_torus.py +++ b/examples/pybullet/examples/deformable_torus.py @@ -3,8 +3,6 @@ from time import sleep physicsClient = p.connect(p.GUI) -p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD) - p.setGravity(0, 0, -10) planeId = p.loadURDF("plane.urdf", [0,0,-2]) diff --git a/examples/pybullet/examples/load_soft_body.py b/examples/pybullet/examples/load_soft_body.py index 3c55ca2e6..1e86d59bd 100644 --- a/examples/pybullet/examples/load_soft_body.py +++ b/examples/pybullet/examples/load_soft_body.py @@ -2,6 +2,7 @@ import pybullet as p from time import sleep physicsClient = p.connect(p.GUI) +p.resetSimulation(p.RESET_USE_SOFT_MULTIBODY_WORLD) p.setGravity(0, 0, -10) planeId = p.loadURDF("plane.urdf", [0,0,-2]) boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 0857ea0da..faaa971fb 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -12466,7 +12466,7 @@ initpybullet(void) //PyModule_AddIntConstant(m, "CONSTRAINT_SOLVER_LCP_NNCF",eConstraintSolverLCP_NNCG); //PyModule_AddIntConstant(m, "CONSTRAINT_SOLVER_LCP_BLOCK",eConstraintSolverLCP_BLOCK_PGS); - PyModule_AddIntConstant(m, "RESET_USE_DEFORMABLE_WORLD", RESET_USE_DEFORMABLE_WORLD); + PyModule_AddIntConstant(m, "RESET_USE_SOFT_MULTIBODY_WORLD", RESET_USE_SOFT_MULTIBODY_WORLD); PyModule_AddIntConstant(m, "RESET_USE_DISCRETE_DYNAMICS_WORLD", RESET_USE_DISCRETE_DYNAMICS_WORLD); PyModule_AddIntConstant(m, "RESET_USE_SIMPLE_BROADPHASE", RESET_USE_SIMPLE_BROADPHASE); From 593fc872ab0ad1869080ac8ff33297aeb249b705 Mon Sep 17 00:00:00 2001 From: Chuyuan Fu Date: Wed, 20 Nov 2019 16:42:04 -0800 Subject: [PATCH 300/389] get correct AABB for softbody --- .../PhysicsServerCommandProcessor.cpp | 15 +++++++++++++-- 1 file changed, 13 insertions(+), 2 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 74c49a408..1e6a0f62a 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -8597,10 +8597,21 @@ bool PhysicsServerCommandProcessor::processRequestCollisionInfoCommand(const str #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD else if (body && body->m_softBody) { + btSoftBody* sb = body->m_softBody; + serverCmd.m_sendCollisionInfoArgs.m_numLinks = 0; + btVector3 aabbMin, aabbMax; + sb->getAabb(aabbMin, aabbMax); + + serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[0] = aabbMin[0]; + serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[1] = aabbMin[1]; + serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[2] = aabbMin[2]; + + serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[0] = aabbMax[0]; + serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[1] = aabbMax[1]; + serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[2] = aabbMax[2]; + SharedMemoryStatus& serverCmd = serverStatusOut; serverStatusOut.m_type = CMD_REQUEST_COLLISION_INFO_COMPLETED; - serverCmd.m_sendCollisionInfoArgs.m_numLinks = 0; - setDefaultRootWorldAABB(serverCmd); } #endif return hasStatus; From 46a7fbe92f8779cbd006107c2a20890fd8cbaf5b Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 20 Nov 2019 17:06:05 -0800 Subject: [PATCH 301/389] fix old threading examples --- examples/MultiThreading/MultiThreadingExample.cpp | 9 +++++---- examples/MultiThreading/main.cpp | 10 +++++++++- 2 files changed, 14 insertions(+), 5 deletions(-) diff --git a/examples/MultiThreading/MultiThreadingExample.cpp b/examples/MultiThreading/MultiThreadingExample.cpp index c63a0b363..b9701fb7e 100644 --- a/examples/MultiThreading/MultiThreadingExample.cpp +++ b/examples/MultiThreading/MultiThreadingExample.cpp @@ -29,13 +29,14 @@ void SamplelsMemoryReleaseFunc(void* ptr); #ifndef _WIN32 #include "b3PosixThreadSupport.h" + b3ThreadSupportInterface* createThreadSupport(int numThreads) { b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("testThreads", - SampleThreadFunc, - SamplelsMemoryFunc, - SamplelsMemoryReleaseFunc, - numThreads); + SampleThreadFunc, + SamplelsMemoryFunc, + SamplelsMemoryReleaseFunc, + numThreads); b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo); return threadSupport; diff --git a/examples/MultiThreading/main.cpp b/examples/MultiThreading/main.cpp index f2dcd13dc..561f17c21 100644 --- a/examples/MultiThreading/main.cpp +++ b/examples/MultiThreading/main.cpp @@ -22,7 +22,7 @@ subject to the following restrictions: void SampleThreadFunc(void* userPtr, void* lsMemory); void* SamplelsMemoryFunc(); - +void SamplelsMemoryReleaseFunc(void* ptr); #include //#include "BulletMultiThreaded/PlatformDefinitions.h" @@ -34,6 +34,7 @@ b3ThreadSupportInterface* createThreadSupport(int numThreads) b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("testThreads", SampleThreadFunc, SamplelsMemoryFunc, +SamplelsMemoryReleaseFunc, numThreads); b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo); @@ -99,6 +100,13 @@ void* SamplelsMemoryFunc() return new SampleThreadLocalStorage; } +void SamplelsMemoryReleaseFunc(void* ptr) +{ + SampleThreadLocalStorage* p = (SampleThreadLocalStorage*)ptr; + delete p; +} + + int main(int argc, char** argv) { int numThreads = 8; From fa7cb25c95dd61127564a224d532afbf6a8d93ff Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 20 Nov 2019 23:47:15 -0800 Subject: [PATCH 302/389] revert the default world to SOFT_MULTIBODY_WORLD --- .../PhysicsServerCommandProcessor.cpp | 24 +++++++++---------- examples/SharedMemory/SharedMemoryPublic.h | 2 +- .../pybullet/examples/deformable_anchor.py | 2 +- examples/pybullet/examples/deformable_ball.py | 2 +- .../pybullet/examples/deformable_torus.py | 2 ++ examples/pybullet/examples/load_soft_body.py | 1 - examples/pybullet/pybullet.c | 2 +- 7 files changed, 18 insertions(+), 17 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 1f96b2d09..2231eb98a 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -2651,24 +2651,24 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld(int flags) m_data->m_broadphase = bv; } - if (flags & RESET_USE_SOFT_MULTIBODY_WORLD) + if (flags & RESET_USE_DEFORMABLE_WORLD) { - m_data->m_solver = new btMultiBodyConstraintSolver; -#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); +#ifndef SKIP_DEFORMABLE_BODY + m_data->m_deformablebodySolver = new btDeformableBodySolver(); + btDeformableMultiBodyConstraintSolver* solver = new btDeformableMultiBodyConstraintSolver; + m_data->m_solver = solver; + solver->setDeformableSolver(m_data->m_deformablebodySolver); + m_data->m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, solver, m_data->m_collisionConfiguration, m_data->m_deformablebodySolver); #endif } if ((0==m_data->m_dynamicsWorld) && (0==(flags&RESET_USE_DISCRETE_DYNAMICS_WORLD))) { -#ifndef SKIP_DEFORMABLE_BODY - m_data->m_deformablebodySolver = new btDeformableBodySolver(); - btDeformableMultiBodyConstraintSolver* solver = new btDeformableMultiBodyConstraintSolver; - m_data->m_solver = solver; - solver->setDeformableSolver(m_data->m_deformablebodySolver); - m_data->m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, solver, m_data->m_collisionConfiguration, m_data->m_deformablebodySolver); + m_data->m_solver = new btMultiBodyConstraintSolver; +#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); #endif } diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index fa7d02f2b..feed391a8 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -567,7 +567,7 @@ enum b3NotificationType enum b3ResetSimulationFlags { - RESET_USE_SOFT_MULTIBODY_WORLD=1, + RESET_USE_DEFORMABLE_WORLD=1, RESET_USE_DISCRETE_DYNAMICS_WORLD=2, RESET_USE_SIMPLE_BROADPHASE=4, }; diff --git a/examples/pybullet/examples/deformable_anchor.py b/examples/pybullet/examples/deformable_anchor.py index 66753b0a6..666334628 100644 --- a/examples/pybullet/examples/deformable_anchor.py +++ b/examples/pybullet/examples/deformable_anchor.py @@ -2,8 +2,8 @@ import pybullet as p from time import sleep physicsClient = p.connect(p.GUI) +p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD) -#p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD) gravZ=-10 p.setGravity(0, 0, gravZ) diff --git a/examples/pybullet/examples/deformable_ball.py b/examples/pybullet/examples/deformable_ball.py index 757994ad5..4ff81b613 100644 --- a/examples/pybullet/examples/deformable_ball.py +++ b/examples/pybullet/examples/deformable_ball.py @@ -3,7 +3,7 @@ from time import sleep physicsClient = p.connect(p.GUI) -#p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD) +p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD) p.setGravity(0, 0, -10) diff --git a/examples/pybullet/examples/deformable_torus.py b/examples/pybullet/examples/deformable_torus.py index e71d0653c..ff02237d6 100644 --- a/examples/pybullet/examples/deformable_torus.py +++ b/examples/pybullet/examples/deformable_torus.py @@ -3,6 +3,8 @@ from time import sleep physicsClient = p.connect(p.GUI) +p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD) + p.setGravity(0, 0, -10) planeId = p.loadURDF("plane.urdf", [0,0,-2]) diff --git a/examples/pybullet/examples/load_soft_body.py b/examples/pybullet/examples/load_soft_body.py index 1e86d59bd..3c55ca2e6 100644 --- a/examples/pybullet/examples/load_soft_body.py +++ b/examples/pybullet/examples/load_soft_body.py @@ -2,7 +2,6 @@ import pybullet as p from time import sleep physicsClient = p.connect(p.GUI) -p.resetSimulation(p.RESET_USE_SOFT_MULTIBODY_WORLD) p.setGravity(0, 0, -10) planeId = p.loadURDF("plane.urdf", [0,0,-2]) boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index faaa971fb..0857ea0da 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -12466,7 +12466,7 @@ initpybullet(void) //PyModule_AddIntConstant(m, "CONSTRAINT_SOLVER_LCP_NNCF",eConstraintSolverLCP_NNCG); //PyModule_AddIntConstant(m, "CONSTRAINT_SOLVER_LCP_BLOCK",eConstraintSolverLCP_BLOCK_PGS); - PyModule_AddIntConstant(m, "RESET_USE_SOFT_MULTIBODY_WORLD", RESET_USE_SOFT_MULTIBODY_WORLD); + PyModule_AddIntConstant(m, "RESET_USE_DEFORMABLE_WORLD", RESET_USE_DEFORMABLE_WORLD); PyModule_AddIntConstant(m, "RESET_USE_DISCRETE_DYNAMICS_WORLD", RESET_USE_DISCRETE_DYNAMICS_WORLD); PyModule_AddIntConstant(m, "RESET_USE_SIMPLE_BROADPHASE", RESET_USE_SIMPLE_BROADPHASE); From f237a40621d4d03cf169a055f4ddd913ac7b2471 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 21 Nov 2019 00:09:32 -0800 Subject: [PATCH 303/389] add a pybullet example to compare the result of soft body and deformable body --- examples/pybullet/examples/test_inertia.py | 28 ++++++++++++++++++++++ 1 file changed, 28 insertions(+) create mode 100644 examples/pybullet/examples/test_inertia.py diff --git a/examples/pybullet/examples/test_inertia.py b/examples/pybullet/examples/test_inertia.py new file mode 100644 index 000000000..a290f3bac --- /dev/null +++ b/examples/pybullet/examples/test_inertia.py @@ -0,0 +1,28 @@ +import pybullet as p +from time import sleep + +physicsClient = p.connect(p.GUI) + +useDeformable = True +if useDeformable: + p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD) + +gravZ=-10 +p.setGravity(0, 0, gravZ) + +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", [0,1,2],useMaximalCoordinates = True) + +clothId = p.loadSoftBody("bunny.obj", basePosition = [0,0,2], scale = 0.5, mass = 1., useNeoHookean = 0, useBendingSprings=1, useMassSpring=1, springElasticStiffness=100, springDampingStiffness=.001, useSelfCollision = 0, frictionCoeff = .5, useFaceContact=1) + +p.setTimeStep(0.0005) + +p.setRealTimeSimulation(1) + + +while p.isConnected(): + p.setGravity(0,0,gravZ) + sleep(1./240.) + From 824fd6410f6e1499edca5c676f807fff5dd40543 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 21 Nov 2019 19:07:11 -0800 Subject: [PATCH 304/389] Use -> Set in API --- examples/SharedMemory/PhysicsClientC_API.cpp | 2 +- examples/SharedMemory/PhysicsClientC_API.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 611a75655..2aed031a5 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -386,7 +386,7 @@ B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle return 0; } -B3_SHARED_API int b3LoadSoftBodyUseSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision) +B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command->m_type == CMD_LOAD_SOFT_BODY); diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 220e5582f..4b744c12e 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -639,7 +639,7 @@ extern "C" B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness); B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ); B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness); - B3_SHARED_API int b3LoadSoftBodyUseSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision); + B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision); B3_SHARED_API int b3LoadSoftBodyUseFaceContact(b3SharedMemoryCommandHandle commandHandle, int useFaceContact); B3_SHARED_API int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle commandHandle, double frictionCoefficient); B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle commandHandle, int useBendingSprings); From 6502409b264454d999125cdecab2a6a08da54b1a Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 21 Nov 2019 19:36:46 -0800 Subject: [PATCH 305/389] bump up pybullet version --- setup.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/setup.py b/setup.py index b84bc9385..ae78e4690 100644 --- a/setup.py +++ b/setup.py @@ -491,7 +491,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS: setup( name='pybullet', - version='2.5.7', + version='2.5.8', description= 'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning', long_description= From 35d8005b72543fba157c2e16da4abb21be7c747c Mon Sep 17 00:00:00 2001 From: Stephen Just Date: Sun, 24 Nov 2019 16:40:54 -0800 Subject: [PATCH 306/389] Add common CMake and Visual Studio project files to gitignore --- .gitignore | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/.gitignore b/.gitignore index a40a36d69..f7768d7b5 100644 --- a/.gitignore +++ b/.gitignore @@ -18,3 +18,14 @@ pip-selfcheck.json /build /dist *.eggs + +# CMake +CMakeFiles/ +CMakeCache.txt +cmake_install.cmake +CTestTestFile.cmake + +# Visual Studio build files +*.vcxproj +*.vcxproj.filters +*.sln From 39df98465e9b4aef9ba595eec411b409c24bf868 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 25 Nov 2019 15:46:21 -0800 Subject: [PATCH 307/389] set a smaller dt for deformable_ball.py for stability and typo fix --- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 6 ++---- examples/pybullet/examples/deformable_ball.py | 1 + src/BulletSoftBody/btSoftBody.cpp | 2 +- 3 files changed, 4 insertions(+), 5 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 92a9746e5..94159893e 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -1642,7 +1642,6 @@ struct PhysicsServerCommandProcessorInternalData btAlignedObjectArray m_lf; #endif - btMultiBodyDynamicsWorld* m_dynamicsWorld; int m_constraintSolverType; @@ -1713,7 +1712,6 @@ struct PhysicsServerCommandProcessorInternalData m_deformablebodySolver(0), #endif m_dynamicsWorld(0), - m_deformablebodySolver(0), m_constraintSolverType(-1), m_remoteDebugDrawer(0), m_stateLoggersUniqueId(0), @@ -8104,7 +8102,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar { std::vector shapes; tinyobj::attrib_t attribute; - std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), "", fileIO); + std::string err = tinyobj::LoadObj(attribute, shapes, out_found_sim_filename.c_str(), "", fileIO); if (!shapes.empty()) { const tinyobj::shape_t& shape = shapes[0]; @@ -8153,7 +8151,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar } #endif } - else if (out_type == UrdfGeometry::FILE_VTK) + else if (out_sim_type == UrdfGeometry::FILE_VTK) { #ifndef SKIP_DEFORMABLE_BODY btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); diff --git a/examples/pybullet/examples/deformable_ball.py b/examples/pybullet/examples/deformable_ball.py index 4ff81b613..279737fa4 100644 --- a/examples/pybullet/examples/deformable_ball.py +++ b/examples/pybullet/examples/deformable_ball.py @@ -13,6 +13,7 @@ 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.setTimeStep(0.001) p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25) p.setRealTimeSimulation(1) diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index a0d025480..2a458b1d8 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -2460,7 +2460,7 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO // const btTransform& wtr = colObjWrap->getWorldTransform(); btScalar dst; -#define USE_QUADRATURE 1 +//#define USE_QUADRATURE 1 //#define CACHE_PREV_COLLISION // use the contact position of the previous collision From 7bce5d61f485d8f17c3c7d0400b550ff4e0e4822 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 27 Nov 2019 11:40:10 -0800 Subject: [PATCH 308/389] separate in-plane and bending stiffness for mass spring model for easier parameter tuning --- examples/SharedMemory/PhysicsClientC_API.cpp | 5 +-- examples/SharedMemory/PhysicsClientC_API.h | 2 +- .../PhysicsServerCommandProcessor.cpp | 33 +++++++++++-------- examples/SharedMemory/SharedMemoryCommands.h | 25 +++++++------- examples/pybullet/pybullet.c | 7 ++-- .../btDeformableMassSpringForce.h | 13 +++++--- 6 files changed, 50 insertions(+), 35 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index ee506c143..530634435 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -422,11 +422,12 @@ B3_SHARED_API int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHand return 0; } -B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle commandHandle, int useBendingSprings) +B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle commandHandle, int useBendingSprings, double bendingStiffness) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command->m_type == CMD_LOAD_SOFT_BODY); - command->m_loadSoftBodyArguments.m_useBendingSprings = useBendingSprings; + command->m_loadSoftBodyArguments.m_useBendingSprings = useBendingSprings; + command->m_loadSoftBodyArguments.m_springBendingStiffness = bendingStiffness; command->m_updateFlags |= LOAD_SOFT_BODY_ADD_BENDING_SPRINGS; return 0; } diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index c67f79d9c..a6070ed95 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -643,7 +643,7 @@ extern "C" B3_SHARED_API int b3LoadSoftBodyUseSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision); B3_SHARED_API int b3LoadSoftBodyUseFaceContact(b3SharedMemoryCommandHandle commandHandle, int useFaceContact); B3_SHARED_API int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle commandHandle, double frictionCoefficient); - B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle commandHandle, int useBendingSprings); + B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle commandHandle, int useBendingSprings, double bendingStiffness); B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateSoftBodyAnchorConstraintCommand(b3PhysicsClientHandle physClient, int softBodyUniqueId, int nodeIndex, int bodyUniqueId, int linkIndex, const double bodyFramePosition[3]); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index d3565c4d5..a321001cc 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -8070,7 +8070,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar { collisionMargin = clientCmd.m_loadSoftBodyArguments.m_collisionMargin; } - + btScalar spring_bending_stiffness = 0; { btSoftBody* psb = NULL; @@ -8137,7 +8137,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar } } #ifndef SKIP_DEFORMABLE_BODY - btScalar spring_elastic_stiffness, spring_damping_stiffness; + btScalar spring_elastic_stiffness, spring_damping_stiffness; if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE) { btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); @@ -8145,7 +8145,11 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar { spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; - btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false); + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS) + { + spring_bending_stiffness = clientCmd.m_loadSoftBodyArguments.m_springBendingStiffness; + } + btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false, spring_bending_stiffness); deformWorld->addForce(psb, springForce); m_data->m_lf.push_back(springForce); } @@ -8178,12 +8182,16 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar deformWorld->addForce(psb, neohookeanForce); m_data->m_lf.push_back(neohookeanForce); } - btScalar spring_elastic_stiffness, spring_damping_stiffness; + btScalar spring_elastic_stiffness, spring_damping_stiffness; if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE) { spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; - btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true); + if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS) + { + spring_bending_stiffness = clientCmd.m_loadSoftBodyArguments.m_springBendingStiffness; + } + btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true, spring_bending_stiffness); deformWorld->addForce(psb, springForce); m_data->m_lf.push_back(springForce); } @@ -8258,19 +8266,18 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar friction_coeff = loadSoftBodyArgs.m_frictionCoeff; } psb->m_cfg.kDF = friction_coeff; - - bool use_bending_spring = true; + bool use_bending_spring = false; if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS) { - use_bending_spring = loadSoftBodyArgs.m_useBendingSprings; + use_bending_spring = loadSoftBodyArgs.m_useBendingSprings; + if (use_bending_spring) + { + psb->generateBendingConstraints(2); + } } btSoftBody::Material* pm = psb->appendMaterial(); pm->m_flags -= btSoftBody::fMaterial::DebugDraw; - if (use_bending_spring) - { - psb->generateBendingConstraints(2,pm); - } - + // turn on the collision flag for deformable // collision between deformable and rigid psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index ccb6357fe..958cf38a4 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -523,18 +523,19 @@ struct LoadSoftBodyArgs double m_mass; double m_collisionMargin; double m_initialPosition[3]; - double m_initialOrientation[4]; - double m_springElasticStiffness; - double m_springDampingStiffness; - double m_corotatedMu; - double m_corotatedLambda; - int m_useBendingSprings; - double m_collisionHardness; - double m_useSelfCollision; - double m_frictionCoeff; - double m_NeoHookeanMu; - double m_NeoHookeanLambda; - double m_NeoHookeanDamping; + double m_initialOrientation[4]; + double m_springElasticStiffness; + double m_springDampingStiffness; + double m_springBendingStiffness; + double m_corotatedMu; + double m_corotatedLambda; + int m_useBendingSprings; + double m_collisionHardness; + double m_useSelfCollision; + double m_frictionCoeff; + double m_NeoHookeanMu; + double m_NeoHookeanLambda; + double m_NeoHookeanDamping; int m_useFaceContact; char m_simFileName[MAX_FILENAME_LENGTH]; }; diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 0857ea0da..53b119478 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -1973,7 +1973,7 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject* int physicsClientId = 0; int flags = 0; - static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "scale", "mass", "collisionMargin", "physicsClientId", "useMassSpring", "useBendingSprings", "useNeoHookean", "springElasticStiffness", "springDampingStiffness", "NeoHookeanMu", "NeoHookeanLambda", "NeoHookeanDamping", "frictionCoeff", "useFaceContact", "useSelfCollision", NULL}; + static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "scale", "mass", "collisionMargin", "physicsClientId", "useMassSpring", "useBendingSprings", "useNeoHookean", "springElasticStiffness", "springDampingStiffness", "springBendingStiffness", "NeoHookeanMu", "NeoHookeanLambda", "NeoHookeanDamping", "frictionCoeff", "useFaceContact", "useSelfCollision", NULL}; int bodyUniqueId = -1; const char* fileName = ""; @@ -1985,6 +1985,7 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject* int useNeoHookean = 0; double springElasticStiffness = 1; double springDampingStiffness = 0.1; + double springBendingStiffness = 0.1; double NeoHookeanMu = 1; double NeoHookeanLambda = 1; double NeoHookeanDamping = 0.1; @@ -2002,7 +2003,7 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject* PyObject* basePosObj = 0; PyObject* baseOrnObj = 0; - if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOdddiiiiddddddii", kwlist, &fileName, &basePosObj, &baseOrnObj, &scale, &mass, &collisionMargin, &physicsClientId, &useMassSpring, &useBendingSprings, &useNeoHookean, &springElasticStiffness, &springDampingStiffness, &NeoHookeanMu, &NeoHookeanLambda, &NeoHookeanDamping, &frictionCoeff, &useFaceContact, &useSelfCollision)) + if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOdddiiiidddddddii", kwlist, &fileName, &basePosObj, &baseOrnObj, &scale, &mass, &collisionMargin, &physicsClientId, &useMassSpring, &useBendingSprings, &useNeoHookean, &springElasticStiffness, &springDampingStiffness, &springBendingStiffness, &NeoHookeanMu, &NeoHookeanLambda, &NeoHookeanDamping, &frictionCoeff, &useFaceContact, &useSelfCollision)) { return NULL; } @@ -2058,7 +2059,7 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject* if (useMassSpring) { b3LoadSoftBodyAddMassSpringForce(command, springElasticStiffness, springDampingStiffness); - b3LoadSoftBodyUseBendingSprings(command, useBendingSprings); + b3LoadSoftBodyUseBendingSprings(command, useBendingSprings, springBendingStiffness); } if (useNeoHookean) { diff --git a/src/BulletSoftBody/btDeformableMassSpringForce.h b/src/BulletSoftBody/btDeformableMassSpringForce.h index 44ac91c62..54b4e4481 100644 --- a/src/BulletSoftBody/btDeformableMassSpringForce.h +++ b/src/BulletSoftBody/btDeformableMassSpringForce.h @@ -23,14 +23,18 @@ class btDeformableMassSpringForce : public btDeformableLagrangianForce // If true, the damping force will be in the direction of the spring // If false, the damping force will be in the direction of the velocity bool m_momentum_conserving; - btScalar m_elasticStiffness, m_dampingStiffness; + btScalar m_elasticStiffness, m_dampingStiffness, m_bendingStiffness; public: typedef btAlignedObjectArray TVStack; btDeformableMassSpringForce() : m_momentum_conserving(false), m_elasticStiffness(1), m_dampingStiffness(0.05) { } - btDeformableMassSpringForce(btScalar k, btScalar d, bool conserve_angular = true) : m_momentum_conserving(conserve_angular), m_elasticStiffness(k), m_dampingStiffness(d) + btDeformableMassSpringForce(btScalar k, btScalar d, bool conserve_angular = true, double bending_k = -1) : m_momentum_conserving(conserve_angular), m_elasticStiffness(k), m_dampingStiffness(d), m_bendingStiffness(bending_k) { + if (m_bendingStiffness < btScalar(0)) + { + m_bendingStiffness = m_elasticStiffness; + } } virtual void addScaledForces(btScalar scale, TVStack& force) @@ -103,7 +107,8 @@ public: // elastic force btVector3 dir = (node2->m_q - node1->m_q); btVector3 dir_normalized = (dir.norm() > SIMD_EPSILON) ? dir.normalized() : btVector3(0,0,0); - btVector3 scaled_force = scale * m_elasticStiffness * (dir - dir_normalized * r); + btScalar scaled_stiffness = scale * (link.m_bbending ? m_bendingStiffness : m_elasticStiffness); + btVector3 scaled_force = scaled_stiffness * (dir - dir_normalized * r); force[id1] += scaled_force; force[id2] -= scaled_force; } @@ -212,7 +217,6 @@ public: { continue; } - btScalar scaled_k = m_elasticStiffness * scale; for (int j = 0; j < psb->m_links.size(); ++j) { const btSoftBody::Link& link = psb->m_links[j]; @@ -227,6 +231,7 @@ public: btVector3 dir_normalized = (dir_norm > SIMD_EPSILON) ? dir.normalized() : btVector3(0,0,0); btVector3 dx_diff = dx[id1] - dx[id2]; btVector3 scaled_df = btVector3(0,0,0); + btScalar scaled_k = scale * (link.m_bbending ? m_bendingStiffness : m_elasticStiffness); if (dir_norm > SIMD_EPSILON) { scaled_df -= scaled_k * dir_normalized.dot(dx_diff) * dir_normalized; From 8fde74ecea55c0da4400feb0444c9429482bfc1e Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 28 Nov 2019 12:14:40 -0800 Subject: [PATCH 309/389] update SHARED_MEMORY_MAGIC_NUMBER --- examples/SharedMemory/SharedMemoryPublic.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index feed391a8..01727fe5c 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -7,8 +7,8 @@ //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 201911180 +#define SHARED_MEMORY_MAGIC_NUMBER 201911280 +//#define SHARED_MEMORY_MAGIC_NUMBER 201911180 //#define SHARED_MEMORY_MAGIC_NUMBER 201909030 //#define SHARED_MEMORY_MAGIC_NUMBER 201908110 //#define SHARED_MEMORY_MAGIC_NUMBER 201908050 From 56d0b7a09a2d22f84496c963b63314047d7661ed Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Fri, 29 Nov 2019 08:05:54 -0800 Subject: [PATCH 310/389] deep_mimic, read velocity from poseInterpolator, not kinematic model This fixes issue #2401 --- .../gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py b/examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py index cbdf9d191..5a07d70a6 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py +++ b/examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py @@ -807,7 +807,10 @@ class HumanoidStablePD(object): rootPosSim, rootOrnSim = self._pybullet_client.getBasePositionAndOrientation(self._sim_model) rootPosKin, rootOrnKin = self._pybullet_client.getBasePositionAndOrientation(self._kin_model) linVelSim, angVelSim = self._pybullet_client.getBaseVelocity(self._sim_model) - linVelKin, angVelKin = self._pybullet_client.getBaseVelocity(self._kin_model) + #don't read the velocities from the kinematic model (they are zero), use the pose interpolator velocity + #see also issue https://github.com/bulletphysics/bullet3/issues/2401 + linVelKin = self._poseInterpolator._baseLinVel + angVelKin = self._poseInterpolator._baseAngVel root_rot_err = self.calcRootRotDiff(rootOrnSim, rootOrnKin) pose_err += root_rot_w * root_rot_err From 7f9f514b7ee5de90bdaf3fad6ed636f5c54c6442 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sat, 30 Nov 2019 13:19:28 -0800 Subject: [PATCH 311/389] enable self-collision for deep_mimic pybullet_envs and make it easier to try it out: python3 -m pybullet_envs.deep_mimic.testrl --- examples/pybullet/examples/humanoidMotionCapture.py | 12 ++++++------ .../deep_mimic/env/humanoid_stable_pd.py | 5 ++--- .../pybullet/gym/pybullet_envs/deep_mimic/testrl.py | 2 ++ 3 files changed, 10 insertions(+), 9 deletions(-) diff --git a/examples/pybullet/examples/humanoidMotionCapture.py b/examples/pybullet/examples/humanoidMotionCapture.py index 3c7f8a7a6..f810f533e 100644 --- a/examples/pybullet/examples/humanoidMotionCapture.py +++ b/examples/pybullet/examples/humanoidMotionCapture.py @@ -84,32 +84,32 @@ p.addUserDebugText("Kinematic", p.addUserDebugText("Stable PD (Py)", [startLocations[4][0], startLocations[4][1] + 1, startLocations[4][2]], [0, 0, 0]) - +flags=p.URDF_MAINTAIN_LINK_ORDER+p.URDF_USE_SELF_COLLISION humanoid = p.loadURDF("humanoid/humanoid.urdf", startLocations[0], globalScaling=0.25, useFixedBase=False, - flags=p.URDF_MAINTAIN_LINK_ORDER) + flags=flags) humanoid2 = p.loadURDF("humanoid/humanoid.urdf", startLocations[1], globalScaling=0.25, useFixedBase=False, - flags=p.URDF_MAINTAIN_LINK_ORDER) + flags=flags) humanoid3 = p.loadURDF("humanoid/humanoid.urdf", startLocations[2], globalScaling=0.25, useFixedBase=False, - flags=p.URDF_MAINTAIN_LINK_ORDER) + flags=flags) humanoid4 = p.loadURDF("humanoid/humanoid.urdf", startLocations[3], globalScaling=0.25, useFixedBase=False, - flags=p.URDF_MAINTAIN_LINK_ORDER) + flags=flags) humanoid5 = p.loadURDF("humanoid/humanoid.urdf", startLocations[4], globalScaling=0.25, useFixedBase=False, - flags=p.URDF_MAINTAIN_LINK_ORDER) + flags=flags) humanoid_fix = p.createConstraint(humanoid, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0], startLocations[0], [0, 0, 0, 1]) diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py b/examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py index 5a07d70a6..2e9f95c18 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py +++ b/examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py @@ -25,12 +25,12 @@ class HumanoidStablePD(object): self._mocap_data = mocap_data self._arg_parser = arg_parser print("LOADING humanoid!") - + flags=self._pybullet_client.URDF_MAINTAIN_LINK_ORDER+self._pybullet_client.URDF_USE_SELF_COLLISION+self._pybullet_client.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS self._sim_model = self._pybullet_client.loadURDF( "humanoid/humanoid.urdf", [0, 0.889540259, 0], globalScaling=0.25, useFixedBase=useFixedBase, - flags=self._pybullet_client.URDF_MAINTAIN_LINK_ORDER) + flags=flags) #self._pybullet_client.setCollisionFilterGroupMask(self._sim_model,-1,collisionFilterGroup=0,collisionFilterMask=0) #for j in range (self._pybullet_client.getNumJoints(self._sim_model)): @@ -346,7 +346,6 @@ class HumanoidStablePD(object): #static char* kwlist[] = { "bodyUniqueId", #"jointIndices", #"controlMode", "targetPositions", "targetVelocities", "forces", "positionGains", "velocityGains", "maxVelocities", "physicsClientId", NULL }; - self._pybullet_client.setJointMotorControlMultiDofArray(self._sim_model, indices, self._pybullet_client.STABLE_PD_CONTROL, diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/testrl.py b/examples/pybullet/gym/pybullet_envs/deep_mimic/testrl.py index 9b9549359..bca52c161 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/testrl.py +++ b/examples/pybullet/gym/pybullet_envs/deep_mimic/testrl.py @@ -37,6 +37,8 @@ def build_arg_parser(args): arg_parser.load_args(args) arg_file = arg_parser.parse_string('arg_file', '') + if arg_file == '': + arg_file = "run_humanoid3d_backflip_args.txt" if (arg_file != ''): path = pybullet_data.getDataPath() + "/args/" + arg_file succ = arg_parser.load_file(path) From 763e25dd37d7d8e3836ad3562269fd5e7f0da119 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 3 Dec 2019 20:49:08 -0800 Subject: [PATCH 312/389] fix Mac Catalina pybullet build (setup.py) --- examples/OpenGLWindow/MacOpenGLWindowObjC.m | 3 +++ 1 file changed, 3 insertions(+) diff --git a/examples/OpenGLWindow/MacOpenGLWindowObjC.m b/examples/OpenGLWindow/MacOpenGLWindowObjC.m index 31fab0df0..6294f354c 100644 --- a/examples/OpenGLWindow/MacOpenGLWindowObjC.m +++ b/examples/OpenGLWindow/MacOpenGLWindowObjC.m @@ -1,8 +1,11 @@ #ifndef B3_USE_GLFW +#define __OBJC2__ 1 +#include #include "MacOpenGLWindowObjC.h" #define GL_DO_NOT_WARN_IF_MULTI_GL_VERSION_HEADERS_INCLUDED + #import #include "OpenGLInclude.h" From 7c5796b67d326e998b40fa4ec0ef0948bfe32782 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 4 Dec 2019 14:48:28 -0800 Subject: [PATCH 313/389] update Laikago robot with textures, and a version with toes to enable inverse kinematics. --- .../gym/pybullet_data/laikago/chassis.mtl | 13 +- .../gym/pybullet_data/laikago/chassis.obj | 27518 ++++++++++++---- .../pybullet_data/laikago/chassis_vhacd.obj | 2454 +- .../laikago/chassis_vhacd_mod.obj | 3288 +- .../gym/pybullet_data/laikago/hip_motor.mtl | 11 + .../gym/pybullet_data/laikago/hip_motor.obj | 2233 ++ .../laikago/hip_motor_mirror.mtl | 11 + .../laikago/hip_motor_mirror.obj | 2234 ++ .../gym/pybullet_data/laikago/laikago.py | 155 +- .../gym/pybullet_data/laikago/laikago.urdf | 951 +- .../gym/pybullet_data/laikago/laikago_tex.jpg | Bin 0 -> 258423 bytes .../pybullet_data/laikago/laikago_toes.urdf | 75 +- .../gym/pybullet_data/laikago/lower_leg3.mtl | 11 + .../gym/pybullet_data/laikago/lower_leg3.obj | 11100 +++++++ .../laikago/lower_leg_3_collision.stl | Bin 0 -> 9484 bytes .../pybullet_data/laikago/upper_leg_left.mtl | 15 +- .../pybullet_data/laikago/upper_leg_left.obj | 8598 +++-- .../pybullet_data/laikago/upper_leg_left2.mtl | 13 + .../pybullet_data/laikago/upper_leg_left2.obj | 7471 +++++ .../laikago/upper_leg_left_vhacd.obj | 1812 +- .../laikago/upper_leg_mirror.mtl | 11 + .../laikago/upper_leg_mirror.obj | 6407 ++++ .../laikago/upper_leg_mirror2.mtl | 11 + .../laikago/upper_leg_mirror2.obj | 6407 ++++ .../pybullet_data/laikago/upper_leg_right.mtl | 15 +- .../pybullet_data/laikago/upper_leg_right.obj | 8178 +++-- .../laikago/upper_leg_right_vhacd.obj | 1172 +- .../gym/pybullet_envs/examples/laikago.py | 10 +- 28 files changed, 74259 insertions(+), 15915 deletions(-) create mode 100644 examples/pybullet/gym/pybullet_data/laikago/hip_motor.mtl create mode 100644 examples/pybullet/gym/pybullet_data/laikago/hip_motor.obj create mode 100644 examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror.mtl create mode 100644 examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror.obj create mode 100644 examples/pybullet/gym/pybullet_data/laikago/laikago_tex.jpg create mode 100644 examples/pybullet/gym/pybullet_data/laikago/lower_leg3.mtl create mode 100644 examples/pybullet/gym/pybullet_data/laikago/lower_leg3.obj create mode 100644 examples/pybullet/gym/pybullet_data/laikago/lower_leg_3_collision.stl create mode 100644 examples/pybullet/gym/pybullet_data/laikago/upper_leg_left2.mtl create mode 100644 examples/pybullet/gym/pybullet_data/laikago/upper_leg_left2.obj create mode 100644 examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror.mtl create mode 100644 examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror.obj create mode 100644 examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror2.mtl create mode 100644 examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror2.obj diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis.mtl b/examples/pybullet/gym/pybullet_data/laikago/chassis.mtl index 70d3ba1da..2849e6fb6 100644 --- a/examples/pybullet/gym/pybullet_data/laikago/chassis.mtl +++ b/examples/pybullet/gym/pybullet_data/laikago/chassis.mtl @@ -1,10 +1,13 @@ # Blender MTL File: 'None' # Material Count: 1 -newmtl None -Ns 0 +newmtl None.003 +Ns 0.000000 Ka 0.000000 0.000000 0.000000 -Kd 0.8 0.8 0.8 -Ks 0.8 0.8 0.8 -d 1 +Kd 0.800000 0.800000 0.800000 +Ks 0.800000 0.800000 0.800000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 illum 2 +map_Kd laikago_tex.jpg diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis.obj b/examples/pybullet/gym/pybullet_data/laikago/chassis.obj index ad01c1f9d..0669f0d10 100644 --- a/examples/pybullet/gym/pybullet_data/laikago/chassis.obj +++ b/examples/pybullet/gym/pybullet_data/laikago/chassis.obj @@ -1,7 +1,135 @@ -# Blender v2.71 (sub 0) OBJ File: '' +# Blender v2.78 (sub 0) OBJ File: '' # www.blender.org mtllib chassis.mtl -o EXP_OTL_-_EXP_OTL_BDYR1_median +o EXP_OTL_-_EXP_OTL_BDYR1_median.002 +v 0.032757 0.022622 0.258143 +v 0.032757 0.022622 0.269217 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Material Count: 1 + +newmtl None +Ns 0 +Ka 0.000000 0.000000 0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 +map_Kd laikago_tex.jpg diff --git a/examples/pybullet/gym/pybullet_data/laikago/hip_motor.obj b/examples/pybullet/gym/pybullet_data/laikago/hip_motor.obj new file mode 100644 index 000000000..12c69621a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/laikago/hip_motor.obj @@ -0,0 +1,2233 @@ +# Blender v2.78 (sub 0) OBJ File: 'laikago_textured.blend' +# www.blender.org +mtllib hip_motor.mtl +o Hip_Motor +v 0.018701 0.013220 -0.037911 +v 0.018748 0.014787 -0.037315 +v 0.025328 0.017333 -0.036089 +v -0.006241 0.015542 -0.037315 +v 0.024366 -0.014520 -0.037911 +v 0.018004 -0.009834 -0.039230 +v 0.024501 -0.010031 -0.039230 +v 0.018144 -0.005224 -0.040028 +v 0.024641 -0.005420 -0.040028 +v 0.018285 -0.000552 -0.040295 +v 0.024782 -0.000748 -0.040295 +v 0.018426 0.004119 -0.040028 +v 0.024923 0.003923 -0.040028 +v 0.018565 0.008730 -0.039230 +v 0.025062 0.008534 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353/559/219 +f 392/788/220 352/558/220 353/559/220 +f 392/788/220 391/789/220 352/558/220 +f 391/789/221 351/557/221 352/558/221 +f 391/789/221 390/790/221 351/557/221 +f 390/790/222 356/562/222 351/557/222 +f 390/790/222 389/791/222 356/562/222 +f 389/617/185 355/749/185 356/792/185 diff --git a/examples/pybullet/gym/pybullet_data/laikago/laikago.py b/examples/pybullet/gym/pybullet_data/laikago/laikago.py index 638639f5d..149c67714 100644 --- a/examples/pybullet/gym/pybullet_data/laikago/laikago.py +++ b/examples/pybullet/gym/pybullet_data/laikago/laikago.py @@ -3,108 +3,95 @@ import time p.connect(p.GUI) plane = p.loadURDF("plane.urdf") -p.setGravity(0, 0, -9.8) -p.setTimeStep(1. / 500) +p.setGravity(0,0,-9.8) +p.setTimeStep(1./500) #p.setDefaultContactERP(0) -#urdfFlags = p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS +#urdfFlags = p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS urdfFlags = p.URDF_USE_SELF_COLLISION -quadruped = p.loadURDF("laikago.urdf", [0, 0, .5], [0, 0.5, 0.5, 0], - flags=urdfFlags, - useFixedBase=False) +quadruped = p.loadURDF("laikago_toes.urdf",[0,0,.5],[0,0.5,0.5,0], flags = urdfFlags,useFixedBase=False) #enable collision between lower legs -for j in range(p.getNumJoints(quadruped)): - print(p.getJointInfo(quadruped, j)) +for j in range (p.getNumJoints(quadruped)): + print(p.getJointInfo(quadruped,j)) #2,5,8 and 11 are the lower legs -lower_legs = [2, 5, 8, 11] +lower_legs = [2,5,8,11] for l0 in lower_legs: - for l1 in lower_legs: - if (l1 > l0): - enableCollision = 1 - print("collision for pair", l0, l1, - p.getJointInfo(quadruped, l0)[12], - p.getJointInfo(quadruped, l1)[12], "enabled=", enableCollision) - p.setCollisionFilterPair(quadruped, quadruped, 2, 5, enableCollision) + for l1 in lower_legs: + if (l1>l0): + enableCollision = 1 + print("collision for pair",l0,l1, p.getJointInfo(quadruped,l0)[12],p.getJointInfo(quadruped,l1)[12], "enabled=",enableCollision) + p.setCollisionFilterPair(quadruped, quadruped, 2,5,enableCollision) -jointIds = [] -paramIds = [] -jointOffsets = [] -jointDirections = [-1, 1, 1, 1, 1, 1, -1, 1, 1, 1, 1, 1] -jointAngles = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] +jointIds=[] +paramIds=[] +jointOffsets=[] +jointDirections=[-1,1,1,1,1,1,-1,1,1,1,1,1] +jointAngles=[0,0,0,0,0,0,0,0,0,0,0,0] -for i in range(4): - jointOffsets.append(0) - jointOffsets.append(-0.7) - jointOffsets.append(0.7) +for i in range (4): + jointOffsets.append(0) + jointOffsets.append(-0.7) + jointOffsets.append(0.7) -maxForceId = p.addUserDebugParameter("maxForce", 0, 100, 20) +maxForceId = p.addUserDebugParameter("maxForce",0,100,20) -for j in range(p.getNumJoints(quadruped)): - p.changeDynamics(quadruped, j, linearDamping=0, angularDamping=0) - info = p.getJointInfo(quadruped, j) - #print(info) - jointName = info[1] - jointType = info[2] - if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE): - jointIds.append(j) +for j in range (p.getNumJoints(quadruped)): + p.changeDynamics(quadruped,j,linearDamping=0, angularDamping=0) + info = p.getJointInfo(quadruped,j) + #print(info) + jointName = info[1] + jointType = info[2] + if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE): + jointIds.append(j) -p.getCameraImage(480, 320) + +p.getCameraImage(480,320) p.setRealTimeSimulation(0) -joints = [] +joints=[] -with open("data1.txt", "r") as filestream: - for line in filestream: - print("line=", line) - maxForce = p.readUserDebugParameter(maxForceId) - currentline = line.split(",") - #print (currentline) - #print("-----") - frame = currentline[0] - t = currentline[1] - #print("frame[",frame,"]") - joints = currentline[2:14] - #print("joints=",joints) - for j in range(12): - targetPos = float(joints[j]) - p.setJointMotorControl2(quadruped, - jointIds[j], - p.POSITION_CONTROL, - jointDirections[j] * targetPos + jointOffsets[j], - force=maxForce) - p.stepSimulation() - for lower_leg in lower_legs: - #print("points for ", quadruped, " link: ", lower_leg) - pts = p.getContactPoints(quadruped, -1, lower_leg) - #print("num points=",len(pts)) - #for pt in pts: - # print(pt[9]) - time.sleep(1. / 500.) +with open("data1.txt","r") as filestream: + for line in filestream: + maxForce = p.readUserDebugParameter(maxForceId) + currentline = line.split(",") + frame = currentline[0] + t = currentline[1] + joints=currentline[2:14] + for j in range (12): + targetPos = float(joints[j]) + p.setJointMotorControl2(quadruped,jointIds[j],p.POSITION_CONTROL,jointDirections[j]*targetPos+jointOffsets[j], force=maxForce) + p.stepSimulation() + for lower_leg in lower_legs: + #print("points for ", quadruped, " link: ", lower_leg) + pts = p.getContactPoints(quadruped,-1, lower_leg) + #print("num points=",len(pts)) + #for pt in pts: + # print(pt[9]) + time.sleep(1./500.) + + +index = 0 +for j in range (p.getNumJoints(quadruped)): + p.changeDynamics(quadruped,j,linearDamping=0, angularDamping=0) + info = p.getJointInfo(quadruped,j) + js = p.getJointState(quadruped,j) + #print(info) + jointName = info[1] + jointType = info[2] + if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE): + paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"),-4,4,(js[0]-jointOffsets[index])/jointDirections[index])) + index=index+1 -for j in range(p.getNumJoints(quadruped)): - p.changeDynamics(quadruped, j, linearDamping=0, angularDamping=0) - info = p.getJointInfo(quadruped, j) - js = p.getJointState(quadruped, j) - #print(info) - jointName = info[1] - jointType = info[2] - if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE): - paramIds.append( - p.addUserDebugParameter(jointName.decode("utf-8"), -4, 4, - (js[0] - jointOffsets[j]) / jointDirections[j])) p.setRealTimeSimulation(1) while (1): - - for i in range(len(paramIds)): - c = paramIds[i] - targetPos = p.readUserDebugParameter(c) - maxForce = p.readUserDebugParameter(maxForceId) - p.setJointMotorControl2(quadruped, - jointIds[i], - p.POSITION_CONTROL, - jointDirections[i] * targetPos + jointOffsets[i], - force=maxForce) + + for i in range(len(paramIds)): + c = paramIds[i] + targetPos = p.readUserDebugParameter(c) + maxForce = p.readUserDebugParameter(maxForceId) + p.setJointMotorControl2(quadruped,jointIds[i],p.POSITION_CONTROL,jointDirections[i]*targetPos+jointOffsets[i], force=maxForce) + diff --git a/examples/pybullet/gym/pybullet_data/laikago/laikago.urdf b/examples/pybullet/gym/pybullet_data/laikago/laikago.urdf index 57b0a59b3..7b7f578f2 100644 --- a/examples/pybullet/gym/pybullet_data/laikago/laikago.urdf +++ b/examples/pybullet/gym/pybullet_data/laikago/laikago.urdf @@ -1,477 +1,474 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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z0bl?a00w{oU;r2Z27m!z02lxUfB|3t7yt%<0bl?a00w{oU;r2Z27m!z02lxUfB|3t z7yt%<0bl?a00w{oU;r2Z27m!z02lxUfB|3t7yt%<0bl?a00w{oU;r2Z27m!z02lxU zfB|3t7yt%<0bl?a00w{oU;r2Z27m!z02lxUfB|3t7yt%<0bl?a00w}8|K0$@ukpVD DESnsL literal 0 HcmV?d00001 diff --git a/examples/pybullet/gym/pybullet_data/laikago/laikago_toes.urdf b/examples/pybullet/gym/pybullet_data/laikago/laikago_toes.urdf index abcf3e740..8268c3da3 100644 --- a/examples/pybullet/gym/pybullet_data/laikago/laikago_toes.urdf +++ b/examples/pybullet/gym/pybullet_data/laikago/laikago_toes.urdf @@ -12,10 +12,10 @@ - + - - + + @@ -38,9 +38,9 @@ - + - + @@ -72,9 +72,9 @@ - + - + @@ -107,9 +107,9 @@ - + - + @@ -142,10 +142,9 @@ - + - - + @@ -180,10 +179,9 @@ - + - - + @@ -219,11 +217,10 @@ - + - - - + + @@ -262,9 +259,9 @@ - + - + @@ -297,9 +294,9 @@ - + - + @@ -332,9 +329,9 @@ - + - + @@ -368,9 +365,9 @@ - + - + @@ -404,9 +401,9 @@ - + - + @@ -441,9 +438,9 @@ - + - + @@ -475,9 +472,9 @@ - + - + @@ -508,9 +505,9 @@ - + - + @@ -541,9 +538,9 @@ - + - + @@ -574,9 +571,9 @@ - + - + diff --git a/examples/pybullet/gym/pybullet_data/laikago/lower_leg3.mtl b/examples/pybullet/gym/pybullet_data/laikago/lower_leg3.mtl new file mode 100644 index 000000000..bb492f0a9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/laikago/lower_leg3.mtl @@ -0,0 +1,11 @@ +# Blender MTL File: 'laikago_textured.blend' +# Material Count: 1 + +newmtl None +Ns 0 +Ka 0.000000 0.000000 0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 +map_Kd laikago_tex.jpg diff --git a/examples/pybullet/gym/pybullet_data/laikago/lower_leg3.obj b/examples/pybullet/gym/pybullet_data/laikago/lower_leg3.obj new file mode 100644 index 000000000..1f0f14892 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/laikago/lower_leg3.obj @@ -0,0 +1,11100 @@ +# Blender v2.78 (sub 0) OBJ File: 'laikago_textured.blend' +# www.blender.org +mtllib lower_leg3.mtl +o Lower_Leg_3 +v -0.002805 -0.258186 0.005362 +v -0.002805 -0.258186 -0.005268 +v -0.003218 -0.258336 0.001906 +v -0.003218 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zKmu=i`pdReD|%z`AbHS`fgCMJpl?D(#*g9-ow_jhzw2{6N8u~Z8!9RTh9)ysHb%dz z-5=0``w#8O&SecT5U4WVAlK(DWfo5ViW^5K7|xhTA+hcLGjBMrAZd|SY~At5upB);?GOYLaB6GaOW z#uu-rXXE(5in{Wvm+3OTk)g`?o;bCrJ8!#auT*~2MA3o-`Xi+8oMyaj|6D2P@-PE| zDtv9xPfMZI+A@nInw-8vKp!|)7%d@{V*=zgd8g!p$`HfvocP|3@B4aJ`$6OtR>|s^ z&fPiwQjNd9;ajGDKNnp2mahx6NN;xofxj*wO-RtBeDUJ Date: Wed, 4 Dec 2019 15:49:06 -0800 Subject: [PATCH 314/389] increase max number of parameters (to around 300) in debug GUI --- examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp b/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp index 3b8bde1f1..740bcce71 100644 --- a/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp +++ b/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp @@ -290,7 +290,7 @@ void GwenUserInterface::init(int width, int height, Gwen::Renderer::Base* render //tab->SetHeight(300); tab->SetWidth(240); - tab->SetHeight(1250); + tab->SetHeight(13250); //tab->Dock(Gwen::Pos::Left); tab->Dock(Gwen::Pos::Fill); //tab->SetMargin( Gwen::Margin( 2, 2, 2, 2 ) ); From 7b072f1f284f0eb1be66b9765583a4a592c93116 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 5 Dec 2019 08:05:32 -0800 Subject: [PATCH 315/389] fix clang warning unction 'btSoftBody::checkDeformableFaceContact' has a definition with different parameter names --- src/BulletSoftBody/btSoftBody.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index c3262f02c..2b048c111 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -1122,7 +1122,7 @@ public: void initializeFaceTree(); btVector3 evaluateCom() const; bool checkDeformableContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const; - bool checkDeformableFaceContact(const btCollisionObjectWrapper* colObjWrap, Face& x, btVector3& contact_point, btVector3& bary, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const; + bool checkDeformableFaceContact(const btCollisionObjectWrapper* colObjWrap, Face& f, btVector3& contact_point, btVector3& bary, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const; bool checkContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti) const; void updateNormals(); void updateBounds(); From 146a751eb41e59c38a6fd486743f6c22cb3a77c0 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 5 Dec 2019 08:34:34 -0800 Subject: [PATCH 316/389] enable intermediate log for walk, so you can restart if stuck in local maximum --- .../gym/pybullet_data/args/train_humanoid3d_walk_args.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_walk_args.txt b/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_walk_args.txt index 54f544971..d492780fb 100644 --- a/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_walk_args.txt +++ b/examples/pybullet/gym/pybullet_data/args/train_humanoid3d_walk_args.txt @@ -29,5 +29,5 @@ #--train_agents false --output_path output -#--int_output_path output/intermediate -#--model_files data/policies/humanoid3d/agent0_model.ckpt \ No newline at end of file +--int_output_path output/intermediate +#--model_files data/policies/humanoid3d/agent0_model.ckpt From 4cfd30f19caedad57d215bf3e868238108263e15 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sun, 8 Dec 2019 00:38:49 -0800 Subject: [PATCH 317/389] add Franka Panda URDF and example (python3 -m pybullet_envs.examples.loadpanda) add XArm6 URDF with optimized collision meshes and example (XArm gripper needs more work) python3 -m pybullet_envs.examples.xarm --- .../franka_panda/meshes/collision/finger.obj | 239 + .../franka_panda/meshes/collision/hand.obj | 517 + .../franka_panda/meshes/collision/link0.obj | 517 + .../franka_panda/meshes/collision/link1.obj | 766 + .../franka_panda/meshes/collision/link2.obj | 765 + .../franka_panda/meshes/collision/link3.obj | 767 + .../franka_panda/meshes/collision/link4.obj | 2115 + .../franka_panda/meshes/collision/link5.obj | 2115 + .../franka_panda/meshes/collision/link6.mtl | 177 + .../franka_panda/meshes/collision/link6.obj | 4916 ++ .../franka_panda/meshes/collision/link7.obj | 1415 + .../franka_panda/meshes/visual/colors.png | Bin 0 -> 33337 bytes .../franka_panda/meshes/visual/finger.mtl | 24 + .../franka_panda/meshes/visual/finger.obj | 2415 + .../franka_panda/meshes/visual/hand.mtl | 56 + .../franka_panda/meshes/visual/hand.obj | 23088 ++++++ .../franka_panda/meshes/visual/link1.mtl | 13 + .../franka_panda/meshes/visual/link1.obj | 32021 +++++++ .../franka_panda/meshes/visual/link2.mtl | 13 + .../franka_panda/meshes/visual/link2.obj | 32563 ++++++++ .../franka_panda/meshes/visual/link3.mtl | 46 + .../franka_panda/meshes/visual/link3.obj | 37552 +++++++++ .../franka_panda/meshes/visual/link4.mtl | 45 + .../franka_panda/meshes/visual/link4.obj | 38512 +++++++++ .../franka_panda/meshes/visual/link5.mtl | 34 + .../franka_panda/meshes/visual/link5.obj | 47287 +++++++++++ .../franka_panda/meshes/visual/link6.mtl | 177 + .../franka_panda/meshes/visual/link6.obj | 68900 ++++++++++++++++ .../visual/visualShapeBench.json_0.json | 269 + .../gym/pybullet_data/franka_panda/panda.urdf | 323 + .../pybullet/gym/pybullet_data/xarm/LICENSE | 27 + .../gym/pybullet_data/xarm/xarm6.urdf | 314 + .../gym/pybullet_data/xarm/xarm6_robot.urdf | 308 + .../xarm/xarm6_with_gripper.urdf | 554 + .../meshes/xarm6/collision/base.mtl | 10 + .../meshes/xarm6/collision/base_vhacd.obj | 687 + .../meshes/xarm6/collision/link1.mtl | 10 + .../meshes/xarm6/collision/link1_vhacd.obj | 378 + .../meshes/xarm6/collision/link2.mtl | 10 + .../meshes/xarm6/collision/link2_vhacd.obj | 567 + .../meshes/xarm6/collision/link2_vhacd2.mtl | 12 + .../meshes/xarm6/collision/link2_vhacd2.obj | 901 + .../meshes/xarm6/collision/link3.mtl | 10 + .../meshes/xarm6/collision/link3_vhacd.obj | 567 + .../meshes/xarm6/collision/link4.mtl | 10 + .../meshes/xarm6/collision/link4_vhacd.obj | 891 + .../meshes/xarm6/collision/link5.mtl | 10 + .../meshes/xarm6/collision/link5_vhacd.obj | 378 + .../meshes/xarm6/visual/base.stl | Bin 0 -> 123284 bytes .../meshes/xarm6/visual/link1.stl | Bin 0 -> 188084 bytes .../meshes/xarm6/visual/link2.stl | Bin 0 -> 1305984 bytes .../meshes/xarm6/visual/link3.stl | Bin 0 -> 212484 bytes .../meshes/xarm6/visual/link4.stl | Bin 0 -> 228984 bytes .../meshes/xarm6/visual/link5.stl | Bin 0 -> 383034 bytes .../meshes/xarm6/visual/link6.stl | Bin 0 -> 129884 bytes .../xarm/xarm_gripper/meshes/base_link.STL | Bin 0 -> 1211434 bytes .../xarm/xarm_gripper/meshes/left_finger.STL | Bin 0 -> 242684 bytes .../meshes/left_inner_knuckle.STL | Bin 0 -> 366284 bytes .../meshes/left_outer_knuckle.STL | Bin 0 -> 22284 bytes .../xarm/xarm_gripper/meshes/right_finger.STL | Bin 0 -> 242684 bytes .../meshes/right_inner_knuckle.STL | Bin 0 -> 366284 bytes .../meshes/right_outer_knuckle.STL | Bin 0 -> 22284 bytes .../gym/pybullet_envs/examples/batchsim3.py | 189 + .../gym/pybullet_envs/examples/loadpanda.py | 21 + .../gym/pybullet_envs/examples/panda_sim.py | 65 + .../gym/pybullet_envs/examples/xarm.py | 15 + 66 files changed, 303581 insertions(+) create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/finger.obj create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/hand.obj create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link0.obj create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link1.obj create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link2.obj create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link3.obj create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link4.obj create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link5.obj create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link6.mtl create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link6.obj create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link7.obj create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/colors.png create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/finger.mtl create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/finger.obj create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/hand.mtl create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/hand.obj create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link1.mtl create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link1.obj create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link2.mtl create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link2.obj create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link3.mtl create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link3.obj create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link4.mtl create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link4.obj create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link5.mtl create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link5.obj create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link6.mtl create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link6.obj create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/visualShapeBench.json_0.json create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/panda.urdf create mode 100644 examples/pybullet/gym/pybullet_data/xarm/LICENSE create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm6.urdf create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm6_with_gripper.urdf create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/base.mtl create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/base_vhacd.obj create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link1.mtl create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link1_vhacd.obj create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2.mtl create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2_vhacd.obj create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2_vhacd2.mtl create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2_vhacd2.obj create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link3.mtl create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link3_vhacd.obj create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link4.mtl create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link4_vhacd.obj create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link5.mtl create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link5_vhacd.obj create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/base.stl create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link1.stl create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link2.stl create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link3.stl create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link4.stl create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link5.stl create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/visual/link6.stl create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_gripper/meshes/base_link.STL create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_gripper/meshes/left_finger.STL create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_gripper/meshes/left_inner_knuckle.STL create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_gripper/meshes/left_outer_knuckle.STL create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_gripper/meshes/right_finger.STL create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_gripper/meshes/right_inner_knuckle.STL create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_gripper/meshes/right_outer_knuckle.STL create mode 100644 examples/pybullet/gym/pybullet_envs/examples/batchsim3.py create mode 100644 examples/pybullet/gym/pybullet_envs/examples/loadpanda.py create mode 100644 examples/pybullet/gym/pybullet_envs/examples/panda_sim.py create mode 100644 examples/pybullet/gym/pybullet_envs/examples/xarm.py diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/finger.obj b/examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/finger.obj new file mode 100644 index 000000000..f26c8eccb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/finger.obj @@ -0,0 +1,239 @@ +# File produced by Open Asset Import Library (http://www.assimp.sf.net) +# (assimp v3.0.1262) + +mtllib finger.stl.obj.mtl + +# 96 vertex positions +v 0.01036 0.0264034 0.000154629 +v 0.0104486 0.0025833 0.000146801 +v -0.0103872 0.00253418 0.000131696 +v -0.0103872 0.00253418 0.000131696 +v -0.0104795 0.0161016 0.0189882 +v -0.0104013 0.0263094 0.00016651 +v -0.0104013 0.0263094 0.00016651 +v -0.0104795 0.0161016 0.0189882 +v -0.0103889 0.0252203 0.0191876 +v 0.0104486 0.0025833 0.000146801 +v -0.0087304 -2.35252e-05 0.0361648 +v -0.0103872 0.00253418 0.000131696 +v 0.0104005 0.0252534 0.0190366 +v -0.0103889 0.0252203 0.0191876 +v 0.00583983 0.0142743 0.0538035 +v -0.0103872 0.00253418 0.000131696 +v -0.0104013 0.0263094 0.00016651 +v 0.01036 0.0264034 0.000154629 +v 0.00861608 0.0139887 0.0513279 +v 0.0104948 0.0151026 0.0184356 +v 0.0104005 0.0252534 0.0190366 +v 0.0104948 0.0151026 0.0184356 +v 0.00869277 -0.000132643 0.0501662 +v 0.0104486 0.0025833 0.000146801 +v 0.00861608 0.0139887 0.0513279 +v 0.00869277 -0.000132643 0.0501662 +v 0.0104948 0.0151026 0.0184356 +v -0.00862294 -5.68019e-05 0.0509528 +v -0.0103872 0.00253418 0.000131696 +v -0.0087304 -2.35252e-05 0.0361648 +v 0.0104486 0.0025833 0.000146801 +v 0.00869277 -0.000132643 0.0501662 +v -0.0087304 -2.35252e-05 0.0361648 +v 0.00869277 -0.000132643 0.0501662 +v -0.00548142 -9.11208e-05 0.0537247 +v -0.0087304 -2.35252e-05 0.0361648 +v 0.0104005 0.0252534 0.0190366 +v 0.0104948 0.0151026 0.0184356 +v 0.0104486 0.0025833 0.000146801 +v 0.0104005 0.0252534 0.0190366 +v 0.0104486 0.0025833 0.000146801 +v 0.01036 0.0264034 0.000154629 +v 0.0104005 0.0252534 0.0190366 +v 0.01036 0.0264034 0.000154629 +v -0.0103889 0.0252203 0.0191876 +v -0.0103889 0.0252203 0.0191876 +v -0.00527792 0.0142931 0.053849 +v 0.00583983 0.0142743 0.0538035 +v -0.00777838 0.0142182 0.0523659 +v -0.00527792 0.0142931 0.053849 +v -0.0103889 0.0252203 0.0191876 +v -0.00862294 -5.68019e-05 0.0509528 +v -0.00548142 -9.11208e-05 0.0537247 +v -0.00777838 0.0142182 0.0523659 +v -0.0103872 0.00253418 0.000131696 +v -0.00862294 -5.68019e-05 0.0509528 +v -0.0104795 0.0161016 0.0189882 +v 0.0104005 0.0252534 0.0190366 +v 0.00583983 0.0142743 0.0538035 +v 0.00861608 0.0139887 0.0513279 +v 0.01036 0.0264034 0.000154629 +v -0.0104013 0.0263094 0.00016651 +v -0.0103889 0.0252203 0.0191876 +v -0.0104795 0.0161016 0.0189882 +v -0.00884117 0.0139176 0.0505894 +v -0.0103889 0.0252203 0.0191876 +v -0.00884117 0.0139176 0.0505894 +v -0.00777838 0.0142182 0.0523659 +v -0.0103889 0.0252203 0.0191876 +v 0.00583983 0.0142743 0.0538035 +v -0.00548142 -9.11208e-05 0.0537247 +v 0.00613802 -2.06026e-05 0.0535776 +v -0.00527792 0.0142931 0.053849 +v -0.00548142 -9.11208e-05 0.0537247 +v 0.00583983 0.0142743 0.0538035 +v 0.00869277 -0.000132643 0.0501662 +v 0.00613802 -2.06026e-05 0.0535776 +v -0.00548142 -9.11208e-05 0.0537247 +v 0.00613802 -2.06026e-05 0.0535776 +v 0.00869277 -0.000132643 0.0501662 +v 0.00861608 0.0139887 0.0513279 +v -0.00548142 -9.11208e-05 0.0537247 +v -0.00862294 -5.68019e-05 0.0509528 +v -0.0087304 -2.35252e-05 0.0361648 +v -0.00777838 0.0142182 0.0523659 +v -0.00548142 -9.11208e-05 0.0537247 +v -0.00527792 0.0142931 0.053849 +v -0.00862294 -5.68019e-05 0.0509528 +v -0.00884117 0.0139176 0.0505894 +v -0.0104795 0.0161016 0.0189882 +v 0.00613802 -2.06026e-05 0.0535776 +v 0.00861608 0.0139887 0.0513279 +v 0.00583983 0.0142743 0.0538035 +v -0.00777838 0.0142182 0.0523659 +v -0.00884117 0.0139176 0.0505894 +v -0.00862294 -5.68019e-05 0.0509528 + +# 0 UV coordinates + +# 96 vertex normals +vn 0.000724164 0.000331308 -1 +vn 0.000724164 0.000331308 -1 +vn 0.000724164 0.000331308 -1 +vn -0.99999 -0.000585782 -0.00447174 +vn -0.99999 -0.000585782 -0.00447174 +vn -0.99999 -0.000585782 -0.00447174 +vn -0.99995 0.00990875 0.00122006 +vn -0.99995 0.00990875 0.00122006 +vn -0.99995 0.00990875 0.00122006 +vn 0.00240304 -0.997479 -0.0709137 +vn 0.00240304 -0.997479 -0.0709137 +vn 0.00240304 -0.997479 -0.0709137 +vn 0.000668274 0.953556 0.301214 +vn 0.000668274 0.953556 0.301214 +vn 0.000668274 0.953556 0.301214 +vn -0.0005789 0.00146393 -0.999999 +vn -0.0005789 0.00146393 -0.999999 +vn -0.0005789 0.00146393 -0.999999 +vn 0.998344 0.00589157 0.0572229 +vn 0.998344 0.00589157 0.0572229 +vn 0.998344 0.00589157 0.0572229 +vn 0.998185 -0.050838 0.0322792 +vn 0.998185 -0.050838 0.0322792 +vn 0.998185 -0.050838 0.0322792 +vn 0.998371 0.000729252 0.0570496 +vn 0.998371 0.000729252 0.0570496 +vn 0.998371 0.000729252 0.0570496 +vn -0.871287 -0.490747 0.00522707 +vn -0.871287 -0.490747 0.00522707 +vn -0.871287 -0.490747 0.00522707 +vn 0.0362712 -0.99794 -0.0529128 +vn 0.0362712 -0.99794 -0.0529128 +vn 0.0362712 -0.99794 -0.0529128 +vn -0.00372285 -0.999988 -0.00316058 +vn -0.00372285 -0.999988 -0.00316058 +vn -0.00372285 -0.999988 -0.00316058 +vn 0.999909 0.00984192 -0.00926313 +vn 0.999909 0.00984192 -0.00926313 +vn 0.999909 0.00984192 -0.00926313 +vn 0.999991 0.00372285 -0.00191858 +vn 0.999991 0.00372285 -0.00191858 +vn 0.999991 0.00372285 -0.00191858 +vn -0.0011495 0.99815 0.0607926 +vn -0.0011495 0.99815 0.0607926 +vn -0.0011495 0.99815 0.0607926 +vn 0.00284562 0.953846 0.300284 +vn 0.00284562 0.953846 0.300284 +vn 0.00284562 0.953846 0.300284 +vn -0.218924 0.920873 0.32259 +vn -0.218924 0.920873 0.32259 +vn -0.218924 0.920873 0.32259 +vn -0.661425 -0.0350314 0.749193 +vn -0.661425 -0.0350314 0.749193 +vn -0.661425 -0.0350314 0.749193 +vn -0.998169 -0.0513123 0.0320353 +vn -0.998169 -0.0513123 0.0320353 +vn -0.998169 -0.0513123 0.0320353 +vn 0.377717 0.867563 0.323518 +vn 0.377717 0.867563 0.323518 +vn 0.377717 0.867563 0.323518 +vn -0.00448618 0.998355 0.0571685 +vn -0.00448618 0.998355 0.0571685 +vn -0.00448618 0.998355 0.0571685 +vn -0.998589 0.0087761 0.0523757 +vn -0.998589 0.0087761 0.0523757 +vn -0.998589 0.0087761 0.0523757 +vn -0.665951 0.690851 0.281485 +vn -0.665951 0.690851 0.281485 +vn -0.665951 0.690851 0.281485 +vn 0.0127505 -0.0155288 0.999798 +vn 0.0127505 -0.0155288 0.999798 +vn 0.0127505 -0.0155288 0.999798 +vn 0.00408502 -0.00870048 0.999954 +vn 0.00408502 -0.00870048 0.999954 +vn 0.00408502 -0.00870048 0.999954 +vn 0.006542 -0.999267 0.0377181 +vn 0.006542 -0.999267 0.0377181 +vn 0.006542 -0.999267 0.0377181 +vn 0.798906 -0.0450007 0.59977 +vn 0.798906 -0.0450007 0.59977 +vn 0.798906 -0.0450007 0.59977 +vn -0.00899609 -0.999957 -0.00218479 +vn -0.00899609 -0.999957 -0.00218479 +vn -0.00899609 -0.999957 -0.00218479 +vn -0.510144 -0.000216662 0.860089 +vn -0.510144 -0.000216662 0.860089 +vn -0.510144 -0.000216662 0.860089 +vn -0.998608 -0.0142745 0.0507836 +vn -0.998608 -0.0142745 0.0507836 +vn -0.998608 -0.0142745 0.0507836 +vn 0.665648 0.00209596 0.746263 +vn 0.665648 0.00209596 0.746263 +vn 0.665648 0.00209596 0.746263 +vn -0.858159 -4.90786e-05 0.513384 +vn -0.858159 -4.90786e-05 0.513384 +vn -0.858159 -4.90786e-05 0.513384 + +# Mesh '' with 32 faces +g +usemtl DefaultMaterial +f 1//1 2//2 3//3 +f 4//4 5//5 6//6 +f 7//7 8//8 9//9 +f 10//10 11//11 12//12 +f 13//13 14//14 15//15 +f 16//16 17//17 18//18 +f 19//19 20//20 21//21 +f 22//22 23//23 24//24 +f 25//25 26//26 27//27 +f 28//28 29//29 30//30 +f 31//31 32//32 33//33 +f 34//34 35//35 36//36 +f 37//37 38//38 39//39 +f 40//40 41//41 42//42 +f 43//43 44//44 45//45 +f 46//46 47//47 48//48 +f 49//49 50//50 51//51 +f 52//52 53//53 54//54 +f 55//55 56//56 57//57 +f 58//58 59//59 60//60 +f 61//61 62//62 63//63 +f 64//64 65//65 66//66 +f 67//67 68//68 69//69 +f 70//70 71//71 72//72 +f 73//73 74//74 75//75 +f 76//76 77//77 78//78 +f 79//79 80//80 81//81 +f 82//82 83//83 84//84 +f 85//85 86//86 87//87 +f 88//88 89//89 90//90 +f 91//91 92//92 93//93 +f 94//94 95//95 96//96 + diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/hand.obj b/examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/hand.obj new file mode 100644 index 000000000..e13ab22f0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/hand.obj @@ -0,0 +1,517 @@ +# File produced by Open Asset Import Library (http://www.assimp.sf.net) +# (assimp v3.1.187496374) + +mtllib hand.obj.mtl + +# 102 vertex positions +v 0.0167349 0.0901289 0.0644319 +v 0.0171343 -0.0892712 0.0636144 +v 0.0315898 -0.000558518 0.00621423 +v -0.0170537 -0.0955248 0.0221212 +v -0.0175104 -0.0979076 0.0516662 +v -0.0315975 -0.0019865 0.00115293 +v -0.025981 0.0757697 -0.00508223 +v -0.0316359 -0.000578733 0.00597307 +v 0.0170332 -0.0968023 0.030322 +v 0.0316158 -0.00186086 0.00117971 +v 0.0175851 -0.0974071 0.0519846 +v 0.0185559 0.0946019 0.0566173 +v -0.0168042 -0.0919061 0.00629548 +v -0.0168122 -0.0875329 -0.00120645 +v 0.0162301 -0.0995375 0.0515841 +v -4.10844e-05 -0.10399 0.00569088 +v -1.72733e-05 -0.103743 -0.0091993 +v -0.00361677 -0.101158 -0.0126103 +v -0.00342956 -0.102598 -0.0089643 +v -0.0252704 0.0820651 0.00519704 +v -0.0280109 0.0417843 -0.0063964 +v -0.000112569 0.0928085 0.0659622 +v -0.0125667 0.0937125 0.0651685 +v -0.014422 0.0912765 0.0656897 +v -0.0172547 -0.0907003 0.063082 +v -0.0154717 -0.0907063 0.0651901 +v -0.0167672 0.0902522 0.0643322 +v 0.0169555 -0.0916029 0.00556283 +v 0.0176072 -0.0938476 0.0584485 +v 0.0125057 -0.100188 0.0568941 +v 0.0155509 0.1002 0.0546726 +v 0.0192688 0.0984936 0.0449417 +v 0.0162184 0.100285 0.0458698 +v 0.00191744 -0.0455199 -0.0256594 +v 0.0280151 0.0420423 -0.0063496 +v 0.00381034 -0.0829662 -0.0244493 +v 0.0206709 0.0936918 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b/examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link6.mtl new file mode 100644 index 000000000..19918db17 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link6.mtl @@ -0,0 +1,177 @@ +# Blender MTL File: 'link2.blend' +# Material Count: 17 + +newmtl Face064_002_001_002_001.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 0.000000 0.000000 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Face065_002_001_002_001.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.000000 1.000000 0.000000 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Face374_002_001_002_001.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Face539_002_001_002_001.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.250980 0.250980 0.250980 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 +map_Kd D:\dev\pybullet_robots\data\franka_panda\meshes\visual\colors.png + +newmtl Part__Feature001_009_001_002_001.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.250980 0.250980 0.250980 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 +map_Kd D:\dev\pybullet_robots\data\franka_panda\meshes\visual\colors.png + +newmtl Part__Feature002_006_001_002_001.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.250980 0.250980 0.250980 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 +map_Kd D:\dev\pybullet_robots\data\franka_panda\meshes\visual\colors.png + +newmtl Shell002_002_001_002_001.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Shell003_002_001_002_001.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Shell004_001_001_002_001.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Shell005_001_001_002_001.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Shell006_003_002_001.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.901961 0.921569 0.929412 +Ks 0.015625 0.015625 0.015625 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Shell007_002_002_001.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.250000 0.250000 0.250000 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Shell011_002_002_001.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Shell012_002_002_001.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 +map_Kd D:\dev\pybullet_robots\data\franka_panda\meshes\visual\colors.png + +newmtl Shell_003_001_002_001.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.250980 0.250980 0.250980 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 +map_Kd D:\dev\pybullet_robots\data\franka_panda\meshes\visual\colors.png + +newmtl Union001_001_001_002_001.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.039216 0.541176 0.780392 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Union_001_001_002_001.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.039216 0.541176 0.780392 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link6.obj b/examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link6.obj new file mode 100644 index 000000000..2aeb4ade4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link6.obj @@ -0,0 +1,4916 @@ +# Blender v2.79 (sub 0) OBJ File: 'link2.blend' +# www.blender.org +mtllib link6.mtl +o node6_Shell.003 +v 0.114782 0.070733 0.000808 +v 0.115188 0.070383 -0.000318 +v 0.113772 0.071392 0.000540 +v 0.113932 0.071257 -0.000770 +v 0.087290 0.076886 -0.002163 +v 0.086935 0.076943 -0.001758 +v 0.088626 0.076659 0.002480 +v 0.088580 0.076647 0.001758 +v 0.085698 0.077169 0.000137 +v 0.085209 0.077274 -0.000729 +v 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+++ b/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/hand.mtl @@ -0,0 +1,56 @@ +# Blender MTL File: 'link2.blend' +# Material Count: 5 + +newmtl Part__Feature001_008_005.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.250980 0.250980 0.250980 +Ks 0.007812 0.007812 0.007812 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 +map_Kd colors.png + +newmtl Part__Feature002_005_005.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.901961 0.921569 0.929412 +Ks 0.015625 0.015625 0.015625 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Part__Feature005_001_005.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.015625 0.015625 0.015625 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 +map_Kd colors.png + +newmtl Part__Feature005_001_005_001.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.901961 0.921569 0.929412 +Ks 0.015625 0.015625 0.015625 +Ke 0.000000 0.000000 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b/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link1.obj new file mode 100644 index 000000000..095370122 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link1.obj @@ -0,0 +1,32021 @@ +# Blender v2.79 (sub 0) OBJ File: 'link2.blend' +# www.blender.org +mtllib link1.mtl +o node0_Part__Feature.003 +v 0.012617 -0.117214 -0.033973 +v 0.029343 -0.121457 0.005389 +v 0.023765 -0.121628 0.017575 +v 0.021216 -0.122926 0.016886 +v 0.021917 -0.123546 0.013754 +v 0.024854 -0.124017 -0.000526 +v 0.023987 -0.124380 0.001500 +v 0.008201 -0.115094 -0.038002 +v -0.000761 -0.109794 0.044342 +v 0.001300 -0.108006 0.045888 +v 0.011154 -0.122294 0.026041 +v 0.013491 -0.121319 0.026896 +v 0.005446 -0.111505 -0.042378 +v 0.005229 -0.113357 -0.040490 +v 0.002240 -0.110289 -0.043837 +v 0.019814 -0.125001 0.010794 +v 0.017782 -0.125363 0.012410 +v 0.022612 -0.124642 -0.006194 +v 0.022608 -0.124917 -0.002691 +v 0.042942 -0.111102 0.004067 +v 0.018393 -0.125515 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b/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link2.mtl @@ -0,0 +1,13 @@ +# Blender MTL File: 'link3.blend' +# Material Count: 1 + +newmtl Part__Feature024 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.125000 0.125000 0.125000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 +map_Kd colors.png diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link2.obj b/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link2.obj new file mode 100644 index 000000000..cb8969fe0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link2.obj @@ -0,0 +1,32563 @@ +# Blender v2.79 (sub 0) OBJ File: 'link3.blend' +# www.blender.org +mtllib link2.mtl +o node0_Part__Feature024 +v -0.049679 -0.194000 -0.003474 +v -0.046306 -0.194000 -0.003199 +v -0.049679 -0.194000 0.003474 +v -0.046025 -0.194000 -0.002916 +v -0.046042 -0.194000 0.002939 +v -0.046331 -0.194000 0.003214 +v 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b/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link3.mtl @@ -0,0 +1,46 @@ +# Blender MTL File: 'link4.blend' +# Material Count: 4 + +newmtl Part__Feature001_010_001_002 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.007812 0.007812 0.007812 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 +map_Kd colors.png + +newmtl Part__Feature002_007_001_002 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.007812 0.007812 0.007812 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 +map_Kd colors.png + +newmtl Part__Feature003_004_001_002 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.007812 0.007812 0.007812 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 +map_Kd colors.png + +newmtl Part__Feature_001_001_001_002 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.250980 0.250980 0.250980 +Ks 0.007812 0.007812 0.007812 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 +map_Kd colors.png diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link3.obj b/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link3.obj new file mode 100644 index 000000000..20c5c9ab0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link3.obj @@ -0,0 +1,37552 @@ +# Blender v2.79 (sub 0) OBJ File: 'link4.blend' +# www.blender.org +mtllib link3.mtl +o node3_Part__Feature003.003 +v 0.051797 0.000500 0.045648 +v 0.047808 0.000500 0.042709 +v 0.071673 0.000500 0.053947 +v 0.076008 0.000500 0.054623 +v 0.036897 0.000500 0.030766 +v 0.054918 0.000500 0.047591 +v 0.039824 0.000500 0.034725 +v 0.078895 0.000500 0.054886 +v 0.057431 0.000500 0.048961 +v 0.082497 0.000500 0.055002 +v 0.060234 0.000500 0.050302 +v 0.082500 0.000654 0.055000 +v 0.042483 0.000500 0.037743 +v 0.063183 0.000500 0.051503 +v 0.044630 0.000500 0.039896 +v 0.066746 0.000500 0.052714 +v 0.043008 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b/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link4.mtl @@ -0,0 +1,45 @@ +# Blender MTL File: 'link4.blend' +# Material Count: 4 + +newmtl Part__Feature001_001_003_001.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.007812 0.007812 0.007812 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Part__Feature002_001_003_001.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.250980 0.250980 0.250980 +Ks 0.007812 0.007812 0.007812 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 +map_Kd colors.png + +newmtl Part__Feature003_001_003_001.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.007812 0.007812 0.007812 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 +map_Kd colors.png + +newmtl Part__Feature_002_003_001.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.007812 0.007812 0.007812 +Ke 0.000000 0.000000 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7281/8778/7678 diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link5.mtl b/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link5.mtl new file mode 100644 index 000000000..f89b09aaf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link5.mtl @@ -0,0 +1,34 @@ +# Blender MTL File: 'None' +# Material Count: 3 + +newmtl Part__Feature_002_004_003.002 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.015625 0.015625 0.015625 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 +map_Kd colors.png + +newmtl Shell001_001_001_003.002 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.250000 0.250000 0.250000 +Ks 0.015625 0.015625 0.015625 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 +map_Kd colors.png + +newmtl Shell_001_001_003.002 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.015625 0.015625 0.015625 +Ke 0.000000 0.000000 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1.000000 +d 1.000000 +illum 2 +map_Kd colors.png + +newmtl Shell_003_001_002_001.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.250980 0.250980 0.250980 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 +map_Kd colors.png + +newmtl Union001_001_001_002_001.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.039216 0.541176 0.780392 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Union_001_001_002_001.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.039216 0.541176 0.780392 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link6.obj b/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link6.obj new file mode 100644 index 000000000..c03c59e6f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link6.obj @@ 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+{"cat":"timing","pid":1,"tid":2,"ts":468908.500 ,"ph":"B","name":"eGUIHelperSetVisualizerFlag132","args":{}}, +{"cat":"timing","pid":1,"tid":2,"ts":468908.900 ,"ph":"E","name":"eGUIHelperSetVisualizerFlag132","args":{}} +], +"displayTimeUnit": "ns"} \ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/panda.urdf b/examples/pybullet/gym/pybullet_data/franka_panda/panda.urdf new file mode 100644 index 000000000..77a14aeb8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/franka_panda/panda.urdf @@ -0,0 +1,323 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/LICENSE b/examples/pybullet/gym/pybullet_data/xarm/LICENSE new file mode 100644 index 000000000..a9c5e843b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/LICENSE @@ -0,0 +1,27 @@ +Copyright (c) 2018, UFACTORY Inc. + +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, +are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright notice, + this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + * Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software + without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR +CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, +EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, +PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR +PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF +LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING +NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm6.urdf b/examples/pybullet/gym/pybullet_data/xarm/xarm6.urdf new file mode 100644 index 000000000..f7ad51d9f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/xarm6.urdf @@ -0,0 +1,314 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + 100 + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + reduction + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + reduction + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + reduction + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + reduction + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + reduction + + + + true + + + true + + + true + + + true + + + true + + + true + + + true + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf b/examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf new file mode 100644 index 000000000..c09cb1a72 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf @@ -0,0 +1,308 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + 100 + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + reduction + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + reduction + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + reduction + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + reduction + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + reduction + + + + true + + + true + + + true + + + true + + + true + + + true + + + true + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm6_with_gripper.urdf b/examples/pybullet/gym/pybullet_data/xarm/xarm6_with_gripper.urdf new file mode 100644 index 000000000..475ea7774 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/xarm6_with_gripper.urdf @@ -0,0 +1,554 @@ + + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + 100 + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + reduction + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + reduction + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + reduction + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + reduction + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + reduction + + + + true + + + true + + + true + + + true + + + true + + + true + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + 1 + + + + true + + + true + + + true + + + true + + + true + + + true + + + true + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/base.mtl b/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/base.mtl new file mode 100644 index 000000000..f231bdf4c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/base.mtl @@ -0,0 +1,10 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 500 +Ka 0.8 0.8 0.8 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/base_vhacd.obj b/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/base_vhacd.obj new file mode 100644 index 000000000..4ae455ece --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/base_vhacd.obj @@ -0,0 +1,687 @@ +o convex_0 +v -0.048184 -0.003978 0.044126 +v 0.047511 0.009829 0.155771 +v 0.046444 0.014082 0.155771 +v -0.047116 -0.011425 0.155771 +v 0.013480 -0.046505 0.044126 +v 0.004975 0.048103 0.044126 +v -0.021600 0.043851 0.155771 +v -0.008842 -0.047573 0.155771 +v 0.047511 0.009829 0.044126 +v 0.037938 -0.030562 0.155771 +v -0.029037 -0.039068 0.044126 +v -0.038611 0.030025 0.044126 +v 0.028365 0.039598 0.155771 +v 0.044317 -0.019930 0.044126 +v -0.044990 0.018335 0.155771 +v 0.039006 0.028966 0.044126 +v -0.038611 -0.029494 0.155771 +v 0.019859 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b/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link1.mtl new file mode 100644 index 000000000..f231bdf4c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link1.mtl @@ -0,0 +1,10 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 500 +Ka 0.8 0.8 0.8 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link1_vhacd.obj b/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link1_vhacd.obj new file mode 100644 index 000000000..d9ca118a5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link1_vhacd.obj @@ -0,0 +1,378 @@ +o convex_0 +v 0.047669 0.007309 -0.084768 +v -0.047918 -0.019348 -0.050325 +v -0.044578 -0.020462 -0.112557 +v -0.015675 0.046216 -0.112557 +v 0.023211 -0.042694 -0.112557 +v 0.046556 -0.000476 -0.049202 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a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2.mtl b/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2.mtl new file mode 100644 index 000000000..f231bdf4c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2.mtl @@ -0,0 +1,10 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 500 +Ka 0.8 0.8 0.8 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2_vhacd.obj b/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2_vhacd.obj new file mode 100644 index 000000000..78c0cdaf8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2_vhacd.obj @@ -0,0 +1,567 @@ +o convex_0 +v 0.048435 -0.000946 0.095328 +v -0.048283 -0.116964 0.068546 +v -0.048283 -0.116964 0.081942 +v 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a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link4.mtl b/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link4.mtl new file mode 100644 index 000000000..f231bdf4c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link4.mtl @@ -0,0 +1,10 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 500 +Ka 0.8 0.8 0.8 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link4_vhacd.obj b/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link4_vhacd.obj new file mode 100644 index 000000000..c8ae6404a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link4_vhacd.obj @@ -0,0 +1,891 @@ +o convex_0 +v 0.034150 0.073336 -0.075753 +v -0.003432 0.042332 -0.147171 +v -0.003432 0.043271 -0.147171 +v 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ziNE=w$I_t?A=`~P_x=}4f9ii_?SwB6@(8Ms`^3Y$RG#QHz~<;{zx^1yt+_V&;CW^B zAcqiPO04X;w)FXxlWSdn@i4yHN@9Va3hfV#-L>-mj00_smOWOLy6rQe_WoC&Lx?aX9&5T~x$UPa`pYG# zLi^07Zk105BgdCVJh`9krx5+69^?=rOo_)oYzS;W713WVK^5A6b5r-qEqxBMIT{9z z4s1U~=r8pkhY(>(*t!aAKSk&-m!Jymr+4pJdFmsKxvi_f_EUuZQV((n5vGK#tHAbC zg#K~~s?ff2M9<2j#{@Qqt*gNHQ-uCf4{`_*ri87l!1hyw{&ESb&^~rRkIKCN-rwf1 zbrsltiqK!`K@K6pl(2ObVE&=MT!JdJ&oY@P7ddQQEyespf2jvKga}i@)>R4f5B=p5RH2=#L|j)T%s=#(dXPhi zWL=4`1`)pugNk3iz~oJMPz8GM z2m4fZII?I*(B3Cz`idT?l;G^jC#V8Fv$ap<-8YBU$w3cP86sJ)+@n%L*OJ>Ob*oIP z99bs^J@JvW#f|NM?p!fTj;KS-Z1cDT*GK=%m7ofAZCuC7p{-G!9P~h?1lM^#hZ0nQ zzQ5m>YrcQU;dOG*1C}DygLm!Fuy^C_xp@iR14RdbYB{C0|SX1kVt0mEfwK zPf!J#BkL2Y;;7{lj0Kev9DhHD5>$a^h5Cf5q!M!o#zI^rI9L1}N>BxwbJHj2fl7(? z$6N`jKyy{{bI=2o609+w(D@-(xMZgJgj|=(O7KdQPf&#;P69s-G7gJ>SRSmT&)<6ti5lay*{}0 zyvw51m;THns6r&##;n-5A^3D_b98^pack6r98|$(Ef{mhs+WWBwOkcFz2KGj$+Vsd zky7HYot_CUUpOT?uJ1D3w{rl#(J%TDkqHWAky%q=Ezc(zp zug`aJ_nLS#E^MyB#=JB1mf+lH21cL!;4qJ%3Xy0V6RkQmC|5g1NAEE{Cg{<)usNE> z%)0r2U|Qc7izEMfo<~rH9JK8l#l!At8a}#M{Cw6GF+q>Uh0UroX49mP8-F}K3bImOemmWFll-iwpboB_Tkb|}{Z!f)S`Tg7WsE*rvhWj04@{J<) zefZxbjOoyE^%Q~XyfifVuBvzP@3&_ z^*Q^IVCdvA(bdB{djwTDKmI=mW7dCI3r4T=HDA?iU6A<8LH`Rw@sV`0an>Jn6;o&Q0?m@SQK z1B`_olbE0fIfO|5<54^wB|9E9J03NtxHpNoYV&`9#N$!2<59EY;Sp3J676_AN_ISI zc06K&9^_D)|D_}zkCGjanjH_EM-mGJRcNOjk4MRlN6n5$Owi*H@?RtDc$DmT)a-cR zZC?@#g!~7IGHqk*c$DmT)G$Xt(BlyD-$?9ulzlbqLcb(Ovabc%~?rggRRcPn$-i^`S zbM{|f!Xk6GSp>G;of-1E0JA~}p4E1PS*ePLmwv!!5m!Jym z{GKANt7Ml`JsKBwO6X3iOHhS&eistgRkB;F9*qk-C3HvFC8$C>zi)}_D%o{bkH&?a z61ubP5>%nxj(^)XKe~Ia9*qk-C3J`0C8$EX9sjm(m-H=wdNeNVl+ZT~E Date: Sun, 8 Dec 2019 00:40:10 -0800 Subject: [PATCH 318/389] added Apache 2 license for Panda Franka URDF --- .../pybullet_data/franka_panda/LICENSE.txt | 176 ++++++++++++++++++ 1 file changed, 176 insertions(+) create mode 100644 examples/pybullet/gym/pybullet_data/franka_panda/LICENSE.txt diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/LICENSE.txt b/examples/pybullet/gym/pybullet_data/franka_panda/LICENSE.txt new file mode 100644 index 000000000..2bb9ad240 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/franka_panda/LICENSE.txt @@ -0,0 +1,176 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS \ No newline at end of file From 0b33d940e4caaf76b4a47aeef4d989ab2a71182e Mon Sep 17 00:00:00 2001 From: jackson-waschura Date: Sun, 8 Dec 2019 13:54:38 +0100 Subject: [PATCH 319/389] Actually use self collisions when specified --- examples/pybullet/pybullet.c | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 53b119478..ffffb4289 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -2065,6 +2065,10 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject* { b3LoadSoftBodyAddNeoHookeanForce(command, NeoHookeanMu, NeoHookeanLambda, NeoHookeanDamping); } + if (useSelfCollision) + { + b3LoadSoftBodySetSelfCollision(command, useSelfCollision); + } b3LoadSoftBodySetFrictionCoefficient(command, frictionCoeff); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); statusType = b3GetStatusType(statusHandle); From dd3bdf0da1b01870e3426b6b0024d17dd5d0afc0 Mon Sep 17 00:00:00 2001 From: David Rusu Date: Sun, 8 Dec 2019 20:10:12 -0500 Subject: [PATCH 320/389] Use pybullet_utils.bullet_client for all our BulletClient needs --- .../gym/pybullet_envs/bullet/bullet_client.py | 29 ---------- .../bullet/minitaur_duck_gym_env.py | 6 +-- .../pybullet_envs/bullet/minitaur_gym_env.py | 6 +-- .../gym/pybullet_envs/bullet/racecarGymEnv.py | 6 +-- .../pybullet_envs/bullet/racecarZEDGymEnv.py | 6 +-- .../minitaur/envs/bullet_client.py | 54 ------------------- .../minitaur/envs/minitaur_gym_env.py | 6 +-- .../prediction/pybullet_sim_gym_env.py | 6 +-- 8 files changed, 18 insertions(+), 101 deletions(-) delete mode 100644 examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py delete mode 100644 examples/pybullet/gym/pybullet_envs/minitaur/envs/bullet_client.py diff --git a/examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py b/examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py deleted file mode 100644 index bd248f1d8..000000000 --- a/examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py +++ /dev/null @@ -1,29 +0,0 @@ -import functools -import inspect -import pybullet - - -class BulletClient(object): - """A wrapper for pybullet to manage different clients.""" - - def __init__(self, connection_mode=pybullet.DIRECT, options=""): - """Create a simulation and connect to it.""" - self._client = pybullet.connect(pybullet.SHARED_MEMORY) - if (self._client < 0): - print("options=", options) - self._client = pybullet.connect(connection_mode, options=options) - self._shapes = {} - - def __del__(self): - """Clean up connection if not already done.""" - try: - pybullet.disconnect(physicsClientId=self._client) - except pybullet.error: - pass - - def __getattr__(self, name): - """Inject the client id into Bullet functions.""" - attribute = getattr(pybullet, name) - if inspect.isbuiltin(attribute): - attribute = functools.partial(attribute, physicsClientId=self._client) - return attribute diff --git a/examples/pybullet/gym/pybullet_envs/bullet/minitaur_duck_gym_env.py b/examples/pybullet/gym/pybullet_envs/bullet/minitaur_duck_gym_env.py index 88d605f11..eefb74693 100644 --- a/examples/pybullet/gym/pybullet_envs/bullet/minitaur_duck_gym_env.py +++ b/examples/pybullet/gym/pybullet_envs/bullet/minitaur_duck_gym_env.py @@ -17,7 +17,7 @@ from gym import spaces from gym.utils import seeding import numpy as np import pybullet -from . import bullet_client +import pybullet_utils.bullet_client as bc from . import minitaur import pybullet_data from . import minitaur_env_randomizer @@ -150,9 +150,9 @@ class MinitaurBulletDuckEnv(gym.Env): self._action_repeat *= NUM_SUBSTEPS if self._is_render: - self._pybullet_client = bullet_client.BulletClient(connection_mode=pybullet.GUI) + self._pybullet_client = bc.BulletClient(connection_mode=pybullet.GUI) else: - self._pybullet_client = bullet_client.BulletClient() + self._pybullet_client = bc.BulletClient() self.seed() self.reset() diff --git a/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py b/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py index 7a595b47d..ee63044c1 100644 --- a/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py +++ b/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py @@ -14,7 +14,7 @@ from gym import spaces from gym.utils import seeding import numpy as np import pybullet -from . import bullet_client +import pybullet_utils.bullet_client as bc from . import minitaur import os import pybullet_data @@ -145,9 +145,9 @@ class MinitaurBulletEnv(gym.Env): self._action_repeat *= NUM_SUBSTEPS if self._is_render: - self._pybullet_client = bullet_client.BulletClient(connection_mode=pybullet.GUI) + self._pybullet_client = bc.BulletClient(connection_mode=pybullet.GUI) else: - self._pybullet_client = bullet_client.BulletClient() + self._pybullet_client = bc.BulletClient() self.seed() self.reset() diff --git a/examples/pybullet/gym/pybullet_envs/bullet/racecarGymEnv.py b/examples/pybullet/gym/pybullet_envs/bullet/racecarGymEnv.py index a0118d668..af9d5d545 100644 --- a/examples/pybullet/gym/pybullet_envs/bullet/racecarGymEnv.py +++ b/examples/pybullet/gym/pybullet_envs/bullet/racecarGymEnv.py @@ -12,7 +12,7 @@ import numpy as np import pybullet from . import racecar import random -from . import bullet_client +import pybullet_utils.bullet_client as bc import pybullet_data from pkg_resources import parse_version @@ -40,9 +40,9 @@ class RacecarGymEnv(gym.Env): self._renders = renders self._isDiscrete = isDiscrete if self._renders: - self._p = bullet_client.BulletClient(connection_mode=pybullet.GUI) + self._p = bc.BulletClient(connection_mode=pybullet.GUI) else: - self._p = bullet_client.BulletClient() + self._p = bc.BulletClient() self.seed() #self.reset() diff --git a/examples/pybullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py b/examples/pybullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py index 8137708ba..5e8641cef 100644 --- a/examples/pybullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py +++ b/examples/pybullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py @@ -10,7 +10,7 @@ from gym.utils import seeding import numpy as np import time import pybullet -from . import bullet_client +import pybullet_utils.bullet_client as bc from . import racecar import random import pybullet_data @@ -42,9 +42,9 @@ class RacecarZEDGymEnv(gym.Env): self._isDiscrete = isDiscrete if self._renders: - self._p = bullet_client.BulletClient(connection_mode=pybullet.GUI) + self._p = bc.BulletClient(connection_mode=pybullet.GUI) else: - self._p = bullet_client.BulletClient() + self._p = bc.BulletClient() self.seed() self.reset() diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/bullet_client.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs/bullet_client.py deleted file mode 100644 index 54e0bd09e..000000000 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/bullet_client.py +++ /dev/null @@ -1,54 +0,0 @@ -"""A wrapper for pybullet to manage different clients.""" -from __future__ import absolute_import -from __future__ import division -import functools -import inspect -import pybullet - - -class BulletClient(object): - """A wrapper for pybullet to manage different clients.""" - - def __init__(self, connection_mode=None): - """Creates a Bullet client and connects to a simulation. - - Args: - connection_mode: - `None` connects to an existing simulation or, if fails, creates a - new headless simulation, - `pybullet.GUI` creates a new simulation with a GUI, - `pybullet.DIRECT` creates a headless simulation, - `pybullet.SHARED_MEMORY` connects to an existing simulation. - """ - self._shapes = {} - - if connection_mode is None: - self._client = pybullet.connect(pybullet.SHARED_MEMORY) - if self._client >= 0: - return - else: - connection_mode = pybullet.DIRECT - self._client = pybullet.connect(connection_mode) - - def __del__(self): - """Clean up connection if not already done.""" - try: - pybullet.disconnect(physicsClientId=self._client) - except pybullet.error: - pass - - def __getattr__(self, name): - """Inject the client id into Bullet functions.""" - attribute = getattr(pybullet, name) - if inspect.isbuiltin(attribute): - if name not in [ - "invertTransform", - "multiplyTransforms", - "getMatrixFromQuaternion", - "getEulerFromQuaternion", - "computeViewMatrixFromYawPitchRoll", - "computeProjectionMatrixFOV", - "getQuaternionFromEuler", - ]: # A temporary hack for now. - attribute = functools.partial(attribute, physicsClientId=self._client) - return attribute diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env.py index 44297d11b..a48d46a03 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env.py +++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env.py @@ -14,7 +14,7 @@ from gym import spaces from gym.utils import seeding import numpy as np import pybullet -from pybullet_envs.minitaur.envs import bullet_client +import pybullet_utils.bullet_client as bc import pybullet_data from pybullet_envs.minitaur.envs import minitaur from pybullet_envs.minitaur.envs import minitaur_derpy @@ -223,9 +223,9 @@ class MinitaurGymEnv(gym.Env): self._env_randomizers = convert_to_list(env_randomizer) if env_randomizer else [] self._episode_proto = minitaur_logging_pb2.MinitaurEpisode() if self._is_render: - self._pybullet_client = bullet_client.BulletClient(connection_mode=pybullet.GUI) + self._pybullet_client = bc.BulletClient(connection_mode=pybullet.GUI) else: - self._pybullet_client = bullet_client.BulletClient() + self._pybullet_client = bc.BulletClient() if self._urdf_version is None: self._urdf_version = DEFAULT_URDF_VERSION self._pybullet_client.setPhysicsEngineParameter(enableConeFriction=0) diff --git a/examples/pybullet/gym/pybullet_envs/prediction/pybullet_sim_gym_env.py b/examples/pybullet/gym/pybullet_envs/prediction/pybullet_sim_gym_env.py index 1c308a7fb..e7ba23040 100644 --- a/examples/pybullet/gym/pybullet_envs/prediction/pybullet_sim_gym_env.py +++ b/examples/pybullet/gym/pybullet_envs/prediction/pybullet_sim_gym_env.py @@ -14,7 +14,7 @@ from gym import spaces from gym.utils import seeding import numpy as np import pybullet -from pybullet_envs.bullet import bullet_client +import pybullet_utils.bullet_client as bc from pybullet_envs.prediction import boxstack_pybullet_sim @@ -71,10 +71,10 @@ class PyBulletSimGymEnv(gym.Env): print("urdf_root=" + self._urdf_root) if self._is_render: - self._pybullet_client = bullet_client.BulletClient(connection_mode=pybullet.GUI, + self._pybullet_client = bc.BulletClient(connection_mode=pybullet.GUI, options=optionstring) else: - self._pybullet_client = bullet_client.BulletClient() + self._pybullet_client = bc.BulletClient() if (debug_visualization == False): self._pybullet_client.configureDebugVisualizer(flag=self._pybullet_client.COV_ENABLE_GUI, From 67905efd0ff6e8563f3ef225d173f98bd762c356 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 9 Dec 2019 08:51:02 -0800 Subject: [PATCH 321/389] also enable simplified convex decomposition collision meshes for xarm6_robot.urdf --- .../gym/pybullet_data/xarm/xarm6_robot.urdf | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf b/examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf index c09cb1a72..642c54293 100644 --- a/examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf +++ b/examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf @@ -45,7 +45,7 @@ - + @@ -65,7 +65,7 @@ - + @@ -93,7 +93,7 @@ - + @@ -121,7 +121,7 @@ - + @@ -149,7 +149,7 @@ - + @@ -177,7 +177,7 @@ - + @@ -205,7 +205,7 @@ - + From 0a8ade523347cad7e09e85c49116b4b1d72d0e0e Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 9 Dec 2019 08:54:56 -0800 Subject: [PATCH 322/389] remove duplicate xarm6.urdf --- .../gym/pybullet_data/xarm/xarm6.urdf | 314 ------------------ 1 file changed, 314 deletions(-) delete mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm6.urdf diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm6.urdf b/examples/pybullet/gym/pybullet_data/xarm/xarm6.urdf deleted file mode 100644 index f7ad51d9f..000000000 --- a/examples/pybullet/gym/pybullet_data/xarm/xarm6.urdf +++ /dev/null @@ -1,314 +0,0 @@ - - - - - - - - - - /xarm - - gazebo_ros_control/DefaultRobotHWSim - true - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - hardware_interface/PositionJointInterface - 100 - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - hardware_interface/PositionJointInterface - reduction - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - hardware_interface/PositionJointInterface - reduction - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - hardware_interface/PositionJointInterface - reduction - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - hardware_interface/PositionJointInterface - reduction - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - hardware_interface/PositionJointInterface - reduction - - - - true - - - true - - - true - - - true - - - true - - - true - - - true - - - From 1a491dc7007f000cf09f9f47eeb732832679f412 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 9 Dec 2019 09:25:15 -0800 Subject: [PATCH 323/389] Googley colors for xarm (debugging) and tweak example with table etc. Add missing link6_vhacd.obj --- .../gym/pybullet_data/xarm/xarm6_robot.urdf | 23 ++- .../meshes/xarm6/collision/link6.mtl | 10 + .../meshes/xarm6/collision/link6_vhacd.obj | 189 ++++++++++++++++++ .../gym/pybullet_envs/examples/xarm.py | 7 +- 4 files changed, 221 insertions(+), 8 deletions(-) create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6.mtl create mode 100644 examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6_vhacd.obj diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf b/examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf index 642c54293..cff254689 100644 --- a/examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf +++ b/examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf @@ -27,7 +27,16 @@ - + + + + + + + + + + @@ -41,7 +50,7 @@ - + @@ -61,7 +70,7 @@ - + @@ -89,7 +98,7 @@ - + @@ -117,7 +126,7 @@ - + @@ -145,7 +154,7 @@ - + @@ -173,7 +182,7 @@ - + diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6.mtl b/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6.mtl new file mode 100644 index 000000000..f231bdf4c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6.mtl @@ -0,0 +1,10 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 500 +Ka 0.8 0.8 0.8 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6_vhacd.obj b/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6_vhacd.obj new file mode 100644 index 000000000..6db67b8f1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6_vhacd.obj @@ -0,0 +1,189 @@ +o convex_0 +v 0.033187 0.018503 -0.027247 +v -0.037691 -0.004112 -0.027247 +v -0.036680 -0.006625 -0.028254 +v 0.013576 -0.034758 0.000399 +v -0.012050 0.035092 0.000399 +v 0.001516 -0.051863 -0.020710 +v -0.035174 -0.014657 -0.000608 +v 0.037202 0.000916 0.000399 +v -0.009541 0.036598 -0.027749 +v 0.032685 -0.018178 -0.028254 +v 0.016093 0.034593 -0.000608 +v -0.032658 0.019510 -0.000608 +v -0.005016 -0.051863 -0.008652 +v -0.024620 -0.028233 -0.028254 +v 0.028153 -0.025719 -0.000608 +v -0.028642 0.025037 -0.027247 +v 0.013074 0.035092 -0.028254 +v 0.006542 -0.051863 -0.011667 +v -0.029646 -0.022706 0.000399 +v 0.028662 0.025046 -0.000608 +v 0.013576 -0.034758 -0.028254 +v 0.037711 -0.000091 -0.027749 +v -0.037691 0.004927 -0.000608 +v -0.034673 0.013984 -0.028254 +v 0.005029 0.037614 -0.000608 +v 0.036700 -0.009629 -0.000608 +v -0.031654 -0.021191 -0.027247 +v -0.007024 -0.051855 -0.014175 +v -0.022103 0.031072 -0.000608 +v -0.013054 -0.034767 0.000399 +v 0.022123 0.031072 -0.027247 +v 0.036700 0.009963 -0.000608 +v 0.028153 -0.025719 -0.027247 +v 0.001014 -0.051863 -0.007143 +v -0.014058 -0.034767 -0.028254 +v 0.005029 0.037614 -0.027247 +v -0.034171 0.014982 0.000399 +v 0.021119 0.030572 0.000399 +v -0.016073 0.034593 -0.027247 +v -0.028133 -0.025719 -0.000608 +v -0.008028 0.037098 -0.000608 +v 0.034692 -0.015664 -0.027247 +v 0.035194 0.012477 -0.028254 +v -0.005016 -0.051863 -0.019201 +v -0.036680 0.009955 -0.027247 +v 0.006542 -0.051863 -0.017193 +v -0.037691 -0.004112 -0.000608 +v 0.031674 -0.021191 -0.000608 +v -0.035174 -0.014657 -0.027247 +v -0.023616 0.029066 -0.028254 +v 0.033187 0.018503 -0.000608 +v 0.023636 -0.028732 0.000399 +v 0.028662 0.025046 -0.027247 +v 0.036700 0.009963 -0.027247 +v -0.005016 0.037614 -0.027247 +v 0.037711 0.004936 -0.000608 +v 0.037711 -0.004112 -0.027247 +v -0.032658 0.019510 -0.027247 +v -0.035676 0.012976 -0.000608 +v 0.022123 0.031072 -0.000608 +v -0.016073 0.034593 -0.000608 +v 0.020617 -0.031246 -0.028254 +v -0.028642 0.025037 -0.000608 +v 0.016093 0.034593 -0.027247 +f 36 11 64 +f 5 4 8 +f 3 10 14 +f 10 3 17 +f 13 6 18 +f 4 5 19 +f 14 10 21 +f 17 3 24 +f 3 14 27 +f 27 14 28 +f 4 19 30 +f 15 18 33 +f 13 18 34 +f 4 30 34 +f 30 13 34 +f 21 6 35 +f 14 21 35 +f 17 9 36 +f 25 11 36 +f 19 5 37 +f 5 29 37 +f 5 8 38 +f 25 5 38 +f 11 25 38 +f 19 7 40 +f 7 27 40 +f 27 28 40 +f 28 13 40 +f 13 30 40 +f 30 19 40 +f 5 25 41 +f 9 39 41 +f 33 10 42 +f 10 17 43 +f 22 10 43 +f 6 13 44 +f 13 28 44 +f 28 14 44 +f 35 6 44 +f 14 35 44 +f 3 2 45 +f 2 23 45 +f 24 3 45 +f 18 6 46 +f 33 18 46 +f 2 7 47 +f 7 19 47 +f 23 2 47 +f 19 37 47 +f 37 23 47 +f 26 8 48 +f 15 33 48 +f 42 26 48 +f 33 42 48 +f 2 3 49 +f 7 2 49 +f 3 27 49 +f 27 7 49 +f 9 17 50 +f 24 16 50 +f 17 24 50 +f 16 29 50 +f 39 9 50 +f 29 39 50 +f 1 20 51 +f 32 1 51 +f 8 32 51 +f 38 8 51 +f 20 38 51 +f 8 4 52 +f 18 15 52 +f 4 34 52 +f 34 18 52 +f 48 8 52 +f 15 48 52 +f 20 1 53 +f 17 31 53 +f 31 20 53 +f 43 17 53 +f 1 43 53 +f 1 32 54 +f 22 43 54 +f 43 1 54 +f 36 9 55 +f 25 36 55 +f 41 25 55 +f 9 41 55 +f 8 26 56 +f 32 8 56 +f 54 32 56 +f 22 54 56 +f 10 22 57 +f 42 10 57 +f 26 42 57 +f 56 26 57 +f 22 56 57 +f 12 16 58 +f 16 24 58 +f 24 45 58 +f 58 45 59 +f 37 12 59 +f 23 37 59 +f 45 23 59 +f 12 58 59 +f 31 11 60 +f 20 31 60 +f 38 20 60 +f 11 38 60 +f 29 5 61 +f 39 29 61 +f 5 41 61 +f 41 39 61 +f 6 21 62 +f 21 10 62 +f 10 33 62 +f 46 6 62 +f 33 46 62 +f 16 12 63 +f 29 16 63 +f 12 37 63 +f 37 29 63 +f 31 17 64 +f 11 31 64 +f 17 36 64 diff --git a/examples/pybullet/gym/pybullet_envs/examples/xarm.py b/examples/pybullet/gym/pybullet_envs/examples/xarm.py index ff6aef14b..781d5afa4 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/xarm.py +++ b/examples/pybullet/gym/pybullet_envs/examples/xarm.py @@ -7,7 +7,12 @@ p.setAdditionalSearchPath(pd.getDataPath()) useFixedBase = True flags = p.URDF_INITIALIZE_SAT_FEATURES#0#p.URDF_USE_SELF_COLLISION -xarm = p.loadURDF("xarm/xarm6_with_gripper.urdf", flags = flags, useFixedBase=useFixedBase) + +#plane_pos = [0,0,0] +#plane = p.loadURDF("plane.urdf", plane_pos, flags = flags, useFixedBase=useFixedBase) +table_pos = [0,0,-0.625] +table = p.loadURDF("table/table.urdf", table_pos, flags = flags, useFixedBase=useFixedBase) +xarm = p.loadURDF("xarm/xarm6_robot.urdf", flags = flags, useFixedBase=useFixedBase) while (1): p.stepSimulation() From e7778502e79423f157fcd3cad71c21b7d8c239ed Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 10 Dec 2019 15:48:07 -0800 Subject: [PATCH 324/389] fix pybullet_envs path --- examples/pybullet/gym/pybullet_envs/examples/batchsim3.py | 2 +- examples/pybullet/gym/pybullet_envs/examples/loadpanda.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/examples/pybullet/gym/pybullet_envs/examples/batchsim3.py b/examples/pybullet/gym/pybullet_envs/examples/batchsim3.py index a7d57e127..962b2a206 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/batchsim3.py +++ b/examples/pybullet/gym/pybullet_envs/examples/batchsim3.py @@ -5,7 +5,7 @@ parentdir = os.path.dirname(os.path.dirname(currentdir)) os.sys.path.insert(0, parentdir) from pybullet_utils import bullet_client -import panda_sim +from pybullet_envs.examples import panda_sim import time diff --git a/examples/pybullet/gym/pybullet_envs/examples/loadpanda.py b/examples/pybullet/gym/pybullet_envs/examples/loadpanda.py index 207a5ba40..022133a29 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/loadpanda.py +++ b/examples/pybullet/gym/pybullet_envs/examples/loadpanda.py @@ -3,7 +3,7 @@ import pybullet_data as pd import math import time import numpy as np -import panda_sim +from pybullet_envs.examples import panda_sim p.connect(p.GUI) p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP,1) @@ -18,4 +18,4 @@ while (1): panda.step() p.stepSimulation() time.sleep(timeStep) - \ No newline at end of file + From 9a981f47367c5b15749eeb9196f76c02e36a9984 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 10 Dec 2019 15:49:31 -0800 Subject: [PATCH 325/389] bump up pybullet to 2.6.0 --- setup.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/setup.py b/setup.py index ae78e4690..86718314f 100644 --- a/setup.py +++ b/setup.py @@ -491,7 +491,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS: setup( name='pybullet', - version='2.5.8', + version='2.6.0', description= 'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning', long_description= From 202cf1899574f72a70967914f665ff01ee15bb66 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 11 Dec 2019 13:07:53 -0800 Subject: [PATCH 326/389] allow to compile using clang-cl on visual studio (disable SSE) --- examples/ExampleBrowser/premake4.lua | 1 - examples/SharedMemory/premake4.lua | 4 ++-- examples/pybullet/premake4.lua | 4 ---- src/Bullet3Common/b3Logging.h | 17 +++++++++++++++-- src/Bullet3Common/b3Scalar.h | 26 +++++++++++++------------- src/LinearMath/btScalar.h | 8 +++++++- test/SharedMemory/premake4.lua | 2 -- 7 files changed, 37 insertions(+), 25 deletions(-) diff --git a/examples/ExampleBrowser/premake4.lua b/examples/ExampleBrowser/premake4.lua index 5ffba4a9a..c82a549e0 100644 --- a/examples/ExampleBrowser/premake4.lua +++ b/examples/ExampleBrowser/premake4.lua @@ -199,7 +199,6 @@ project "App_BulletExampleBrowser" "../RigidBody/RigidBodySoftContact.cpp", "../ThirdPartyLibs/stb_image/stb_image.cpp", "../ThirdPartyLibs/Wavefront/tiny_obj_loader.*", - "../ThirdPartyLibs/BussIK/*", "../GyroscopicDemo/GyroscopicSetup.cpp", "../GyroscopicDemo/GyroscopicSetup.h", "../ThirdPartyLibs/tinyxml2/tinyxml2.cpp", diff --git a/examples/SharedMemory/premake4.lua b/examples/SharedMemory/premake4.lua index 1be7f957f..980f14063 100644 --- a/examples/SharedMemory/premake4.lua +++ b/examples/SharedMemory/premake4.lua @@ -72,8 +72,6 @@ myfiles = "plugins/collisionFilterPlugin/collisionFilterPlugin.cpp", "plugins/pdControlPlugin/pdControlPlugin.cpp", "plugins/pdControlPlugin/pdControlPlugin.h", - "../OpenGLWindow/SimpleCamera.cpp", - "../OpenGLWindow/SimpleCamera.h", "../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h", "../Importers/ImportURDFDemo/MultiBodyCreationInterface.h", "../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp", @@ -115,6 +113,8 @@ myfiles = files { myfiles, + "../OpenGLWindow/SimpleCamera.cpp", + "../OpenGLWindow/SimpleCamera.h", "main.cpp", } diff --git a/examples/pybullet/premake4.lua b/examples/pybullet/premake4.lua index 34d829579..8d63393d2 100644 --- a/examples/pybullet/premake4.lua +++ b/examples/pybullet/premake4.lua @@ -109,8 +109,6 @@ if not _OPTIONS["no-enet"] then "../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h", "../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp", "../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h", - "../../examples/OpenGLWindow/SimpleCamera.cpp", - "../../examples/OpenGLWindow/SimpleCamera.h", "../../examples/TinyRenderer/geometry.cpp", "../../examples/TinyRenderer/model.cpp", "../../examples/TinyRenderer/tgaimage.cpp", @@ -157,8 +155,6 @@ if not _OPTIONS["no-enet"] then "../../examples/SharedMemory/PosixSharedMemory.h", "../../examples/SharedMemory/SharedMemoryCommands.h", "../../examples/SharedMemory/SharedMemoryPublic.h", - "../../examples/Utils/b3ResourcePath.cpp", - "../../examples/Utils/b3ResourcePath.h", "../../examples/Utils/RobotLoggingUtil.cpp", "../../examples/Utils/RobotLoggingUtil.h", "../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp", diff --git a/src/Bullet3Common/b3Logging.h b/src/Bullet3Common/b3Logging.h index 9c92b12eb..3542718d6 100644 --- a/src/Bullet3Common/b3Logging.h +++ b/src/Bullet3Common/b3Logging.h @@ -14,7 +14,20 @@ extern "C" //#define b3Printf b3OutputPrintfVarArgsInternal //#define b3Printf(...) printf(__VA_ARGS__) //#define b3Printf(...) - +#ifdef __clang__ +#define b3Warning(...) \ + do \ + { \ + b3OutputWarningMessageVarArgsInternal("b3Warning[%s,%d]:\n", __FILE_NAME__, __LINE__); \ + b3OutputWarningMessageVarArgsInternal(__VA_ARGS__); \ + } while (0) +#define b3Error(...) \ + do \ + { \ + b3OutputErrorMessageVarArgsInternal("b3Error[%s,%d]:\n", __FILE_NAME__, __LINE__); \ + b3OutputErrorMessageVarArgsInternal(__VA_ARGS__); \ + } while (0) +#else//__clang__ #define b3Warning(...) \ do \ { \ @@ -27,7 +40,7 @@ extern "C" b3OutputErrorMessageVarArgsInternal("b3Error[%s,%d]:\n", __FILE__, __LINE__); \ b3OutputErrorMessageVarArgsInternal(__VA_ARGS__); \ } while (0) - +#endif //__clang__ #ifndef B3_NO_PROFILE void b3EnterProfileZone(const char* name); diff --git a/src/Bullet3Common/b3Scalar.h b/src/Bullet3Common/b3Scalar.h index c843c1dd2..eeb70ed63 100644 --- a/src/Bullet3Common/b3Scalar.h +++ b/src/Bullet3Common/b3Scalar.h @@ -71,7 +71,17 @@ inline int b3GetVersion() #if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(B3_USE_DOUBLE_PRECISION)) #if (defined(_M_IX86) || defined(_M_X64)) + + +#ifdef __clang__ +//#define B3_NO_SIMD_OPERATOR_OVERLOADS +#define B3_DISABLE_SSE +#endif //__clang__ + +#ifndef B3_DISABLE_SSE #define B3_USE_SSE +#endif //B3_DISABLE_SSE + #ifdef B3_USE_SSE //B3_USE_SSE_IN_API is disabled under Windows by default, because //it makes it harder to integrate Bullet into your application under Windows @@ -92,17 +102,7 @@ inline int b3GetVersion() #ifdef B3_DEBUG #ifdef _MSC_VER #include -#define b3Assert(x) \ - { \ - if (!(x)) \ - { \ - b3Error( \ - "Assert "__FILE__ \ - ":%u (" #x ")\n", \ - __LINE__); \ - __debugbreak(); \ - } \ - } +#define b3Assert(x) { if(!(x)){b3Error("Assert " __FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak(); }} #else //_MSC_VER #include #define b3Assert assert @@ -297,7 +297,7 @@ static int b3NanMask = 0x7F800001; static int b3InfinityMask = 0x7F800000; #define B3_INFINITY_MASK (*(float *)&b3InfinityMask) #endif - +#ifndef B3_NO_SIMD_OPERATOR_OVERLOADS inline __m128 operator+(const __m128 A, const __m128 B) { return _mm_add_ps(A, B); @@ -312,7 +312,7 @@ inline __m128 operator*(const __m128 A, const __m128 B) { return _mm_mul_ps(A, B); } - +#endif //B3_NO_SIMD_OPERATOR_OVERLOADS #define b3CastfTo128i(a) (_mm_castps_si128(a)) #define b3CastfTo128d(a) (_mm_castps_pd(a)) #define b3CastiTo128f(a) (_mm_castsi128_ps(a)) diff --git a/src/LinearMath/btScalar.h b/src/LinearMath/btScalar.h index 0fa46df09..9b5ea9585 100644 --- a/src/LinearMath/btScalar.h +++ b/src/LinearMath/btScalar.h @@ -110,11 +110,16 @@ inline int btIsDoublePrecision() #if defined (_M_ARM) //Do not turn SSE on for ARM (may want to turn on BT_USE_NEON however) #elif (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION)) + +#ifdef __clang__ +#define __BT_DISABLE_SSE__ +#endif +#ifndef __BT_DISABLE_SSE__ #if _MSC_VER>1400 #define BT_USE_SIMD_VECTOR3 #endif - #define BT_USE_SSE +#endif//__BT_DISABLE_SSE__ #ifdef BT_USE_SSE #if (_MSC_FULL_VER >= 170050727)//Visual Studio 2012 can compile SSE4/FMA3 (but SSE4/FMA3 is not enabled by default) @@ -210,6 +215,7 @@ inline int btIsDoublePrecision() #if (defined (__APPLE__) && (!defined (BT_USE_DOUBLE_PRECISION))) #if defined (__i386__) || defined (__x86_64__) +#error bla #define BT_USE_SIMD_VECTOR3 #define BT_USE_SSE //BT_USE_SSE_IN_API is enabled on Mac OSX by default, because memory is automatically aligned on 16-byte boundaries diff --git a/test/SharedMemory/premake4.lua b/test/SharedMemory/premake4.lua index 7933e900e..69a66d32c 100644 --- a/test/SharedMemory/premake4.lua +++ b/test/SharedMemory/premake4.lua @@ -413,8 +413,6 @@ project ("Test_PhysicsServerInProcessExampleBrowser") "../../examples/TinyRenderer/tgaimage.cpp", "../../examples/TinyRenderer/our_gl.cpp", "../../examples/TinyRenderer/TinyRenderer.cpp", - "../../examples/Utils/b3ResourcePath.cpp", - "../../examples/Utils/b3ResourcePath.h", "../../examples/Utils/RobotLoggingUtil.cpp", "../../examples/Utils/RobotLoggingUtil.h", "../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp", From 08321b96ba43b9825274c96d0d550feaaf85ae91 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Wed, 11 Dec 2019 13:59:44 -0800 Subject: [PATCH 327/389] Update main_opengl_single_example.cpp Apply fix from PR #2526 manually, thanks to Andrew Meadows --- examples/StandaloneMain/main_opengl_single_example.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/StandaloneMain/main_opengl_single_example.cpp b/examples/StandaloneMain/main_opengl_single_example.cpp index 8e77b71cb..6730e5a4a 100644 --- a/examples/StandaloneMain/main_opengl_single_example.cpp +++ b/examples/StandaloneMain/main_opengl_single_example.cpp @@ -94,7 +94,7 @@ int main(int argc, char* argv[]) app->m_instancingRenderer->updateCamera(app->getUpAxis()); btScalar dtSec = btScalar(clock.getTimeInSeconds()); - if (dtSec < 0.1) + if (dtSec > 0.1) dtSec = 0.1; example->stepSimulation(dtSec); From 2ced9c504a5db56862711a8b55430a4c5e94b86a Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 11 Dec 2019 14:04:55 -0800 Subject: [PATCH 328/389] make it a one-liner, so clang-cl doesn't fail on Windows --- src/Bullet3Common/b3Logging.h | 29 ++--------------------------- 1 file changed, 2 insertions(+), 27 deletions(-) diff --git a/src/Bullet3Common/b3Logging.h b/src/Bullet3Common/b3Logging.h index 3542718d6..f61149de7 100644 --- a/src/Bullet3Common/b3Logging.h +++ b/src/Bullet3Common/b3Logging.h @@ -14,33 +14,8 @@ extern "C" //#define b3Printf b3OutputPrintfVarArgsInternal //#define b3Printf(...) printf(__VA_ARGS__) //#define b3Printf(...) -#ifdef __clang__ -#define b3Warning(...) \ - do \ - { \ - b3OutputWarningMessageVarArgsInternal("b3Warning[%s,%d]:\n", __FILE_NAME__, __LINE__); \ - b3OutputWarningMessageVarArgsInternal(__VA_ARGS__); \ - } while (0) -#define b3Error(...) \ - do \ - { \ - b3OutputErrorMessageVarArgsInternal("b3Error[%s,%d]:\n", __FILE_NAME__, __LINE__); \ - b3OutputErrorMessageVarArgsInternal(__VA_ARGS__); \ - } while (0) -#else//__clang__ -#define b3Warning(...) \ - do \ - { \ - b3OutputWarningMessageVarArgsInternal("b3Warning[%s,%d]:\n", __FILE__, __LINE__); \ - b3OutputWarningMessageVarArgsInternal(__VA_ARGS__); \ - } while (0) -#define b3Error(...) \ - do \ - { \ - b3OutputErrorMessageVarArgsInternal("b3Error[%s,%d]:\n", __FILE__, __LINE__); \ - b3OutputErrorMessageVarArgsInternal(__VA_ARGS__); \ - } while (0) -#endif //__clang__ +#define b3Warning(...) do{ b3OutputWarningMessageVarArgsInternal("b3Warning[%s,%d]:\n", __FILE__, __LINE__);b3OutputWarningMessageVarArgsInternal(__VA_ARGS__);} while (0) +#define b3Error(...)do {b3OutputErrorMessageVarArgsInternal("b3Error[%s,%d]:\n", __FILE__, __LINE__);b3OutputErrorMessageVarArgsInternal(__VA_ARGS__);} while (0) #ifndef B3_NO_PROFILE void b3EnterProfileZone(const char* name); From 2f6eb59e16d174220c02443d6781eb908a1ee64f Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 11 Dec 2019 16:47:52 -0800 Subject: [PATCH 329/389] add z-up version of Laikago, centered along the chassis center of mass --- .../laikago/chassis_vhacd_mod_zup.mtl | 10 + .../laikago/chassis_vhacd_mod_zup.obj | 2497 ++ .../gym/pybullet_data/laikago/chassis_zup.mtl | 13 + .../gym/pybullet_data/laikago/chassis_zup.obj | 24050 ++++++++++++++++ .../laikago/laikago_toes_zup.urdf | 598 + 5 files changed, 27168 insertions(+) create mode 100644 examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod_zup.mtl create mode 100644 examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod_zup.obj create mode 100644 examples/pybullet/gym/pybullet_data/laikago/chassis_zup.mtl create mode 100644 examples/pybullet/gym/pybullet_data/laikago/chassis_zup.obj create mode 100644 examples/pybullet/gym/pybullet_data/laikago/laikago_toes_zup.urdf diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod_zup.mtl b/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod_zup.mtl new file mode 100644 index 000000000..70d3ba1da --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod_zup.mtl @@ -0,0 +1,10 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 0 +Ka 0.000000 0.000000 0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod_zup.obj b/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod_zup.obj new file mode 100644 index 000000000..c1b494f87 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod_zup.obj @@ -0,0 +1,2497 @@ +# Blender v2.79 (sub 0) OBJ File: '' +# www.blender.org +mtllib chassis_vhacd_mod_zup.mtl +o convex_8 +v -0.154863 -0.055977 0.076973 +v -0.181315 -0.055977 0.078032 +v -0.181315 -0.055977 0.075915 +v -0.181315 0.079452 0.072741 +v -0.181315 0.079452 0.074858 +v -0.154863 0.079452 0.073800 +v -0.154863 -0.055977 0.078032 +v -0.154863 0.074150 0.078032 +v -0.180253 0.014919 0.072741 +v -0.181315 0.074150 0.078032 +vn -0.0000 -1.0000 0.0000 +vn 0.0000 1.0000 0.0000 +vn 1.0000 0.0000 0.0000 +vn 0.0312 0.6235 0.7812 +vn -1.0000 0.0000 0.0000 +vn 0.0000 0.0000 1.0000 +vn 0.0400 0.0007 -0.9992 +vn 0.0000 0.5136 0.8580 +vn 0.1007 -0.0233 -0.9946 +vn 0.0399 -0.0453 -0.9982 +vn -0.8183 -0.0135 -0.5746 +usemtl None +s off +f 1//1 2//1 3//1 +f 4//2 5//2 6//2 +f 7//3 6//3 8//3 +f 6//4 5//4 8//4 +f 5//5 4//5 2//5 +f 7//6 8//6 2//6 +f 4//7 6//7 9//7 +f 8//8 5//8 10//8 +f 5//5 2//5 10//5 +f 2//6 8//6 10//6 +f 6//3 7//3 1//3 +f 7//1 2//1 1//1 +f 9//9 6//9 1//9 +f 9//10 1//10 3//10 +f 2//5 4//5 3//5 +f 4//11 9//11 3//11 +o convex_27 +v -0.294531 0.070993 0.045231 +v -0.294531 0.078401 0.051584 +v -0.189780 0.074169 0.046290 +v -0.294531 0.069933 0.067451 +v -0.294531 0.065703 0.067451 +v -0.189780 0.069933 0.067451 +v -0.294531 0.057239 0.051582 +v -0.189780 0.064644 0.045231 +v -0.189780 0.057239 0.060043 +v -0.189780 0.078401 0.061098 +v -0.189780 0.077342 0.049466 +v -0.294531 0.077342 0.063216 +v -0.294531 0.058299 0.062157 +v -0.189780 0.057239 0.051582 +v -0.189780 0.062533 0.066389 +v -0.294531 0.060416 0.047349 +vn -0.0121 0.6509 -0.7590 +vn 0.0000 0.0000 1.0000 +vn -1.0000 0.0000 0.0000 +vn 1.0000 0.0000 0.0000 +vn 0.0082 0.9958 -0.0907 +vn 0.0000 0.4963 0.8682 +vn 0.0101 0.6001 0.7999 +vn -0.0082 0.9958 0.0907 +vn -0.0081 -0.9950 0.0997 +vn -0.0000 -1.0000 0.0000 +vn 0.0057 -0.1421 0.9898 +vn -0.0094 -0.5816 0.8134 +vn 0.0052 -0.7679 0.6406 +vn -0.0119 -0.1963 -0.9805 +vn 0.0109 -0.6510 -0.7590 +vn -0.0000 -0.7998 -0.6003 +vn -0.0071 0.7074 -0.7068 +vn 0.0067 0.1105 -0.9939 +usemtl None +s off +f 11//12 12//12 13//12 +f 14//13 15//13 16//13 +f 15//14 14//14 12//14 +f 15//14 12//14 17//14 +f 18//15 16//15 19//15 +f 16//15 18//15 20//15 +f 12//16 20//16 21//16 +f 20//15 18//15 21//15 +f 17//14 12//14 11//14 +f 14//17 16//17 22//17 +f 12//14 14//14 22//14 +f 16//18 20//18 22//18 +f 20//19 12//19 22//19 +f 15//14 17//14 23//14 +f 17//20 19//20 23//20 +f 18//15 19//15 24//15 +f 19//21 17//21 24//21 +f 16//22 15//22 25//22 +f 19//15 16//15 25//15 +f 15//23 23//23 25//23 +f 23//24 19//24 25//24 +f 11//25 18//25 26//25 +f 17//14 11//14 26//14 +f 18//26 24//26 26//26 +f 24//27 17//27 26//27 +f 12//28 21//28 13//28 +f 21//15 18//15 13//15 +f 18//29 11//29 13//29 +o convex_17 +v -0.286067 -0.088774 -0.016138 +v -0.300879 -0.082427 -0.016138 +v -0.296646 -0.088774 -0.017200 +v -0.300879 -0.067616 -0.016138 +v -0.296646 -0.068677 -0.059520 +v -0.286067 -0.068677 -0.017200 +v -0.285008 -0.085603 -0.036245 +v -0.286067 -0.068677 -0.047880 +vn -0.0973 -0.2270 0.9690 +vn -0.9953 0.0000 -0.0971 +vn 0.0752 0.0526 0.9958 +vn -0.0000 0.0000 1.0000 +vn 0.9986 0.0028 0.0530 +vn 0.0243 0.9995 -0.0221 +vn 0.6833 -0.3841 -0.6210 +vn 0.9980 0.0624 0.0000 +vn 0.0714 0.9974 0.0000 +vn -0.8254 -0.5100 -0.2422 +vn -0.4148 -0.8219 -0.3903 +vn 0.0156 -0.9878 -0.1550 +usemtl None +s off +f 27//30 28//30 29//30 +f 28//31 30//31 31//31 +f 32//32 30//32 27//32 +f 30//33 28//33 27//33 +f 33//34 32//34 27//34 +f 31//35 30//35 34//35 +f 33//36 31//36 34//36 +f 32//37 33//37 34//37 +f 30//38 32//38 34//38 +f 28//39 31//39 29//39 +f 31//40 33//40 29//40 +f 33//41 27//41 29//41 +o convex_20 +v -0.189789 0.005390 -0.087029 +v -0.283931 0.009624 -0.082790 +v -0.189789 0.010683 -0.080680 +v -0.283931 0.003276 -0.065868 +v -0.283931 -0.003071 -0.065868 +v -0.189789 0.003276 -0.065868 +v -0.283931 -0.010479 -0.081735 +v -0.189789 -0.002013 -0.088088 +v -0.189789 -0.010479 -0.072219 +v -0.189789 0.010683 -0.072219 +v -0.283931 -0.002013 -0.088088 +v -0.189789 -0.009418 -0.083853 +v -0.283931 0.009624 -0.070107 +v -0.283931 -0.010479 -0.072219 +v -0.189789 -0.006245 -0.066932 +vn 0.0057 0.7681 -0.6403 +vn 0.0000 0.0000 1.0000 +vn -1.0000 0.0000 0.0000 +vn 1.0000 -0.0000 0.0000 +vn -0.0000 0.1416 -0.9899 +vn -0.0223 0.4142 -0.9099 +vn 0.0092 -0.9958 -0.0908 +vn 0.0000 -0.4965 -0.8681 +vn -0.0112 -0.6002 -0.7998 +vn -0.0000 0.5553 0.8316 +vn 0.0097 0.6509 0.7591 +vn -0.0112 0.9999 0.0000 +vn -0.0000 -1.0000 0.0000 +vn -0.0000 -0.7806 0.6251 +vn 0.0075 -0.1111 0.9938 +vn -0.0134 -0.6508 0.7591 +usemtl None +s off +f 35//42 36//42 37//42 +f 38//43 39//43 40//43 +f 39//44 38//44 36//44 +f 39//44 36//44 41//44 +f 42//45 40//45 43//45 +f 40//45 42//45 44//45 +f 41//44 36//44 45//44 +f 44//45 42//45 35//45 +f 42//46 45//46 35//46 +f 45//47 36//47 35//47 +f 42//45 43//45 46//45 +f 43//48 41//48 46//48 +f 45//49 42//49 46//49 +f 41//50 45//50 46//50 +f 38//51 40//51 47//51 +f 36//44 38//44 47//44 +f 40//52 44//52 47//52 +f 44//53 36//53 47//53 +f 39//44 41//44 48//44 +f 41//54 43//54 48//54 +f 48//55 43//55 49//55 +f 40//56 39//56 49//56 +f 43//45 40//45 49//45 +f 39//57 48//57 49//57 +f 36//53 44//53 37//53 +f 44//45 35//45 37//45 +o convex_41 +v -0.181315 -0.089835 -0.055276 +v -0.181315 -0.010468 -0.105004 +v -0.181315 -0.041172 -0.110308 +v -0.181315 0.014893 0.075915 +v -0.181315 0.073110 -0.004509 +v -0.180257 0.073110 -0.004509 +v -0.179199 -0.041172 -0.110308 +v -0.179199 -0.089835 -0.054219 +v -0.180257 0.073110 -0.054219 +v -0.180257 -0.055958 0.075915 +v -0.180257 0.014893 0.075915 +v -0.181315 -0.055958 0.075915 +v -0.179199 -0.010468 -0.105004 +v -0.181315 0.073110 -0.054219 +vn -1.0000 0.0000 0.0000 +vn 0.0000 0.8100 0.5864 +vn 0.3111 -0.7179 -0.6228 +vn 0.0000 1.0000 0.0000 +vn 0.0000 0.0000 1.0000 +vn 1.0000 0.0000 0.0081 +vn -0.1239 -0.9608 0.2481 +vn 0.0000 -0.9677 0.2519 +vn 0.0000 0.1702 -0.9854 +vn 1.0000 0.0000 0.0000 +vn 0.9999 0.0127 0.0000 +vn 0.0000 0.5193 -0.8546 +vn 1.0000 0.0068 0.0049 +vn 1.0000 0.0034 0.0054 +vn 0.0000 -0.7491 -0.6624 +usemtl None +s off +f 50//58 51//58 52//58 +f 53//58 54//58 50//58 +f 54//59 53//59 55//59 +f 50//58 54//58 51//58 +f 50//60 56//60 57//60 +f 54//61 55//61 58//61 +f 53//62 59//62 60//62 +f 55//59 53//59 60//59 +f 59//63 57//63 60//63 +f 53//58 50//58 61//58 +f 59//62 53//62 61//62 +f 50//64 57//64 61//64 +f 57//65 59//65 61//65 +f 56//66 51//66 62//66 +f 57//67 56//67 62//67 +f 58//68 55//68 62//68 +f 51//69 58//69 62//69 +f 55//70 60//70 62//70 +f 60//71 57//71 62//71 +f 51//58 54//58 63//58 +f 54//61 58//61 63//61 +f 58//69 51//69 63//69 +f 56//72 50//72 52//72 +f 51//66 56//66 52//66 +o convex_42 +v -0.189780 0.005400 -0.087028 +v -0.179199 -0.010479 -0.105016 +v 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b/examples/pybullet/gym/pybullet_data/laikago/chassis_zup.mtl @@ -0,0 +1,13 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None.003 +Ns 0.000000 +Ka 0.000000 0.000000 0.000000 +Kd 0.800000 0.800000 0.800000 +Ks 0.800000 0.800000 0.800000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 +map_Kd laikago_tex.jpg diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis_zup.obj b/examples/pybullet/gym/pybullet_data/laikago/chassis_zup.obj new file mode 100644 index 000000000..1bc224f15 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/laikago/chassis_zup.obj @@ -0,0 +1,24050 @@ +# Blender v2.79 (sub 0) OBJ File: '' +# www.blender.org +mtllib chassis_zup.mtl +o EXP_OTL_-_EXP_OTL_BDYR1_median.002 +v 0.258143 0.032757 -0.007378 +v 0.269217 0.032757 -0.007378 +v 0.269217 0.036026 -0.007700 +v 0.258143 0.036026 -0.007700 +v 0.269217 0.039169 -0.008654 +v 0.258143 0.039169 -0.008654 +v 0.269217 0.042066 -0.010202 +v 0.258143 0.042066 -0.010202 +v 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b/examples/pybullet/gym/pybullet_data/laikago/laikago_toes_zup.urdf new file mode 100644 index 000000000..d051affb8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/laikago/laikago_toes_zup.urdf @@ -0,0 +1,598 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 082a1ddbfe497c957d39ca3aeef1f017b804b135 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 11 Dec 2019 17:08:59 -0800 Subject: [PATCH 330/389] remove bla --- src/LinearMath/btScalar.h | 1 - 1 file changed, 1 deletion(-) diff --git a/src/LinearMath/btScalar.h b/src/LinearMath/btScalar.h index 9b5ea9585..86d94e897 100644 --- a/src/LinearMath/btScalar.h +++ b/src/LinearMath/btScalar.h @@ -215,7 +215,6 @@ inline int btIsDoublePrecision() #if (defined (__APPLE__) && (!defined (BT_USE_DOUBLE_PRECISION))) #if defined (__i386__) || defined (__x86_64__) -#error bla #define BT_USE_SIMD_VECTOR3 #define BT_USE_SSE //BT_USE_SSE_IN_API is enabled on Mac OSX by default, because memory is automatically aligned on 16-byte boundaries From 3668bc5e2aad6d47f6d844cd27660d7e215ba657 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 12 Dec 2019 07:02:27 -0800 Subject: [PATCH 331/389] tweak premake4 default batch file. add manual control for joint angles in XArm6 example. --- build_visual_studio_vr_pybullet_double.bat | 2 +- .../gym/pybullet_envs/examples/xarm.py | 25 ++++++++++++++++++- 2 files changed, 25 insertions(+), 2 deletions(-) diff --git a/build_visual_studio_vr_pybullet_double.bat b/build_visual_studio_vr_pybullet_double.bat index e3e8a4dc5..b6fd3cb93 100644 --- a/build_visual_studio_vr_pybullet_double.bat +++ b/build_visual_studio_vr_pybullet_double.bat @@ -18,7 +18,7 @@ rem SET myvar=c:\python-3.5.2 cd build3 -premake4 --double --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010 +premake4 --double --standalone-examples --enable_stable_pd --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010 rem premake4 --double --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../binserver" vs2010 rem premake4 --double --enable_grpc --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../binserver" vs2010 diff --git a/examples/pybullet/gym/pybullet_envs/examples/xarm.py b/examples/pybullet/gym/pybullet_envs/examples/xarm.py index 781d5afa4..893ff065e 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/xarm.py +++ b/examples/pybullet/gym/pybullet_envs/examples/xarm.py @@ -1,7 +1,7 @@ import pybullet as p import pybullet_data as pd import time -p.connect(p.GUI) +p.connect(p.GUI)#, options="--background_color_red=1.0 --background_color_blue=1.0 --background_color_green=1.0") p.setAdditionalSearchPath(pd.getDataPath()) @@ -14,7 +14,30 @@ table_pos = [0,0,-0.625] table = p.loadURDF("table/table.urdf", table_pos, flags = flags, useFixedBase=useFixedBase) xarm = p.loadURDF("xarm/xarm6_robot.urdf", flags = flags, useFixedBase=useFixedBase) +jointIds = [] +paramIds = [] + +for j in range(p.getNumJoints(xarm)): + p.changeDynamics(xarm, j, linearDamping=0, angularDamping=0) + info = p.getJointInfo(xarm, j) + #print(info) + jointName = info[1] + jointType = info[2] + if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE): + jointIds.append(j) + paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"), -4, 4, 0)) + +skip_cam_frames = 10 + while (1): p.stepSimulation() + for i in range(len(paramIds)): + c = paramIds[i] + targetPos = p.readUserDebugParameter(c) + p.setJointMotorControl2(xarm, jointIds[i], p.POSITION_CONTROL, targetPos, force=5 * 240.) + skip_cam_frames -= 1 + if (skip_cam_frames<0): + p.getCameraImage(320,200, renderer=p.ER_BULLET_HARDWARE_OPENGL ) + skip_cam_frames = 10 time.sleep(1./240.) From 30b42a14f066b2b003bf886bcf7ccb01aeec654f Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Fri, 13 Dec 2019 09:20:46 -0800 Subject: [PATCH 332/389] add single-link arm urdf files for debugging --- .../pybullet/gym/pybullet_data/xarm/base.urdf | 69 ++++++++++++++++++ .../gym/pybullet_data/xarm/base_com.urdf | 69 ++++++++++++++++++ .../gym/pybullet_data/xarm/link1.urdf | 69 ++++++++++++++++++ .../gym/pybullet_data/xarm/link1_com.urdf | 69 ++++++++++++++++++ .../gym/pybullet_data/xarm/link2.urdf | 70 +++++++++++++++++++ .../gym/pybullet_data/xarm/link2_com.urdf | 70 +++++++++++++++++++ .../gym/pybullet_data/xarm/link3.urdf | 69 ++++++++++++++++++ .../gym/pybullet_data/xarm/link3_com.urdf | 69 ++++++++++++++++++ .../gym/pybullet_data/xarm/link4.urdf | 70 +++++++++++++++++++ .../gym/pybullet_data/xarm/link4_com.urdf | 70 +++++++++++++++++++ .../gym/pybullet_data/xarm/link5.urdf | 69 ++++++++++++++++++ .../gym/pybullet_data/xarm/link5_com.urdf | 69 ++++++++++++++++++ .../gym/pybullet_data/xarm/link6.urdf | 70 +++++++++++++++++++ .../gym/pybullet_data/xarm/link6_com.urdf | 70 +++++++++++++++++++ 14 files changed, 972 insertions(+) create mode 100644 examples/pybullet/gym/pybullet_data/xarm/base.urdf create mode 100644 examples/pybullet/gym/pybullet_data/xarm/base_com.urdf create mode 100644 examples/pybullet/gym/pybullet_data/xarm/link1.urdf create mode 100644 examples/pybullet/gym/pybullet_data/xarm/link1_com.urdf create mode 100644 examples/pybullet/gym/pybullet_data/xarm/link2.urdf create mode 100644 examples/pybullet/gym/pybullet_data/xarm/link2_com.urdf create mode 100644 examples/pybullet/gym/pybullet_data/xarm/link3.urdf create mode 100644 examples/pybullet/gym/pybullet_data/xarm/link3_com.urdf create mode 100644 examples/pybullet/gym/pybullet_data/xarm/link4.urdf create mode 100644 examples/pybullet/gym/pybullet_data/xarm/link4_com.urdf create mode 100644 examples/pybullet/gym/pybullet_data/xarm/link5.urdf create mode 100644 examples/pybullet/gym/pybullet_data/xarm/link5_com.urdf create mode 100644 examples/pybullet/gym/pybullet_data/xarm/link6.urdf create mode 100644 examples/pybullet/gym/pybullet_data/xarm/link6_com.urdf diff --git a/examples/pybullet/gym/pybullet_data/xarm/base.urdf b/examples/pybullet/gym/pybullet_data/xarm/base.urdf new file mode 100644 index 000000000..5d6d8cdd3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/base.urdf @@ -0,0 +1,69 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/base_com.urdf b/examples/pybullet/gym/pybullet_data/xarm/base_com.urdf new file mode 100644 index 000000000..829626252 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/base_com.urdf @@ -0,0 +1,69 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/link1.urdf b/examples/pybullet/gym/pybullet_data/xarm/link1.urdf new file mode 100644 index 000000000..990825f80 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/link1.urdf @@ -0,0 +1,69 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/link1_com.urdf b/examples/pybullet/gym/pybullet_data/xarm/link1_com.urdf new file mode 100644 index 000000000..497cc5e84 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/link1_com.urdf @@ -0,0 +1,69 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/link2.urdf b/examples/pybullet/gym/pybullet_data/xarm/link2.urdf new file mode 100644 index 000000000..b5bff838a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/link2.urdf @@ -0,0 +1,70 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/link2_com.urdf b/examples/pybullet/gym/pybullet_data/xarm/link2_com.urdf new file mode 100644 index 000000000..40a065525 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/link2_com.urdf @@ -0,0 +1,70 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/link3.urdf b/examples/pybullet/gym/pybullet_data/xarm/link3.urdf new file mode 100644 index 000000000..2749d2666 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/link3.urdf @@ -0,0 +1,69 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/link3_com.urdf b/examples/pybullet/gym/pybullet_data/xarm/link3_com.urdf new file mode 100644 index 000000000..3bc0991a1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/link3_com.urdf @@ -0,0 +1,69 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/link4.urdf b/examples/pybullet/gym/pybullet_data/xarm/link4.urdf new file mode 100644 index 000000000..e2e6d11ab --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/link4.urdf @@ -0,0 +1,70 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/link4_com.urdf b/examples/pybullet/gym/pybullet_data/xarm/link4_com.urdf new file mode 100644 index 000000000..25183bb4f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/link4_com.urdf @@ -0,0 +1,70 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/link5.urdf b/examples/pybullet/gym/pybullet_data/xarm/link5.urdf new file mode 100644 index 000000000..0bc4f787b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/link5.urdf @@ -0,0 +1,69 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/link5_com.urdf b/examples/pybullet/gym/pybullet_data/xarm/link5_com.urdf new file mode 100644 index 000000000..c1b4616c1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/link5_com.urdf @@ -0,0 +1,69 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/link6.urdf b/examples/pybullet/gym/pybullet_data/xarm/link6.urdf new file mode 100644 index 000000000..0ce9a887d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/link6.urdf @@ -0,0 +1,70 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/link6_com.urdf b/examples/pybullet/gym/pybullet_data/xarm/link6_com.urdf new file mode 100644 index 000000000..4cb707430 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/link6_com.urdf @@ -0,0 +1,70 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From d38ea87027d4d28a36fc294d47b5a395383bd2f2 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 13 Dec 2019 14:33:54 -0800 Subject: [PATCH 333/389] add gripper with deformable cloth demo --- examples/ExampleBrowser/ExampleEntries.cpp | 1 + .../RoboticsLearning/GripperGraspExample.cpp | 129 +++++++++++++++++- .../RoboticsLearning/GripperGraspExample.h | 1 + .../b3RobotSimulatorClientAPI_NoDirect.cpp | 36 +++++ .../b3RobotSimulatorClientAPI_NoDirect.h | 53 +++++++ .../btDeformableMultiBodyConstraintSolver.cpp | 24 ++++ 6 files changed, 239 insertions(+), 5 deletions(-) diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index 6bc8b589b..e59641d18 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -303,6 +303,7 @@ static ExampleEntry gDefaultExamples[] = ExampleEntry(1, "Rolling friction", "Experiment on multibody rolling friction", R2D2GraspExampleCreateFunc, eROBOTIC_LEARN_ROLLING_FRICTION), ExampleEntry(1, "Gripper Grasp", "Grasp experiment with a gripper to improve contact model", GripperGraspExampleCreateFunc, eGRIPPER_GRASP), ExampleEntry(1, "Two Point Grasp", "Grasp experiment with two point contact to test rolling friction", GripperGraspExampleCreateFunc, eTWO_POINT_GRASP), + ExampleEntry(1, "Grasp Deformable Cloth", "Grasp experiment with deformable cloth", GripperGraspExampleCreateFunc, eGRASP_DEFORMABLE_CLOTH), ExampleEntry(1, "One Motor Gripper Grasp", "Grasp experiment with a gripper with one motor to test slider constraint for closed loop structure", GripperGraspExampleCreateFunc, eONE_MOTOR_GRASP), #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD ExampleEntry(1, "Grasp Soft Body", "Grasp soft body experiment", GripperGraspExampleCreateFunc, eGRASP_SOFT_BODY), diff --git a/examples/RoboticsLearning/GripperGraspExample.cpp b/examples/RoboticsLearning/GripperGraspExample.cpp index 8f5ec1a8e..c3afaee88 100644 --- a/examples/RoboticsLearning/GripperGraspExample.cpp +++ b/examples/RoboticsLearning/GripperGraspExample.cpp @@ -294,6 +294,102 @@ public: slider.m_maxVal = 1; m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); } + { + b3RobotSimulatorLoadFileResults results; + m_robotSim.loadSDF("gripper/wsg50_one_motor_gripper_new.sdf", results); + + if (results.m_uniqueObjectIds.size() == 1) + { + m_gripperIndex = results.m_uniqueObjectIds[0]; + int numJoints = m_robotSim.getNumJoints(m_gripperIndex); + b3Printf("numJoints = %d", numJoints); + + for (int i = 0; i < numJoints; i++) + { + b3JointInfo jointInfo; + m_robotSim.getJointInfo(m_gripperIndex, i, &jointInfo); + b3Printf("joint[%d].m_jointName=%s", i, jointInfo.m_jointName); + } + + for (int i = 0; i < 8; i++) + { + b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY); + controlArgs.m_maxTorqueValue = 0.0; + m_robotSim.setJointMotorControl(m_gripperIndex, i, controlArgs); + } + } + } + { + b3RobotSimulatorLoadUrdfFileArgs args; + args.m_startPosition.setValue(0, 0, -0.2); + args.m_startOrientation.setEulerZYX(0, 0, 0); + m_robotSim.loadURDF("plane.urdf", args); + } + m_robotSim.setGravity(btVector3(0, 0, -10)); + b3RobotSimulatorLoadSoftBodyArgs args(0.1, 1, 0.02); + args.m_startPosition.setValue(0, 0, 5); + args.m_startOrientation.setValue(1, 0, 0, 1); + m_robotSim.loadSoftBody("bunny.obj", args); + + b3JointInfo revoluteJoint1; + revoluteJoint1.m_parentFrame[0] = -0.055; + revoluteJoint1.m_parentFrame[1] = 0; + revoluteJoint1.m_parentFrame[2] = 0.02; + revoluteJoint1.m_parentFrame[3] = 0; + revoluteJoint1.m_parentFrame[4] = 0; + revoluteJoint1.m_parentFrame[5] = 0; + revoluteJoint1.m_parentFrame[6] = 1.0; + revoluteJoint1.m_childFrame[0] = 0; + revoluteJoint1.m_childFrame[1] = 0; + revoluteJoint1.m_childFrame[2] = 0; + revoluteJoint1.m_childFrame[3] = 0; + revoluteJoint1.m_childFrame[4] = 0; + revoluteJoint1.m_childFrame[5] = 0; + revoluteJoint1.m_childFrame[6] = 1.0; + revoluteJoint1.m_jointAxis[0] = 1.0; + revoluteJoint1.m_jointAxis[1] = 0.0; + revoluteJoint1.m_jointAxis[2] = 0.0; + revoluteJoint1.m_jointType = ePoint2PointType; + b3JointInfo revoluteJoint2; + revoluteJoint2.m_parentFrame[0] = 0.055; + revoluteJoint2.m_parentFrame[1] = 0; + revoluteJoint2.m_parentFrame[2] = 0.02; + revoluteJoint2.m_parentFrame[3] = 0; + revoluteJoint2.m_parentFrame[4] = 0; + revoluteJoint2.m_parentFrame[5] = 0; + revoluteJoint2.m_parentFrame[6] = 1.0; + revoluteJoint2.m_childFrame[0] = 0; + revoluteJoint2.m_childFrame[1] = 0; + revoluteJoint2.m_childFrame[2] = 0; + revoluteJoint2.m_childFrame[3] = 0; + revoluteJoint2.m_childFrame[4] = 0; + revoluteJoint2.m_childFrame[5] = 0; + revoluteJoint2.m_childFrame[6] = 1.0; + revoluteJoint2.m_jointAxis[0] = 1.0; + revoluteJoint2.m_jointAxis[1] = 0.0; + revoluteJoint2.m_jointAxis[2] = 0.0; + revoluteJoint2.m_jointType = ePoint2PointType; + m_robotSim.createConstraint(0, 2, 0, 4, &revoluteJoint1); + m_robotSim.createConstraint(0, 3, 0, 6, &revoluteJoint2); + } + + if ((m_options & eGRASP_DEFORMABLE_CLOTH) != 0) + { + m_robotSim.resetSimulation(RESET_USE_DEFORMABLE_WORLD); + { + SliderParams slider("Vertical velocity", &sGripperVerticalVelocity); + slider.m_minVal = -2; + slider.m_maxVal = 2; + m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); + } + + { + SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity); + slider.m_minVal = -1; + slider.m_maxVal = 1; + m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); + } + { b3RobotSimulatorLoadFileResults results; m_robotSim.loadSDF("gripper/wsg50_one_motor_gripper_new.sdf", results); @@ -326,10 +422,18 @@ public: m_robotSim.loadURDF("plane.urdf", args); } m_robotSim.setGravity(btVector3(0, 0, -10)); - b3RobotSimulatorLoadSoftBodyArgs args(0.1, 1, 0.02); - args.m_startPosition.setValue(0, 0, 5); - args.m_startOrientation.setValue(1, 0, 0, 1); - m_robotSim.loadSoftBody("bunny.obj", args); + + m_robotSim.setGravity(btVector3(0, 0, -10)); + b3RobotSimulatorLoadDeformableBodyArgs args(1, .01, 0.02); + args.m_springElasticStiffness = 1; + args.m_springDampingStiffness = .001; + args.m_springBendingStiffness = .2; + args.m_frictionCoeff = 2; + args.m_useSelfCollision = false; + args.m_useBendingSprings = true; + args.m_startPosition.setValue(0, 0, 0); + args.m_startOrientation.setValue(0, 0, 1, 1); + m_robotSim.loadDeformableBody("flat_napkin.obj", args); b3JointInfo revoluteJoint1; revoluteJoint1.m_parentFrame[0] = -0.055; @@ -371,7 +475,7 @@ public: revoluteJoint2.m_jointType = ePoint2PointType; m_robotSim.createConstraint(0, 2, 0, 4, &revoluteJoint1); m_robotSim.createConstraint(0, 3, 0, 6, &revoluteJoint2); - } + } if ((m_options & eSOFTBODY_MULTIBODY_COUPLING) != 0) { @@ -462,6 +566,21 @@ public: m_robotSim.setJointMotorControl(m_gripperIndex, fingerJointIndices[i], controlArgs); } } + + if ((m_options & eGRASP_DEFORMABLE_CLOTH) != 0) + { + int fingerJointIndices[2] = {0, 1}; + double fingerTargetVelocities[2] = {sGripperVerticalVelocity, sGripperClosingTargetVelocity}; + double maxTorqueValues[2] = {250.0, 50.0}; + for (int i = 0; i < 2; i++) + { + b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY); + controlArgs.m_targetVelocity = fingerTargetVelocities[i]; + controlArgs.m_maxTorqueValue = maxTorqueValues[i]; + controlArgs.m_kd = 1.; + m_robotSim.setJointMotorControl(m_gripperIndex, fingerJointIndices[i], controlArgs); + } + } if ((m_options & eSOFTBODY_MULTIBODY_COUPLING) != 0) { diff --git a/examples/RoboticsLearning/GripperGraspExample.h b/examples/RoboticsLearning/GripperGraspExample.h index 96387bc41..110068b8e 100644 --- a/examples/RoboticsLearning/GripperGraspExample.h +++ b/examples/RoboticsLearning/GripperGraspExample.h @@ -23,6 +23,7 @@ enum GripperGraspExampleOptions eONE_MOTOR_GRASP = 4, eGRASP_SOFT_BODY = 8, eSOFTBODY_MULTIBODY_COUPLING = 16, + eGRASP_DEFORMABLE_CLOTH = 32, }; class CommonExampleInterface* GripperGraspExampleCreateFunc(struct CommonExampleOptions& options); diff --git a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp index 27bc23163..d8cd3d495 100644 --- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp +++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp @@ -89,6 +89,19 @@ void b3RobotSimulatorClientAPI_NoDirect::resetSimulation() m_data->m_physicsClientHandle, b3InitResetSimulationCommand(m_data->m_physicsClientHandle)); } +void b3RobotSimulatorClientAPI_NoDirect::resetSimulation(int flag) +{ + if (!isConnected()) + { + b3Warning("Not connected"); + return; + } + b3SharedMemoryStatusHandle statusHandle; + b3SharedMemoryCommandHandle command = b3InitResetSimulationCommand(m_data->m_physicsClientHandle); + b3InitResetSimulationSetFlags(command, flag); + statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command); +} + bool b3RobotSimulatorClientAPI_NoDirect::canSubmitCommand() const { if (!isConnected()) @@ -1151,6 +1164,29 @@ void b3RobotSimulatorClientAPI_NoDirect::loadSoftBody(const std::string& fileNam b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command); } +void b3RobotSimulatorClientAPI_NoDirect::loadDeformableBody(const std::string& fileName, const struct b3RobotSimulatorLoadDeformableBodyArgs& args) +{ + if (!isConnected()) + { + b3Warning("Not connected"); + return; + } + + b3SharedMemoryCommandHandle command = b3LoadSoftBodyCommandInit(m_data->m_physicsClientHandle, fileName.c_str()); + b3LoadSoftBodySetStartPosition(command, args.m_startPosition[0], args.m_startPosition[1], args.m_startPosition[2]); + b3LoadSoftBodySetStartOrientation(command, args.m_startOrientation[0], args.m_startOrientation[1], args.m_startOrientation[2], args.m_startOrientation[3]); + b3LoadSoftBodySetScale(command, args.m_scale); + b3LoadSoftBodySetMass(command, args.m_mass); + b3LoadSoftBodySetCollisionMargin(command, args.m_collisionMargin); + b3LoadSoftBodyAddNeoHookeanForce(command, args.m_NeoHookeanMu, args.m_NeoHookeanLambda, args.m_NeoHookeanDamping); + b3LoadSoftBodyAddMassSpringForce(command, args.m_springElasticStiffness, args.m_springDampingStiffness); + b3LoadSoftBodyUseSelfCollision(command, args.m_useSelfCollision); + b3LoadSoftBodyUseFaceContact(command, args.m_useFaceContact); + b3LoadSoftBodySetFrictionCoefficient(command, args.m_frictionCoeff); + b3LoadSoftBodyUseBendingSprings(command, args.m_useBendingSprings, args.m_springBendingStiffness); + b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command); +} + void b3RobotSimulatorClientAPI_NoDirect::getMouseEvents(b3MouseEventsData* mouseEventsData) { mouseEventsData->m_numMouseEvents = 0; diff --git a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h index d8fd179c0..e119a37de 100644 --- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h +++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h @@ -89,6 +89,55 @@ struct b3RobotSimulatorLoadSoftBodyArgs } }; + +struct b3RobotSimulatorLoadDeformableBodyArgs +{ + btVector3 m_startPosition; + btQuaternion m_startOrientation; + double m_scale; + double m_mass; + double m_collisionMargin; + double m_springElasticStiffness; + double m_springDampingStiffness; + double m_springBendingStiffness; + double m_NeoHookeanMu; + double m_NeoHookeanLambda; + double m_NeoHookeanDamping; + bool m_useSelfCollision; + bool m_useFaceContact; + bool m_useBendingSprings; + double m_frictionCoeff; + + b3RobotSimulatorLoadDeformableBodyArgs(const btVector3 &startPos, const btQuaternion &startOrn, const double &scale, const double &mass, const double &collisionMargin) + : m_startPosition(startPos), + m_startOrientation(startOrn), + m_scale(scale), + m_mass(mass), + m_collisionMargin(collisionMargin) + { + } + + b3RobotSimulatorLoadDeformableBodyArgs(const btVector3 &startPos, const btQuaternion &startOrn) + { + b3RobotSimulatorLoadSoftBodyArgs(startPos, startOrn, 1.0, 1.0, 0.02); + } + + b3RobotSimulatorLoadDeformableBodyArgs() + { + b3RobotSimulatorLoadSoftBodyArgs(btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1)); + } + + b3RobotSimulatorLoadDeformableBodyArgs(double scale, double mass, double collisionMargin) + : m_startPosition(btVector3(0, 0, 0)), + m_startOrientation(btQuaternion(0, 0, 0, 1)), + m_scale(scale), + m_mass(mass), + m_collisionMargin(collisionMargin) + { + } +}; + + struct b3RobotSimulatorLoadFileResults { btAlignedObjectArray m_uniqueObjectIds; @@ -534,6 +583,8 @@ public: void syncBodies(); void resetSimulation(); + + void resetSimulation(int flag); btQuaternion getQuaternionFromEuler(const btVector3 &rollPitchYaw); btVector3 getEulerFromQuaternion(const btQuaternion &quat); @@ -685,6 +736,8 @@ public: int getConstraintUniqueId(int serialIndex); void loadSoftBody(const std::string &fileName, const struct b3RobotSimulatorLoadSoftBodyArgs &args); + + void loadDeformableBody(const std::string &fileName, const struct b3RobotSimulatorLoadDeformableBodyArgs &args); virtual void setGuiHelper(struct GUIHelperInterface *guiHelper); virtual struct GUIHelperInterface *getGuiHelper(); diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp index 9c5390d1f..581d6feae 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp @@ -22,8 +22,32 @@ btScalar btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlyIteration { ///this is a special step to resolve penetrations (just for contacts) solveGroupCacheFriendlySplitImpulseIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); +// +// int maxMotorIterations = 150; +// for (int iteration = 0; iteration < maxMotorIterations; ++iteration) +// { +// btScalar motorResidual = 0; +// for (int j = 0; j < m_multiBodyNonContactConstraints.size(); j++) +// { +// int index = iteration & 1 ? j : m_multiBodyNonContactConstraints.size() - 1 - j; +// +// btMultiBodySolverConstraint& constraint = m_multiBodyNonContactConstraints[index]; +// +// btScalar residual = resolveSingleConstraintRowGeneric(constraint); +// motorResidual = btMax(motorResidual, residual * residual); +// if (constraint.m_multiBodyA) +// constraint.m_multiBodyA->setPosUpdated(false); +// if (constraint.m_multiBodyB) +// constraint.m_multiBodyB->setPosUpdated(false); +// } +// if (motorResidual < infoGlobal.m_leastSquaresResidualThreshold) +// { +// break; +// } +// } int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations; + maxIterations = 500; for (int iteration = 0; iteration < maxIterations; iteration++) { // rigid bodies are solved using solver body velocity, but rigid/deformable contact directly uses the velocity of the actual rigid body. So we have to do the following: Solve one iteration of the rigid/rigid contact, get the updated velocity in the solver body and update the velocity of the underlying rigid body. Then solve the rigid/deformable contact. Finally, grab the (once again) updated rigid velocity and update the velocity of the wrapping solver body From 0aa4974b98c8ea7c060531b6922eda95eb875efc Mon Sep 17 00:00:00 2001 From: Daniele Bartolini Date: Sun, 15 Dec 2019 00:35:44 +0100 Subject: [PATCH 334/389] Remove unnecessary copy constructor in btBroadphasePair --- .../BroadphaseCollision/btBroadphaseProxy.h | 7 ------- 1 file changed, 7 deletions(-) diff --git a/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h b/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h index 825caeef5..bc0742ad6 100644 --- a/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h +++ b/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h @@ -187,13 +187,6 @@ btBroadphasePair BT_DECLARE_ALIGNED_ALLOCATOR(); - btBroadphasePair(const btBroadphasePair& other) - : m_pProxy0(other.m_pProxy0), - m_pProxy1(other.m_pProxy1), - m_algorithm(other.m_algorithm), - m_internalInfo1(other.m_internalInfo1) - { - } btBroadphasePair(btBroadphaseProxy & proxy0, btBroadphaseProxy & proxy1) { //keep them sorted, so the std::set operations work From b91124b012fa21ba76fcca189adb36db07b5c4a1 Mon Sep 17 00:00:00 2001 From: Daniele Bartolini Date: Sun, 15 Dec 2019 00:41:00 +0100 Subject: [PATCH 335/389] Fix multi-line comment warning with -Wcomment --- .../CollisionDispatch/btCollisionWorldImporter.cpp | 4 ++-- .../CollisionDispatch/btConvexConvexAlgorithm.cpp | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp b/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp index 9f422dc15..e56e73dcf 100644 --- a/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp +++ b/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp @@ -292,8 +292,8 @@ btCollisionShape* btCollisionWorldImporter::convertCollisionShape(btCollisionSha } break; } -#endif //SUPPORT_GIMPACT_SHAPE_IMPORT \ - //The btCapsuleShape* API has issue passing the margin/scaling/halfextents unmodified through the API \ +#endif //SUPPORT_GIMPACT_SHAPE_IMPORT + //The btCapsuleShape* API has issue passing the margin/scaling/halfextents unmodified through the API //so deal with this case CAPSULE_SHAPE_PROXYTYPE: { diff --git a/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp index 44dd3c553..b48d97f2b 100644 --- a/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp +++ b/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp @@ -503,9 +503,9 @@ void btConvexConvexAlgorithm ::processCollision(const btCollisionObjectWrapper* gjkPairDetector.getClosestPoints(input, withoutMargin, dispatchInfo.m_debugDraw); //gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw); -#endif //ZERO_MARGIN \ - //btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2(); \ - //if (l2>SIMD_EPSILON) +#endif //ZERO_MARGIN + //btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2(); + //if (l2>SIMD_EPSILON) { sepNormalWorldSpace = withoutMargin.m_reportedNormalOnWorld; //gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2); //minDist = -1e30f;//gjkPairDetector.getCachedSeparatingDistance(); From 78398df00e90b9d2bd303c85ace45a4ee9eec459 Mon Sep 17 00:00:00 2001 From: Daniele Bartolini Date: Sun, 15 Dec 2019 01:03:01 +0100 Subject: [PATCH 336/389] Fix warning with -Wunused-parameter --- .../BroadphaseCollision/btOverlappingPairCache.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h b/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h index a85782bc8..f4a2d5e36 100644 --- a/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h +++ b/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h @@ -68,7 +68,7 @@ public: virtual void processAllOverlappingPairs(btOverlapCallback*, btDispatcher* dispatcher) = 0; - virtual void processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher, const struct btDispatcherInfo& dispatchInfo) + virtual void processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher, const struct btDispatcherInfo& /*dispatchInfo*/) { processAllOverlappingPairs(callback, dispatcher); } From 4ea4c7ef6a793fbbce5664a94e0b926402c32ece Mon Sep 17 00:00:00 2001 From: Daniele Bartolini Date: Sun, 15 Dec 2019 01:21:24 +0100 Subject: [PATCH 337/389] Remove unnecessary copy constructor in btDbvt --- src/BulletCollision/BroadphaseCollision/btDbvt.h | 1 - 1 file changed, 1 deletion(-) diff --git a/src/BulletCollision/BroadphaseCollision/btDbvt.h b/src/BulletCollision/BroadphaseCollision/btDbvt.h index e5db99722..980d19a75 100644 --- a/src/BulletCollision/BroadphaseCollision/btDbvt.h +++ b/src/BulletCollision/BroadphaseCollision/btDbvt.h @@ -131,7 +131,6 @@ subject to the following restrictions: struct btDbvtAabbMm { DBVT_INLINE btDbvtAabbMm(){} - DBVT_INLINE btDbvtAabbMm(const btDbvtAabbMm& other): mi(other.mi), mx(other.mx){} DBVT_INLINE btVector3 Center() const { return ((mi + mx) / 2); } DBVT_INLINE btVector3 Lengths() const { return (mx - mi); } DBVT_INLINE btVector3 Extents() const { return ((mx - mi) / 2); } From 0f477e27ae4462489b685834f136355a48818564 Mon Sep 17 00:00:00 2001 From: Chuyuan Fu Date: Tue, 17 Dec 2019 13:45:52 -0800 Subject: [PATCH 338/389] add link index to setdamping C APIs. If link index is not set, the command is igored for rigidbody --- examples/SharedMemory/PhysicsClientC_API.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 2c47be584..b629ffe5e 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -3171,6 +3171,7 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetLinearDamping(b3SharedMemoryCommandHand struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO); command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId; + command->m_changeDynamicsInfoArgs.m_linkIndex = -1; command->m_changeDynamicsInfoArgs.m_linearDamping = linearDamping; command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING; return 0; @@ -3181,6 +3182,7 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetAngularDamping(b3SharedMemoryCommandHan struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO); command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId; + command->m_changeDynamicsInfoArgs.m_linkIndex = -1; command->m_changeDynamicsInfoArgs.m_angularDamping = angularDamping; command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING; return 0; From f65a8b03c00447d882e132f45fbfd4b4d68b81c8 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 17 Dec 2019 18:27:23 -0800 Subject: [PATCH 339/389] separate deformable contact solve by islands WIP --- .../b3RobotSimulatorClientAPI_NoDirect.cpp | 2 +- .../btMultiBodyInplaceSolverIslandCallback.h | 6 +++ ...eformableBodyInplaceSolverIslandCallback.h | 46 +++++++++++++++++++ .../btDeformableMultiBodyConstraintSolver.cpp | 6 +-- .../btDeformableMultiBodyConstraintSolver.h | 5 +- .../btDeformableMultiBodyDynamicsWorld.cpp | 33 +++++++++++-- .../btDeformableMultiBodyDynamicsWorld.h | 27 ++--------- 7 files changed, 92 insertions(+), 33 deletions(-) create mode 100644 src/BulletSoftBody/DeformableBodyInplaceSolverIslandCallback.h diff --git a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp index d8cd3d495..68bf2d231 100644 --- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp +++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp @@ -1180,7 +1180,7 @@ void b3RobotSimulatorClientAPI_NoDirect::loadDeformableBody(const std::string& f b3LoadSoftBodySetCollisionMargin(command, args.m_collisionMargin); b3LoadSoftBodyAddNeoHookeanForce(command, args.m_NeoHookeanMu, args.m_NeoHookeanLambda, args.m_NeoHookeanDamping); b3LoadSoftBodyAddMassSpringForce(command, args.m_springElasticStiffness, args.m_springDampingStiffness); - b3LoadSoftBodyUseSelfCollision(command, args.m_useSelfCollision); + b3LoadSoftBodySetSelfCollision(command, args.m_useSelfCollision); b3LoadSoftBodyUseFaceContact(command, args.m_useFaceContact); b3LoadSoftBodySetFrictionCoefficient(command, args.m_frictionCoeff); b3LoadSoftBodyUseBendingSprings(command, args.m_useBendingSprings, args.m_springBendingStiffness); diff --git a/src/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h b/src/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h index 593f68d9a..3169b86e6 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h @@ -76,6 +76,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager:: btDispatcher* m_dispatcher; btAlignedObjectArray m_bodies; + btAlignedObjectArray m_softBodies; btAlignedObjectArray m_manifolds; btAlignedObjectArray m_constraints; btAlignedObjectArray m_multiBodyConstraints; @@ -194,6 +195,10 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager:: { m_bodies.push_back(bodies[i]); } + else + { + m_softBodies.push_back(bodies[i]); + } } for (i = 0; i < numManifolds; i++) m_manifolds.push_back(manifolds[i]); @@ -231,6 +236,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager:: m_islandAnalyticsData.push_back(m_solver->m_analyticsData); } m_bodies.resize(0); + m_softBodies.resize(0); m_manifolds.resize(0); m_constraints.resize(0); m_multiBodyConstraints.resize(0); diff --git a/src/BulletSoftBody/DeformableBodyInplaceSolverIslandCallback.h b/src/BulletSoftBody/DeformableBodyInplaceSolverIslandCallback.h new file mode 100644 index 000000000..7b225701f --- /dev/null +++ b/src/BulletSoftBody/DeformableBodyInplaceSolverIslandCallback.h @@ -0,0 +1,46 @@ +// +// DeformableBodyInplaceSolverIslandCallback.h +// BulletSoftBody +// +// Created by Xuchen Han on 12/16/19. +// + +#ifndef DeformableBodyInplaceSolverIslandCallback_h +#define DeformableBodyInplaceSolverIslandCallback_h + +struct DeformableBodyInplaceSolverIslandCallback : public MultiBodyInplaceSolverIslandCallback +{ + btDeformableMultiBodyConstraintSolver* m_deformableSolver; + + DeformableBodyInplaceSolverIslandCallback(btDeformableMultiBodyConstraintSolver* solver, + btDispatcher* dispatcher) + : MultiBodyInplaceSolverIslandCallback(solver, dispatcher), m_deformableSolver(solver) + { + } + + + virtual void processConstraints(int islandId=-1) + { + btCollisionObject** bodies = m_bodies.size() ? &m_bodies[0] : 0; + btCollisionObject** softBodies = m_softBodies.size() ? &m_softBodies[0] : 0; + btPersistentManifold** manifold = m_manifolds.size() ? &m_manifolds[0] : 0; + btTypedConstraint** constraints = m_constraints.size() ? &m_constraints[0] : 0; + btMultiBodyConstraint** multiBodyConstraints = m_multiBodyConstraints.size() ? &m_multiBodyConstraints[0] : 0; + + //printf("mb contacts = %d, mb constraints = %d\n", mbContacts, m_multiBodyConstraints.size()); + + m_deformableSolver->solveDeformableBodyGroup(bodies, m_bodies.size(), softBodies, m_softBodies.size(), manifold, m_manifolds.size(), constraints, m_constraints.size(), multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo, m_debugDrawer, m_dispatcher); + if (m_bodies.size() && (m_solverInfo->m_reportSolverAnalytics&1)) + { + m_deformableSolver->m_analyticsData.m_islandId = islandId; + m_islandAnalyticsData.push_back(m_solver->m_analyticsData); + } + m_bodies.resize(0); + m_softBodies.resize(0); + m_manifolds.resize(0); + m_constraints.resize(0); + m_multiBodyConstraints.resize(0); + } +}; + +#endif /* DeformableBodyInplaceSolverIslandCallback_h */ diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp index 581d6feae..d2c810d0b 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp @@ -17,7 +17,7 @@ #include "btDeformableMultiBodyConstraintSolver.h" #include // override the iterations method to include deformable/multibody contact -btScalar btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) +btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations(btCollisionObject** bodies,int numBodies,btCollisionObject** deformableBodies,int numDeformableBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) { { ///this is a special step to resolve penetrations (just for contacts) @@ -82,7 +82,7 @@ btScalar btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlyIteration return 0.f; } -void btDeformableMultiBodyConstraintSolver::solveMultiBodyGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher) +void btDeformableMultiBodyConstraintSolver::solveDeformableBodyGroup(btCollisionObject * *bodies, int numBodies, btCollisionObject * *deformableBodies, int numDeformableBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher) { m_tmpMultiBodyConstraints = multiBodyConstraints; m_tmpNumMultiBodyConstraints = numMultiBodyConstraints; @@ -91,7 +91,7 @@ void btDeformableMultiBodyConstraintSolver::solveMultiBodyGroup(btCollisionObjec solveGroupCacheFriendlySetup(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer); // overriden - solveGroupCacheFriendlyIterations(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer); + solveDeformableGroupIterations(bodies, numBodies, deformableBodies, numDeformableBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer); // inherited from MultiBodyConstraintSolver solveGroupCacheFriendlyFinish(bodies, numBodies, info); diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h index 10f1d3f4b..0c7cc26a8 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h @@ -36,7 +36,7 @@ btDeformableMultiBodyConstraintSolver : public btMultiBodyConstraintSolver protected: // override the iterations method to include deformable/multibody contact - virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); +// virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); // write the velocity of the the solver body to the underlying rigid body void solverBodyWriteBack(const btContactSolverInfo& infoGlobal); @@ -46,6 +46,7 @@ protected: virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); + virtual btScalar solveDeformableGroupIterations(btCollisionObject** bodies,int numBodies,btCollisionObject** deformableBodies,int numDeformableBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); public: BT_DECLARE_ALIGNED_ALLOCATOR(); @@ -54,7 +55,7 @@ public: m_deformableSolver = deformableSolver; } - virtual void solveMultiBodyGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher); + virtual void solveDeformableBodyGroup(btCollisionObject * *bodies, int numBodies, btCollisionObject * *deformableBodies, int numDeformableBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher); }; #endif /* BT_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H */ diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 25ee65450..618e5c0d7 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -36,9 +36,36 @@ The algorithm also closely resembles the one in http://physbam.stanford.edu/~fed #include #include "btDeformableMultiBodyDynamicsWorld.h" +#include "DeformableBodyInplaceSolverIslandCallback.h" #include "btDeformableBodySolver.h" #include "LinearMath/btQuickprof.h" #include "btSoftBodyInternals.h" +btDeformableMultiBodyDynamicsWorld::btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btDeformableMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver) +: btMultiBodyDynamicsWorld(dispatcher, pairCache, (btMultiBodyConstraintSolver*)constraintSolver, collisionConfiguration), +m_deformableBodySolver(deformableBodySolver), m_solverCallback(0) +{ + m_drawFlags = fDrawFlags::Std; + m_drawNodeTree = true; + m_drawFaceTree = false; + m_drawClusterTree = false; + m_sbi.m_broadphase = pairCache; + m_sbi.m_dispatcher = dispatcher; + m_sbi.m_sparsesdf.Initialize(); + m_sbi.m_sparsesdf.setDefaultVoxelsz(0.005); + m_sbi.m_sparsesdf.Reset(); + + m_sbi.air_density = (btScalar)1.2; + m_sbi.water_density = 0; + m_sbi.water_offset = 0; + m_sbi.water_normal = btVector3(0, 0, 0); + m_sbi.m_gravity.setValue(0, -10, 0); + m_internalTime = 0.0; + m_implicit = false; + m_lineSearch = false; + m_selfCollision = true; + m_solverDeformableBodyIslandCallback = new DeformableBodyInplaceSolverIslandCallback(constraintSolver, dispatcher); +} + void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) { BT_PROFILE("internalSingleStepSimulation"); @@ -261,7 +288,7 @@ void btDeformableMultiBodyDynamicsWorld::setupConstraints() // setup the solver callback btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0; btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0; - m_solverMultiBodyIslandCallback->setup(&m_solverInfo, constraintsPtr, m_sortedConstraints.size(), sortedMultiBodyConstraints, m_sortedMultiBodyConstraints.size(), getDebugDrawer()); + m_solverDeformableBodyIslandCallback->setup(&m_solverInfo, constraintsPtr, m_sortedConstraints.size(), sortedMultiBodyConstraints, m_sortedMultiBodyConstraints.size(), getDebugDrawer()); // build islands m_islandManager->buildIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld()); @@ -290,10 +317,10 @@ void btDeformableMultiBodyDynamicsWorld::sortConstraints() void btDeformableMultiBodyDynamicsWorld::solveContactConstraints() { // process constraints on each island - m_islandManager->processIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback); + m_islandManager->processIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverDeformableBodyIslandCallback); // process deferred - m_solverMultiBodyIslandCallback->processConstraints(); + m_solverDeformableBodyIslandCallback->processConstraints(); m_constraintSolver->allSolved(m_solverInfo, m_debugDrawer); // write joint feedback diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h index 9fbebd6ed..763038576 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h @@ -29,6 +29,7 @@ typedef btAlignedObjectArray btSoftBodyArray; class btDeformableBodySolver; class btDeformableLagrangianForce; struct MultiBodyInplaceSolverIslandCallback; +struct DeformableBodyInplaceSolverIslandCallback; class btDeformableMultiBodyConstraintSolver; typedef btAlignedObjectArray btSoftBodyArray; @@ -49,6 +50,7 @@ class btDeformableMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld bool m_implicit; bool m_lineSearch; bool m_selfCollision; + DeformableBodyInplaceSolverIslandCallback* m_solverDeformableBodyIslandCallback; typedef void (*btSolverCallback)(btScalar time, btDeformableMultiBodyDynamicsWorld* world); btSolverCallback m_solverCallback; @@ -67,30 +69,7 @@ protected: void clearGravity(); public: - btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btDeformableMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0) - : btMultiBodyDynamicsWorld(dispatcher, pairCache, (btMultiBodyConstraintSolver*)constraintSolver, collisionConfiguration), - m_deformableBodySolver(deformableBodySolver), m_solverCallback(0) - { - m_drawFlags = fDrawFlags::Std; - m_drawNodeTree = true; - m_drawFaceTree = false; - m_drawClusterTree = false; - m_sbi.m_broadphase = pairCache; - m_sbi.m_dispatcher = dispatcher; - m_sbi.m_sparsesdf.Initialize(); - m_sbi.m_sparsesdf.setDefaultVoxelsz(0.005); - m_sbi.m_sparsesdf.Reset(); - - m_sbi.air_density = (btScalar)1.2; - m_sbi.water_density = 0; - m_sbi.water_offset = 0; - m_sbi.water_normal = btVector3(0, 0, 0); - m_sbi.m_gravity.setValue(0, -10, 0); - m_internalTime = 0.0; - m_implicit = false; - m_lineSearch = false; - m_selfCollision = true; - } + btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btDeformableMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0); virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.)); From 94f0a14e43e8e9479d5cb3f93a0731a23d341b64 Mon Sep 17 00:00:00 2001 From: Daniele Bartolini Date: Wed, 18 Dec 2019 21:20:49 +0100 Subject: [PATCH 340/389] Fix warning with -Wreorder --- src/BulletCollision/BroadphaseCollision/btDbvt.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/BulletCollision/BroadphaseCollision/btDbvt.h b/src/BulletCollision/BroadphaseCollision/btDbvt.h index 980d19a75..55daa7fb5 100644 --- a/src/BulletCollision/BroadphaseCollision/btDbvt.h +++ b/src/BulletCollision/BroadphaseCollision/btDbvt.h @@ -203,8 +203,8 @@ struct btDbvntNode btDbvntNode(const btDbvtNode* n) : volume(n->volume) - , angle(0) , normal(0,0,0) + , angle(0) , data(n->data) { childs[0] = 0; From 89553c44e7343ebe4f3c62e186c56627f7f663db Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Wed, 18 Dec 2019 23:11:34 -0800 Subject: [PATCH 341/389] solve constraints involving deformable objects according to islands --- src/BulletSoftBody/btDeformableBodySolver.cpp | 4 +- src/BulletSoftBody/btDeformableBodySolver.h | 2 +- .../btDeformableContactProjection.cpp | 945 +++++++++--------- .../btDeformableContactProjection.h | 35 +- .../btDeformableMultiBodyConstraintSolver.cpp | 28 +- 5 files changed, 483 insertions(+), 531 deletions(-) diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 82f343104..7724a8ec6 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -234,10 +234,10 @@ void btDeformableBodySolver::setConstraints() m_objective->setConstraints(); } -btScalar btDeformableBodySolver::solveContactConstraints() +btScalar btDeformableBodySolver::solveContactConstraints(btCollisionObject** deformableBodies,int numDeformableBodies) { BT_PROFILE("solveContactConstraints"); - btScalar maxSquaredResidual = m_objective->m_projection.update(); + btScalar maxSquaredResidual = m_objective->m_projection.update(deformableBodies,numDeformableBodies); return maxSquaredResidual; } diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index 64c7dcfbe..f78a8f696 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -65,7 +65,7 @@ public: virtual void solveDeformableConstraints(btScalar solverdt); // solve the contact between deformable and rigid as well as among deformables - btScalar solveContactConstraints(); + btScalar solveContactConstraints(btCollisionObject** deformableBodies,int numDeformableBodies); // solve the position error between deformable and rigid as well as among deformables; btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal); diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index 5986e2881..5a4f3241b 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -17,527 +17,492 @@ #include "btDeformableMultiBodyDynamicsWorld.h" #include #include -btScalar btDeformableContactProjection::update() +btScalar btDeformableContactProjection::update(btCollisionObject** deformableBodies,int numDeformableBodies) { - btScalar residualSquare = 0; - - // node constraints - for (int index = 0; index < m_nodeRigidConstraints.size(); ++index) - { - btAlignedObjectArray& constraints = *m_nodeRigidConstraints.getAtIndex(index); - for (int i = 0; i < constraints.size(); ++i) - { - btScalar localResidualSquare = constraints[i].solveConstraint(); - residualSquare = btMax(residualSquare, localResidualSquare); - } - } - - // anchor constraints - for (int index = 0; index < m_nodeAnchorConstraints.size(); ++index) - { - btDeformableNodeAnchorConstraint& constraint = *m_nodeAnchorConstraints.getAtIndex(index); - btScalar localResidualSquare = constraint.solveConstraint(); - residualSquare = btMax(residualSquare, localResidualSquare); - } - - // face constraints - for (int index = 0; index < m_allFaceConstraints.size(); ++index) - { - btDeformableContactConstraint* constraint = m_allFaceConstraints[index]; - btScalar localResidualSquare = constraint->solveConstraint(); - residualSquare = btMax(residualSquare, localResidualSquare); - } - - return residualSquare; + btScalar residualSquare = 0; + for (int i = 0; i < numDeformableBodies; ++i) + { + for (int j = 0; j < m_softBodies.size(); ++j) + { + btCollisionObject* psb = m_softBodies[j]; + if (psb != deformableBodies[i]) + { + continue; + } + for (int k = 0; k < m_nodeRigidConstraints[j].size(); ++k) + { + btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[j][k]; + btScalar localResidualSquare = constraint.solveConstraint(); + residualSquare = btMax(residualSquare, localResidualSquare); + } + for (int k = 0; k < m_nodeAnchorConstraints[j].size(); ++k) + { + btDeformableNodeAnchorConstraint& constraint = m_nodeAnchorConstraints[j][k]; + btScalar localResidualSquare = constraint.solveConstraint(); + residualSquare = btMax(residualSquare, localResidualSquare); + } + for (int k = 0; k < m_faceRigidConstraints[j].size(); ++k) + { + btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[j][k]; + btScalar localResidualSquare = constraint.solveConstraint(); + residualSquare = btMax(residualSquare, localResidualSquare); + } + for (int k = 0; k < m_deformableConstraints[j].size(); ++k) + { + btDeformableFaceNodeContactConstraint& constraint = m_deformableConstraints[j][k]; + btScalar localResidualSquare = constraint.solveConstraint(); + residualSquare = btMax(residualSquare, localResidualSquare); + } + } + } + return residualSquare; } void btDeformableContactProjection::splitImpulseSetup(const btContactSolverInfo& infoGlobal) { - // node constraints - for (int index = 0; index < m_nodeRigidConstraints.size(); ++index) - { - btAlignedObjectArray& constraints = *m_nodeRigidConstraints.getAtIndex(index); - for (int i = 0; i < constraints.size(); ++i) - { - constraints[i].setPenetrationScale(infoGlobal.m_deformable_erp); - } - } - - // face constraints - for (int index = 0; index < m_allFaceConstraints.size(); ++index) - { - btDeformableContactConstraint* constraint = m_allFaceConstraints[index]; - constraint->setPenetrationScale(infoGlobal.m_deformable_erp); - } + for (int i = 0; i < m_softBodies.size(); ++i) + { + // node constraints + for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j) + { + btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[i][j]; + constraint.setPenetrationScale(infoGlobal.m_deformable_erp); + } + // face constraints + for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j) + { + btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[i][j]; + constraint.setPenetrationScale(infoGlobal.m_deformable_erp); + } + } } btScalar btDeformableContactProjection::solveSplitImpulse(const btContactSolverInfo& infoGlobal) { - btScalar residualSquare = 0; - // node constraints - for (int index = 0; index < m_nodeRigidConstraints.size(); ++index) - { - btAlignedObjectArray& constraints = *m_nodeRigidConstraints.getAtIndex(index); - for (int i = 0; i < constraints.size(); ++i) - { - btScalar localResidualSquare = constraints[i].solveSplitImpulse(infoGlobal); - residualSquare = btMax(residualSquare, localResidualSquare); - } - } - - // anchor constraints - for (int index = 0; index < m_nodeAnchorConstraints.size(); ++index) - { - btDeformableNodeAnchorConstraint& constraint = *m_nodeAnchorConstraints.getAtIndex(index); - btScalar localResidualSquare = constraint.solveSplitImpulse(infoGlobal); - residualSquare = btMax(residualSquare, localResidualSquare); - } - - // face constraints - for (int index = 0; index < m_allFaceConstraints.size(); ++index) - { - btDeformableContactConstraint* constraint = m_allFaceConstraints[index]; - btScalar localResidualSquare = constraint->solveSplitImpulse(infoGlobal); - residualSquare = btMax(residualSquare, localResidualSquare); - } - return residualSquare; + btScalar residualSquare = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + // node constraints + for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j) + { + btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[i][j]; + btScalar localResidualSquare = constraint.solveSplitImpulse(infoGlobal); + residualSquare = btMax(residualSquare, localResidualSquare); + } + // anchor constraints + for (int j = 0; j < m_nodeAnchorConstraints[i].size(); ++j) + { + btDeformableNodeAnchorConstraint& constraint = m_nodeAnchorConstraints[i][j]; + btScalar localResidualSquare = constraint.solveSplitImpulse(infoGlobal); + residualSquare = btMax(residualSquare, localResidualSquare); + } + // face constraints + for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j) + { + btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[i][j]; + btScalar localResidualSquare = constraint.solveSplitImpulse(infoGlobal); + residualSquare = btMax(residualSquare, localResidualSquare); + } + + } + return residualSquare; } void btDeformableContactProjection::setConstraints() { - BT_PROFILE("setConstraints"); - // set Dirichlet constraint - for (int i = 0; i < m_softBodies.size(); ++i) - { - btSoftBody* psb = m_softBodies[i]; - if (!psb->isActive()) - { - continue; - } - for (int j = 0; j < psb->m_nodes.size(); ++j) - { - if (psb->m_nodes[j].m_im == 0) - { - btDeformableStaticConstraint static_constraint(&psb->m_nodes[j]); - m_staticConstraints.insert(psb->m_nodes[j].index, static_constraint); - } - } - } - - for (int i = 0; i < m_softBodies.size(); ++i) - { - btSoftBody* psb = m_softBodies[i]; - if (!psb->isActive()) - { - continue; - } + BT_PROFILE("setConstraints"); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } - // set up deformable anchors - for (int j = 0; j < psb->m_deformableAnchors.size(); ++j) - { - btSoftBody::DeformableNodeRigidAnchor& anchor = psb->m_deformableAnchors[j]; - // skip fixed points - if (anchor.m_node->m_im == 0) - { - continue; - } - - if (m_nodeAnchorConstraints.find(anchor.m_node->index) == NULL) - { - anchor.m_c1 = anchor.m_cti.m_colObj->getWorldTransform().getBasis() * anchor.m_local; - btDeformableNodeAnchorConstraint constraint(anchor); - m_nodeAnchorConstraints.insert(anchor.m_node->index, constraint); - } - } - - // set Deformable Node vs. Rigid constraint - for (int j = 0; j < psb->m_nodeRigidContacts.size(); ++j) - { - const btSoftBody::DeformableNodeRigidContact& contact = psb->m_nodeRigidContacts[j]; - // skip fixed points - if (contact.m_node->m_im == 0) - { - continue; - } - btDeformableNodeRigidContactConstraint constraint(contact); - btVector3 va = constraint.getVa(); - btVector3 vb = constraint.getVb(); - const btVector3 vr = vb - va; - const btSoftBody::sCti& cti = contact.m_cti; - const btScalar dn = btDot(vr, cti.m_normal); - if (dn < SIMD_EPSILON) - { - if (m_nodeRigidConstraints.find(contact.m_node->index) == NULL) - { - btAlignedObjectArray constraintsList; - constraintsList.push_back(constraint); - m_nodeRigidConstraints.insert(contact.m_node->index, constraintsList); - } - else - { - btAlignedObjectArray& constraintsList = *m_nodeRigidConstraints[contact.m_node->index]; - constraintsList.push_back(constraint); - } - } - } - - // set Deformable Face vs. Rigid constraint - for (int j = 0; j < psb->m_faceRigidContacts.size(); ++j) - { - const btSoftBody::DeformableFaceRigidContact& contact = psb->m_faceRigidContacts[j]; - // skip fixed faces - if (contact.m_c2 == 0) - { - continue; - } - btDeformableFaceRigidContactConstraint* constraint = new btDeformableFaceRigidContactConstraint(contact); - btVector3 va = constraint->getVa(); - btVector3 vb = constraint->getVb(); - const btVector3 vr = vb - va; - const btSoftBody::sCti& cti = contact.m_cti; - const btScalar dn = btDot(vr, cti.m_normal); - if (dn < SIMD_EPSILON) - { - m_allFaceConstraints.push_back(constraint); - // add face constraints to each of the nodes - for (int k = 0; k < 3; ++k) - { - btSoftBody::Node* node = contact.m_face->m_n[k]; - // static node does not need to own face/rigid constraint - if (node->m_im != 0) - { - if (m_faceRigidConstraints.find(node->index) == NULL) - { - btAlignedObjectArray constraintsList; - constraintsList.push_back(constraint); - m_faceRigidConstraints.insert(node->index, constraintsList); - } - else - { - btAlignedObjectArray& constraintsList = *m_faceRigidConstraints[node->index]; - constraintsList.push_back(constraint); - } - } - } - } - else - { - delete constraint; - } - } - - // set Deformable Face vs. Deformable Node constraint - for (int j = 0; j < psb->m_faceNodeContacts.size(); ++j) - { - const btSoftBody::DeformableFaceNodeContact& contact = psb->m_faceNodeContacts[j]; - - btDeformableFaceNodeContactConstraint* constraint = new btDeformableFaceNodeContactConstraint(contact); - btVector3 va = constraint->getVa(); - btVector3 vb = constraint->getVb(); - const btVector3 vr = vb - va; - const btScalar dn = btDot(vr, contact.m_normal); - if (dn > -SIMD_EPSILON) - { - btSoftBody::Node* node = contact.m_node; - btSoftBody::Face* face = contact.m_face; - m_allFaceConstraints.push_back(constraint); - if (node->m_im != 0) - { - if (m_deformableConstraints.find(node->index) == NULL) - { - btAlignedObjectArray constraintsList; - constraintsList.push_back(constraint); - m_deformableConstraints.insert(node->index, constraintsList); - } - else - { - btAlignedObjectArray& constraintsList = *m_deformableConstraints[node->index]; - constraintsList.push_back(constraint); - } - } - - // add face constraints to each of the nodes - for (int k = 0; k < 3; ++k) - { - btSoftBody::Node* node = face->m_n[k]; - // static node does not need to own face/rigid constraint - if (node->m_im != 0) - { - if (m_deformableConstraints.find(node->index) == NULL) - { - btAlignedObjectArray constraintsList; - constraintsList.push_back(constraint); - m_deformableConstraints.insert(node->index, constraintsList); - } - else - { - btAlignedObjectArray& constraintsList = *m_deformableConstraints[node->index]; - constraintsList.push_back(constraint); - } - } - } - } - else - { - delete constraint; - } - } - } + // set Dirichlet constraint + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + if (psb->m_nodes[j].m_im == 0) + { + btDeformableStaticConstraint static_constraint(&psb->m_nodes[j]); + m_staticConstraints[i].push_back(static_constraint); + } + } + + // set up deformable anchors + for (int j = 0; j < psb->m_deformableAnchors.size(); ++j) + { + btSoftBody::DeformableNodeRigidAnchor& anchor = psb->m_deformableAnchors[j]; + // skip fixed points + if (anchor.m_node->m_im == 0) + { + continue; + } + anchor.m_c1 = anchor.m_cti.m_colObj->getWorldTransform().getBasis() * anchor.m_local; + btDeformableNodeAnchorConstraint constraint(anchor); + m_nodeAnchorConstraints[i].push_back(constraint); + } + + // set Deformable Node vs. Rigid constraint + for (int j = 0; j < psb->m_nodeRigidContacts.size(); ++j) + { + const btSoftBody::DeformableNodeRigidContact& contact = psb->m_nodeRigidContacts[j]; + // skip fixed points + if (contact.m_node->m_im == 0) + { + continue; + } + btDeformableNodeRigidContactConstraint constraint(contact); + btVector3 va = constraint.getVa(); + btVector3 vb = constraint.getVb(); + const btVector3 vr = vb - va; + const btSoftBody::sCti& cti = contact.m_cti; + const btScalar dn = btDot(vr, cti.m_normal); + if (dn < SIMD_EPSILON) + { + m_nodeRigidConstraints[i].push_back(constraint); + } + } + + // set Deformable Face vs. Rigid constraint + for (int j = 0; j < psb->m_faceRigidContacts.size(); ++j) + { + const btSoftBody::DeformableFaceRigidContact& contact = psb->m_faceRigidContacts[j]; + // skip fixed faces + if (contact.m_c2 == 0) + { + continue; + } + btDeformableFaceRigidContactConstraint constraint(contact); + btVector3 va = constraint.getVa(); + btVector3 vb = constraint.getVb(); + const btVector3 vr = vb - va; + const btSoftBody::sCti& cti = contact.m_cti; + const btScalar dn = btDot(vr, cti.m_normal); + if (dn < SIMD_EPSILON) + { + m_faceRigidConstraints[i].push_back(constraint); + } + } + + // set Deformable Face vs. Deformable Node constraint + for (int j = 0; j < psb->m_faceNodeContacts.size(); ++j) + { + const btSoftBody::DeformableFaceNodeContact& contact = psb->m_faceNodeContacts[j]; + + btDeformableFaceNodeContactConstraint constraint(contact); + btVector3 va = constraint.getVa(); + btVector3 vb = constraint.getVb(); + const btVector3 vr = vb - va; + const btScalar dn = btDot(vr, contact.m_normal); + if (dn > -SIMD_EPSILON) + { + m_deformableConstraints[i].push_back(constraint); + } + } + } } void btDeformableContactProjection::project(TVStack& x) { - const int dim = 3; - for (int index = 0; index < m_projectionsDict.size(); ++index) - { - btAlignedObjectArray& projectionDirs = *m_projectionsDict.getAtIndex(index); - size_t i = m_projectionsDict.getKeyAtIndex(index).getUid1(); - if (projectionDirs.size() >= dim) - { - // static node - x[i].setZero(); - continue; - } - else if (projectionDirs.size() == 2) - { - btVector3 dir0 = projectionDirs[0]; - btVector3 dir1 = projectionDirs[1]; - btVector3 free_dir = btCross(dir0, dir1); - if (free_dir.norm() < SIMD_EPSILON) - { - x[i] -= x[i].dot(dir0) * dir0; - x[i] -= x[i].dot(dir1) * dir1; - } - else - { - free_dir.normalize(); - x[i] = x[i].dot(free_dir) * free_dir; - } - } - else - { - btAssert(projectionDirs.size() == 1); - btVector3 dir0 = projectionDirs[0]; - x[i] -= x[i].dot(dir0) * dir0; - } - } + const int dim = 3; + for (int index = 0; index < m_projectionsDict.size(); ++index) + { + btAlignedObjectArray& projectionDirs = *m_projectionsDict.getAtIndex(index); + size_t i = m_projectionsDict.getKeyAtIndex(index).getUid1(); + if (projectionDirs.size() >= dim) + { + // static node + x[i].setZero(); + continue; + } + else if (projectionDirs.size() == 2) + { + btVector3 dir0 = projectionDirs[0]; + btVector3 dir1 = projectionDirs[1]; + btVector3 free_dir = btCross(dir0, dir1); + if (free_dir.safeNorm() < SIMD_EPSILON) + { + x[i] -= x[i].dot(dir0) * dir0; + x[i] -= x[i].dot(dir1) * dir1; + } + else + { + free_dir.normalize(); + x[i] = x[i].dot(free_dir) * free_dir; + } + } + else + { + btAssert(projectionDirs.size() == 1); + btVector3 dir0 = projectionDirs[0]; + x[i] -= x[i].dot(dir0) * dir0; + } + } } void btDeformableContactProjection::setProjection() { - for (int i = 0; i < m_softBodies.size(); ++i) - { - btSoftBody* psb = m_softBodies[i]; - if (!psb->isActive()) - { - continue; - } - for (int j = 0; j < psb->m_nodes.size(); ++j) - { - int index = psb->m_nodes[j].index; - bool hasConstraint = false; - bool existStaticConstraint = false; - btVector3 averagedNormal(0,0,0); - btAlignedObjectArray normals; - if (m_staticConstraints.find(index) != NULL || m_nodeAnchorConstraints.find(index) != NULL) - { - existStaticConstraint = true; - hasConstraint = true; - } - - // accumulate normals from Deformable Node vs. Rigid constraints - if (!existStaticConstraint && m_nodeRigidConstraints.find(index) != NULL) - { - hasConstraint = true; - btAlignedObjectArray& constraintsList = *m_nodeRigidConstraints[index]; - for (int k = 0; k < constraintsList.size(); ++k) - { - if (constraintsList[k].m_static) - { - existStaticConstraint = true; - break; - } - const btVector3& local_normal = constraintsList[k].m_normal; - normals.push_back(local_normal); - averagedNormal += local_normal; - } - } - - // accumulate normals from Deformable Face vs. Rigid constraints - if (!existStaticConstraint && m_faceRigidConstraints.find(index) != NULL) - { - hasConstraint = true; - btAlignedObjectArray& constraintsList = *m_faceRigidConstraints[index]; - for (int k = 0; k < constraintsList.size(); ++k) - { - if (constraintsList[k]->m_static) - { - existStaticConstraint = true; - break; - } - const btVector3& local_normal = constraintsList[k]->m_normal; - normals.push_back(local_normal); - averagedNormal += local_normal; - } - } - - // accumulate normals from Deformable Node vs. Deformable Face constraints - if (!existStaticConstraint && m_deformableConstraints.find(index) != NULL) - { - hasConstraint = true; - btAlignedObjectArray& constraintsList = *m_deformableConstraints[index]; - for (int k = 0; k < constraintsList.size(); ++k) - { - if (constraintsList[k]->m_static) - { - existStaticConstraint = true; - break; - } - const btVector3& local_normal = constraintsList[k]->m_normal; - normals.push_back(local_normal); - averagedNormal += local_normal; - } - } - - - // build projections - if (!hasConstraint) - { - continue; - } - btAlignedObjectArray projections; - if (existStaticConstraint) - { - projections.push_back(btVector3(1,0,0)); - projections.push_back(btVector3(0,1,0)); - projections.push_back(btVector3(0,0,1)); - } - else - { - bool averageExists = (averagedNormal.length2() > SIMD_EPSILON); - averagedNormal = averageExists ? averagedNormal.normalized() : btVector3(0,0,0); - if (averageExists) - { - projections.push_back(averagedNormal); - } - for (int k = 0; k < normals.size(); ++k) - { - const btVector3& local_normal = normals[k]; - // add another projection direction if it deviates from the average by more than about 15 degrees - if (!averageExists || btAngle(averagedNormal, local_normal) > 0.25) - { - projections.push_back(local_normal); - } - } - } - m_projectionsDict.insert(index, projections); - } - } + btAlignedObjectArray units; + units.push_back(btVector3(1,0,0)); + units.push_back(btVector3(0,1,0)); + units.push_back(btVector3(0,0,1)); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < m_staticConstraints[i].size(); ++j) + { + int index = m_staticConstraints[i][j].m_node->index; + if (m_projectionsDict.find(index) == NULL) + { + m_projectionsDict.insert(index, units); + } + else + { + btAlignedObjectArray& projections = *m_projectionsDict[index]; + for (int k = 0; k < 3; ++k) + { + projections.push_back(units[k]); + } + } + } + for (int j = 0; j < m_nodeAnchorConstraints[i].size(); ++j) + { + int index = m_nodeAnchorConstraints[i][j].m_anchor->m_node->index; + if (m_projectionsDict.find(index) == NULL) + { + m_projectionsDict.insert(index, units); + } + else + { + btAlignedObjectArray& projections = *m_projectionsDict[index]; + for (int k = 0; k < 3; ++k) + { + projections.push_back(units[k]); + } + } + } + for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j) + { + int index = m_nodeRigidConstraints[i][j].m_node->index; + if (m_nodeRigidConstraints[i][j].m_static) + { + if (m_projectionsDict.find(index) == NULL) + { + m_projectionsDict.insert(index, units); + } + else + { + btAlignedObjectArray& projections = *m_projectionsDict[index]; + for (int k = 0; k < 3; ++k) + { + projections.push_back(units[k]); + } + } + } + else + { + if (m_projectionsDict.find(index) == NULL) + { + btAlignedObjectArray projections; + projections.push_back(m_nodeRigidConstraints[i][j].m_normal); + m_projectionsDict.insert(index, projections); + } + else + { + btAlignedObjectArray& projections = *m_projectionsDict[index]; + projections.push_back(m_nodeRigidConstraints[i][j].m_normal); + } + } + } + for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j) + { + const btSoftBody::Face* face = m_faceRigidConstraints[i][j].m_face; + for (int k = 0; k < 3; ++k) + { + const btSoftBody::Node* node = face->m_n[k]; + int index = node->index; + if (m_faceRigidConstraints[i][j].m_static) + { + if (m_projectionsDict.find(index) == NULL) + { + m_projectionsDict.insert(index, units); + } + else + { + btAlignedObjectArray& projections = *m_projectionsDict[index]; + for (int k = 0; k < 3; ++k) + { + projections.push_back(units[k]); + } + } + } + else + { + if (m_projectionsDict.find(index) == NULL) + { + btAlignedObjectArray projections; + projections.push_back(m_faceRigidConstraints[i][j].m_normal); + m_projectionsDict.insert(index, projections); + } + else + { + btAlignedObjectArray& projections = *m_projectionsDict[index]; + projections.push_back(m_faceRigidConstraints[i][j].m_normal); + } + } + } + } + for (int j = 0; j < m_deformableConstraints[i].size(); ++j) + { + const btSoftBody::Face* face = m_deformableConstraints[i][j].m_face; + for (int k = 0; k < 3; ++k) + { + const btSoftBody::Node* node = face->m_n[k]; + int index = node->index; + if (m_deformableConstraints[i][j].m_static) + { + if (m_projectionsDict.find(index) == NULL) + { + m_projectionsDict.insert(index, units); + } + else + { + btAlignedObjectArray& projections = *m_projectionsDict[index]; + for (int k = 0; k < 3; ++k) + { + projections.push_back(units[k]); + } + } + } + else + { + if (m_projectionsDict.find(index) == NULL) + { + btAlignedObjectArray projections; + projections.push_back(m_deformableConstraints[i][j].m_normal); + m_projectionsDict.insert(index, projections); + } + else + { + btAlignedObjectArray& projections = *m_projectionsDict[index]; + projections.push_back(m_deformableConstraints[i][j].m_normal); + } + } + } + + const btSoftBody::Node* node = m_deformableConstraints[i][j].m_node; + int index = node->index; + if (m_deformableConstraints[i][j].m_static) + { + if (m_projectionsDict.find(index) == NULL) + { + m_projectionsDict.insert(index, units); + } + else + { + btAlignedObjectArray& projections = *m_projectionsDict[index]; + for (int k = 0; k < 3; ++k) + { + projections.push_back(units[k]); + } + } + } + else + { + if (m_projectionsDict.find(index) == NULL) + { + btAlignedObjectArray projections; + projections.push_back(m_deformableConstraints[i][j].m_normal); + m_projectionsDict.insert(index, projections); + } + else + { + btAlignedObjectArray& projections = *m_projectionsDict[index]; + projections.push_back(m_deformableConstraints[i][j].m_normal); + } + } + } + } } void btDeformableContactProjection::applyDynamicFriction(TVStack& f) { - // loop over constraints - for (int i = 0; i < f.size(); ++i) - { - if (m_projectionsDict.find(i) != NULL) - { - // doesn't need to add friction force for fully constrained vertices - btAlignedObjectArray& projectionDirs = *m_projectionsDict[i]; - if (projectionDirs.size() >= 3) - { - continue; - } - } - - // add friction contribution from Face vs. Node - if (m_nodeRigidConstraints.find(i) != NULL) - { - btAlignedObjectArray& constraintsList = *m_nodeRigidConstraints[i]; - for (int j = 0; j < constraintsList.size(); ++j) - { - const btDeformableNodeRigidContactConstraint& constraint = constraintsList[j]; - btSoftBody::Node* node = constraint.getContact()->m_node; - - // it's ok to add the friction force generated by the entire impulse here because the normal component of the residual will be projected out anyway. - f[i] += constraint.getDv(node)* (1./node->m_im); - } - } - - // add friction contribution from Face vs. Rigid - if (m_faceRigidConstraints.find(i) != NULL) - { - btAlignedObjectArray& constraintsList = *m_faceRigidConstraints[i]; - for (int j = 0; j < constraintsList.size(); ++j) - { - const btDeformableFaceRigidContactConstraint* constraint = constraintsList[j]; - btSoftBody::Face* face = constraint->getContact()->m_face; - - // it's ok to add the friction force generated by the entire impulse here because the normal component of the residual will be projected out anyway. - for (int k = 0; k < 3; ++k) - { - if (face->m_n[k]->index == i) - { - if (face->m_n[k]->m_im != 0) - { - f[i] += constraint->getDv(face->m_n[k])* (1./face->m_n[k]->m_im); - } - break; - } - } - } - } - - if (m_deformableConstraints.find(i) != NULL) - { - btAlignedObjectArray& constraintsList = *m_deformableConstraints[i]; - for (int j = 0; j < constraintsList.size(); ++j) - { - const btDeformableFaceNodeContactConstraint* constraint = constraintsList[j]; - btSoftBody::Face* face = constraint->getContact()->m_face; - btSoftBody::Node* node = constraint->getContact()->m_node; - - // it's ok to add the friction force generated by the entire impulse here because the normal component of the residual will be projected out anyway. - if (node->index == i) - { - if (node->m_im != 0) - { - f[i] += constraint->getDv(node)*(1./node->m_im); - } - } - else - { - for (int k = 0; k < 3; ++k) - { - if (face->m_n[k]->index == i) - { - if (face->m_n[k]->m_im != 0) - { - f[i] += constraint->getDv(face->m_n[k])* (1./face->m_n[k]->m_im); - } - break; - } - } - } - } - } - } + for (int i = 0; i < m_softBodies.size(); ++i) + { + for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j) + { + const btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[i][j]; + const btSoftBody::Node* node = constraint.m_node; + if (node->m_im != 0) + { + int index = node->index; + f[index] += constraint.getDv(node)* (1./node->m_im); + } + } + for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j) + { + const btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[i][j]; + const btSoftBody::Face* face = constraint.getContact()->m_face; + for (int k = 0; k < 3; ++k) + { + const btSoftBody::Node* node = face->m_n[k]; + if (node->m_im != 0) + { + int index = node->index; + f[index] += constraint.getDv(node)* (1./node->m_im); + } + } + } + for (int j = 0; j < m_deformableConstraints[i].size(); ++j) + { + const btDeformableFaceNodeContactConstraint& constraint = m_deformableConstraints[i][j]; + const btSoftBody::Face* face = constraint.getContact()->m_face; + const btSoftBody::Node* node = constraint.getContact()->m_node; + if (node->m_im != 0) + { + int index = node->index; + f[index] += constraint.getDv(node)* (1./node->m_im); + } + for (int k = 0; k < 3; ++k) + { + const btSoftBody::Node* node = face->m_n[k]; + if (node->m_im != 0) + { + int index = node->index; + f[index] += constraint.getDv(node)* (1./node->m_im); + } + } + } + } } void btDeformableContactProjection::reinitialize(bool nodeUpdated) { - m_staticConstraints.clear(); - m_nodeAnchorConstraints.clear(); - m_nodeRigidConstraints.clear(); - m_faceRigidConstraints.clear(); - m_deformableConstraints.clear(); - m_projectionsDict.clear(); - for (int i = 0; i < m_allFaceConstraints.size(); ++i) - { - delete m_allFaceConstraints[i]; - } - m_allFaceConstraints.clear(); + int N = m_softBodies.size(); + if (nodeUpdated) + { + m_staticConstraints.resize(N); + m_nodeAnchorConstraints.resize(N); + m_nodeRigidConstraints.resize(N); + m_faceRigidConstraints.resize(N); + m_deformableConstraints.resize(N); + + } + for (int i = 0 ; i < N; ++i) + { + m_staticConstraints[i].clear(); + m_nodeAnchorConstraints[i].clear(); + m_nodeRigidConstraints[i].clear(); + m_faceRigidConstraints[i].clear(); + m_deformableConstraints[i].clear(); + } + m_projectionsDict.clear(); } diff --git a/src/BulletSoftBody/btDeformableContactProjection.h b/src/BulletSoftBody/btDeformableContactProjection.h index 406eeba3c..3c4490765 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.h +++ b/src/BulletSoftBody/btDeformableContactProjection.h @@ -28,22 +28,33 @@ public: typedef btAlignedObjectArray TVStack; btAlignedObjectArray& m_softBodies; - // map from node index to static constraint - btHashMap m_staticConstraints; - // map from node index to node rigid constraint - btHashMap > m_nodeRigidConstraints; - // map from node index to face rigid constraint - btHashMap > m_faceRigidConstraints; - // map from node index to deformable constraint - btHashMap > m_deformableConstraints; - // map from node index to node anchor constraint - btHashMap m_nodeAnchorConstraints; - +// // map from node index to static constraint +// btHashMap m_staticConstraints; +// // map from node index to node rigid constraint +// btHashMap > m_nodeRigidConstraints; +// // map from node index to face rigid constraint +// btHashMap > m_faceRigidConstraints; +// // map from node index to deformable constraint +// btHashMap > m_deformableConstraints; +// // map from node index to node anchor constraint +// btHashMap m_nodeAnchorConstraints; + // all constraints involving face btAlignedObjectArray m_allFaceConstraints; // map from node index to projection directions btHashMap > m_projectionsDict; + + // map from node index to static constraint + btAlignedObjectArray > m_staticConstraints; + // map from node index to node rigid constraint + btAlignedObjectArray > m_nodeRigidConstraints; + // map from node index to face rigid constraint + btAlignedObjectArray > m_faceRigidConstraints; + // map from node index to deformable constraint + btAlignedObjectArray > m_deformableConstraints; + // map from node index to node anchor constraint + btAlignedObjectArray > m_nodeAnchorConstraints; btDeformableContactProjection(btAlignedObjectArray& softBodies) : m_softBodies(softBodies) @@ -61,7 +72,7 @@ public: virtual void applyDynamicFriction(TVStack& f); // update and solve the constraints - virtual btScalar update(); + virtual btScalar update(btCollisionObject** deformableBodies,int numDeformableBodies); // solve the position error using split impulse virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal); diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp index d2c810d0b..06f95d69f 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp @@ -22,32 +22,8 @@ btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations(b { ///this is a special step to resolve penetrations (just for contacts) solveGroupCacheFriendlySplitImpulseIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); -// -// int maxMotorIterations = 150; -// for (int iteration = 0; iteration < maxMotorIterations; ++iteration) -// { -// btScalar motorResidual = 0; -// for (int j = 0; j < m_multiBodyNonContactConstraints.size(); j++) -// { -// int index = iteration & 1 ? j : m_multiBodyNonContactConstraints.size() - 1 - j; -// -// btMultiBodySolverConstraint& constraint = m_multiBodyNonContactConstraints[index]; -// -// btScalar residual = resolveSingleConstraintRowGeneric(constraint); -// motorResidual = btMax(motorResidual, residual * residual); -// if (constraint.m_multiBodyA) -// constraint.m_multiBodyA->setPosUpdated(false); -// if (constraint.m_multiBodyB) -// constraint.m_multiBodyB->setPosUpdated(false); -// } -// if (motorResidual < infoGlobal.m_leastSquaresResidualThreshold) -// { -// break; -// } -// } - + int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations; - maxIterations = 500; for (int iteration = 0; iteration < maxIterations; iteration++) { // rigid bodies are solved using solver body velocity, but rigid/deformable contact directly uses the velocity of the actual rigid body. So we have to do the following: Solve one iteration of the rigid/rigid contact, get the updated velocity in the solver body and update the velocity of the underlying rigid body. Then solve the rigid/deformable contact. Finally, grab the (once again) updated rigid velocity and update the velocity of the wrapping solver body @@ -56,7 +32,7 @@ btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations(b m_leastSquaresResidual = solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); // solver body velocity -> rigid body velocity solverBodyWriteBack(infoGlobal); - btScalar deformableResidual = m_deformableSolver->solveContactConstraints(); + btScalar deformableResidual = m_deformableSolver->solveContactConstraints(deformableBodies,numDeformableBodies); // update rigid body velocity in rigid/deformable contact m_leastSquaresResidual = btMax(m_leastSquaresResidual, deformableResidual); // solver body velocity <- rigid body velocity From 9c7e6d6a48bfc0749b2d5e9a58d55c6d63b3c38f Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 19 Dec 2019 16:56:09 -0800 Subject: [PATCH 342/389] enable programmatic creation of spherical joint --- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 9b0b3e089..3b1f30f81 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -2363,7 +2363,12 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface jointType = URDFFixedJoint; break; } - //case eSphericalType: + case eSphericalType: + { + isValid = true; + jointType = URDFSphericalJoint; + break; + } //case ePlanarType: //case eFixedType: //case ePoint2PointType: From 7a4023430aafe6edb374b589a96f9e7671b7f314 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 19 Dec 2019 18:05:41 -0800 Subject: [PATCH 343/389] fix pybullet.submitProfileTiming --- examples/SharedMemory/PhysicsClientC_API.cpp | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index b629ffe5e..ac863421d 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -5481,18 +5481,16 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3ProfileTimingCommandInit(b3PhysicsCl b3Assert(command); int len = name ? strlen(name) : 0; + command->m_type = CMD_PROFILE_TIMING; if (len > 0 && len < (MAX_FILENAME_LENGTH + 1)) { - command->m_type = CMD_PROFILE_TIMING; + strcpy(command->m_profile.m_name, name); command->m_profile.m_name[len] = 0; } else { - const char* invalid = "InvalidProfileTimingName"; - int len = strlen(invalid); - strcpy(command->m_profile.m_name, invalid); - command->m_profile.m_name[len] = 0; + command->m_profile.m_name[0] = 0; } command->m_profile.m_type = -1; command->m_profile.m_durationInMicroSeconds = 0; From 6a8973d2f4f347e2967ca4ed79a17d2748defd29 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Thu, 19 Dec 2019 21:51:54 -0800 Subject: [PATCH 344/389] address PR comment and tune parameters for cloth --- examples/RoboticsLearning/GripperGraspExample.cpp | 12 +++++++----- .../b3RobotSimulatorClientAPI_NoDirect.cpp | 10 ++++++++-- .../b3RobotSimulatorClientAPI_NoDirect.h | 11 ++++++++++- 3 files changed, 25 insertions(+), 8 deletions(-) diff --git a/examples/RoboticsLearning/GripperGraspExample.cpp b/examples/RoboticsLearning/GripperGraspExample.cpp index c3afaee88..a07e36c77 100644 --- a/examples/RoboticsLearning/GripperGraspExample.cpp +++ b/examples/RoboticsLearning/GripperGraspExample.cpp @@ -424,12 +424,13 @@ public: m_robotSim.setGravity(btVector3(0, 0, -10)); m_robotSim.setGravity(btVector3(0, 0, -10)); - b3RobotSimulatorLoadDeformableBodyArgs args(1, .01, 0.02); - args.m_springElasticStiffness = 1; - args.m_springDampingStiffness = .001; - args.m_springBendingStiffness = .2; - args.m_frictionCoeff = 2; + b3RobotSimulatorLoadDeformableBodyArgs args(2, .01, 0.006); + args.m_springElasticStiffness = .1; + args.m_springDampingStiffness = .0004; + args.m_springBendingStiffness = 1; + args.m_frictionCoeff = 1; args.m_useSelfCollision = false; +// args.m_useFaceContact = true; args.m_useBendingSprings = true; args.m_startPosition.setValue(0, 0, 0); args.m_startOrientation.setValue(0, 0, 1, 1); @@ -475,6 +476,7 @@ public: revoluteJoint2.m_jointType = ePoint2PointType; m_robotSim.createConstraint(0, 2, 0, 4, &revoluteJoint1); m_robotSim.createConstraint(0, 3, 0, 6, &revoluteJoint2); + m_robotSim.setNumSimulationSubSteps(8); } if ((m_options & eSOFTBODY_MULTIBODY_COUPLING) != 0) diff --git a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp index 68bf2d231..0a2741d7b 100644 --- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp +++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp @@ -1178,8 +1178,14 @@ void b3RobotSimulatorClientAPI_NoDirect::loadDeformableBody(const std::string& f b3LoadSoftBodySetScale(command, args.m_scale); b3LoadSoftBodySetMass(command, args.m_mass); b3LoadSoftBodySetCollisionMargin(command, args.m_collisionMargin); - b3LoadSoftBodyAddNeoHookeanForce(command, args.m_NeoHookeanMu, args.m_NeoHookeanLambda, args.m_NeoHookeanDamping); - b3LoadSoftBodyAddMassSpringForce(command, args.m_springElasticStiffness, args.m_springDampingStiffness); + if (args.m_NeoHookeanMu > 0) + { + b3LoadSoftBodyAddNeoHookeanForce(command, args.m_NeoHookeanMu, args.m_NeoHookeanLambda, args.m_NeoHookeanDamping); + } + if (args.m_springElasticStiffness > 0) + { + b3LoadSoftBodyAddMassSpringForce(command, args.m_springElasticStiffness, args.m_springDampingStiffness); + } b3LoadSoftBodySetSelfCollision(command, args.m_useSelfCollision); b3LoadSoftBodyUseFaceContact(command, args.m_useFaceContact); b3LoadSoftBodySetFrictionCoefficient(command, args.m_frictionCoeff); diff --git a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h index e119a37de..dc039974e 100644 --- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h +++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h @@ -113,7 +113,16 @@ struct b3RobotSimulatorLoadDeformableBodyArgs m_startOrientation(startOrn), m_scale(scale), m_mass(mass), - m_collisionMargin(collisionMargin) + m_collisionMargin(collisionMargin), + m_springElasticStiffness(-1), + m_springDampingStiffness(-1), + m_springBendingStiffness(-1), + m_NeoHookeanMu(-1), + m_NeoHookeanDamping(-1), + m_useSelfCollision(false), + m_useFaceContact(false), + m_useBendingSprings(false), + m_frictionCoeff(0) { } From 9afe9757beda480047ebdf093160acaa24bccb48 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Fri, 20 Dec 2019 16:27:50 -0800 Subject: [PATCH 345/389] bump up pybullet to version 2.6.1 --- setup.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/setup.py b/setup.py index 86718314f..6d79f6988 100644 --- a/setup.py +++ b/setup.py @@ -491,7 +491,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS: setup( name='pybullet', - version='2.6.0', + version='2.6.1', description= 'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning', long_description= From d7ac3e9cc1e8acb1869b6e6d769f5a9d3aa21d24 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Fri, 20 Dec 2019 16:30:15 -0800 Subject: [PATCH 346/389] update PyBullet quickstart guide.pdf --- docs/pybullet_quickstartguide.pdf | Bin 1839126 -> 1806446 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/docs/pybullet_quickstartguide.pdf b/docs/pybullet_quickstartguide.pdf index 2e398cb0ce25c0ba8ef9e978c3c576de3c582407..e4d591cece9f6336eebebc1ba2474c6bf9cde827 100644 GIT binary patch delta 635519 zcmagEWl$x-vM`9dySux?K?jGy-QC?`&;x_Jb8vTecW3ay8Qfh4_ix_4Z#Q;-Y-~hF 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zb(6mCQbg~zOCi(nMaq4^AMMc7=%Dwjbp#iC>*)dEc%0 z7JP?@RBOLSfnnGu+spW79eQV4-+aK@>Cur_i;4;pn$2sLoFi>4(-Lie#jLmrz&{FhgVo1a9@P1Iv1uDTaV98BHy(uqLaCSuqR6DH=v{vT1fgY}b4 zJ!>pnN~+n;x2k4}?0F@@mYgI~O2N_g22N|N{s&{8SFL6HQx|u;d zcQ|WX7Bv4Gf02?G#mI^!`oDLal!Yip1-K}SkeV{fyBFd%!WJSD(!v%}!qU>>)?(H+ z*4EaR;A-oh-&Zew4qlO;_-+^+boZuf%>b0>i>8?VUO? z8%GOT&-%uM73lVxAIJKt{$CR3d)kr@nO1DU`NLtVL{;~@s z+8W|5!s=WzxSVvT-R2?DSYWxv04?e>6Rciew&kkHy8J%eSuUJm-MQ#f)y9>-E-=x= zMPL2$DYIOJW{$5;XNT0uCVNKRU#RT~rYD9E`mAZ(VwAU`lUO5?-cQ{u$mjgac8001UZ%RR910 From 3fa67ea7d499f8ea2de9248a9707f293b0ba1f45 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Fri, 20 Dec 2019 18:18:45 -0800 Subject: [PATCH 347/389] fix memory leak in previous commit (delete m_solverDeformableBodyIslandCallback!) --- src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp | 5 +++++ src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h | 4 +--- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 618e5c0d7..af6f9806c 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -66,6 +66,11 @@ m_deformableBodySolver(deformableBodySolver), m_solverCallback(0) m_solverDeformableBodyIslandCallback = new DeformableBodyInplaceSolverIslandCallback(constraintSolver, dispatcher); } +btDeformableMultiBodyDynamicsWorld::~btDeformableMultiBodyDynamicsWorld() +{ + delete m_solverDeformableBodyIslandCallback; +} + void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) { BT_PROFILE("internalSingleStepSimulation"); diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h index 763038576..a1ed4d1d9 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h @@ -80,9 +80,7 @@ public: m_solverCallback = cb; } - virtual ~btDeformableMultiBodyDynamicsWorld() - { - } + virtual ~btDeformableMultiBodyDynamicsWorld(); virtual btMultiBodyDynamicsWorld* getMultiBodyDynamicsWorld() { From ffc76fbf6dc4b995be06d4f0678905c5f6bc12fa Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sun, 22 Dec 2019 17:17:37 -0800 Subject: [PATCH 348/389] add xarm 6 example with inverse kinematics (IK) that runs about 150 microseconds (Ryzen 3900x) --- .../gym/pybullet_envs/examples/loadxarm.py | 20 +++ .../gym/pybullet_envs/examples/xarm_sim.py | 123 ++++++++++++++++++ 2 files changed, 143 insertions(+) create mode 100644 examples/pybullet/gym/pybullet_envs/examples/loadxarm.py create mode 100644 examples/pybullet/gym/pybullet_envs/examples/xarm_sim.py diff --git a/examples/pybullet/gym/pybullet_envs/examples/loadxarm.py b/examples/pybullet/gym/pybullet_envs/examples/loadxarm.py new file mode 100644 index 000000000..9fb26f80d --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/examples/loadxarm.py @@ -0,0 +1,20 @@ +import pybullet as p +import pybullet_data as pd +import math +import time +import numpy as np +import xarm_sim + +p.connect(p.GUI) +p.setAdditionalSearchPath(pd.getDataPath()) + +timeStep=1./60. +p.setTimeStep(timeStep) +p.setGravity(0,0,-9.8) + +xarm = xarm_sim.XArm6Sim(p,[0,0,0]) +while (1): + xarm.step() + p.stepSimulation() + time.sleep(timeStep) + diff --git a/examples/pybullet/gym/pybullet_envs/examples/xarm_sim.py b/examples/pybullet/gym/pybullet_envs/examples/xarm_sim.py new file mode 100644 index 000000000..7dade3f3d --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/examples/xarm_sim.py @@ -0,0 +1,123 @@ +import time +import numpy as np +import math + +useNullSpace = 0 +useDynamics = 1 +useIKFast = 0 #ikfast doesn't get solutions and is actually slower than pybullet IK (300us versus 150us), probably a configuration issue +if useIKFast: + import ikfastpy + +ikSolver = 0 +xarmEndEffectorIndex = 6 +xarmNumDofs = 6 + +ll = [-17]*xarmNumDofs +#upper limits for null space (todo: set them to proper range) +ul = [17]*xarmNumDofs +#joint ranges for null space (todo: set them to proper range) +jr = [17]*xarmNumDofs +#restposes for null space +jointPositions=[0,0,0,0,0,0] +rp = jointPositions +jointPoses = jointPositions +class XArm6Sim(object): + def __init__(self, bullet_client, offset): + if useIKFast: + # Initialize kinematics for UR5 robot arm + self.xarm_kin = ikfastpy.PyKinematics() + self.n_joints = self.xarm_kin.getDOF() + print("numJoints IKFast=", self.n_joints) + + self.bullet_client = bullet_client + self.offset = np.array(offset) + self.jointPoses = [0]*xarmNumDofs + #print("offset=",offset) + flags = self.bullet_client.URDF_ENABLE_CACHED_GRAPHICS_SHAPES + legos=[] + self.bullet_client.loadURDF("tray/traybox.urdf", [0.4+offset[0], offset[1], offset[2]], [0,0,0,1], flags=flags) + legos.append(self.bullet_client.loadURDF("lego/lego.urdf",np.array([0.3, 0.1, 0.3])+self.offset, flags=flags)) + legos.append(self.bullet_client.loadURDF("lego/lego.urdf",np.array([0.3, -0.1, 0.3])+self.offset, flags=flags)) + legos.append(self.bullet_client.loadURDF("lego/lego.urdf",np.array([0.5, 0.1, 0.3])+self.offset, flags=flags)) + sphereId = self.bullet_client.loadURDF("sphere_small.urdf",np.array( [0.4, 0, 0.3])+self.offset, flags=flags) + self.bullet_client.loadURDF("sphere_small.urdf",np.array( [0.3, 0, 0.3])+self.offset, flags=flags) + self.bullet_client.loadURDF("sphere_small.urdf",np.array( [0.5, 0, 0.3])+self.offset, flags=flags) + orn=[0,0,0,1] + self.xarm = self.bullet_client.loadURDF("xarm/xarm6_robot.urdf", np.array([0,0,0])+self.offset, orn, useFixedBase=True, flags=flags) + index = 0 + for j in range(self.bullet_client.getNumJoints(self.xarm)): + self.bullet_client.changeDynamics(self.xarm, j, linearDamping=0, angularDamping=0) + info = self.bullet_client.getJointInfo(self.xarm, j) + + jointName = info[1] + jointType = info[2] + if (jointType == self.bullet_client.JOINT_PRISMATIC): + + self.bullet_client.resetJointState(self.xarm, j, jointPositions[index]) + index=index+1 + if (jointType == self.bullet_client.JOINT_REVOLUTE): + self.bullet_client.resetJointState(self.xarm, j, jointPositions[index]) + index=index+1 + self.t = 0. + def reset(self): + pass + + def step(self): + t = self.t + self.t += 1./60. + + pos = [0.407+self.offset[0]+0.2 * math.sin(1.5 * t), 0.0+self.offset[1]+0.2 * math.cos(1.5 * t), 0.12+self.offset[2]] + #orn = self.bullet_client.getQuaternionFromEuler([math.pi/2.,0.,0.]) + orn = [1,0,0,0] + + if useIKFast: + + #mat = self.bullet_client.getMatrixFromQuaternion(orn) + #ee_pose = np.array([mat[0],mat[1],mat[2],pos[0], + # mat[3],mat[4],mat[5],pos[1], + # mat[6],mat[7],mat[8],pos[2]]) + #ee_pose = np.asarray(ee_pose).reshape(3,4) + joint_angles = [0.39,0,0,0,0,0]#-3.1,-1.6,1.6,-1.6,-1.6,0.] # in radians + self.bullet_client.submitProfileTiming("ikfast.forwardDynamics") + ee_pose = self.xarm_kin.forward(joint_angles) + self.bullet_client.submitProfileTiming() + ee_pose = np.asarray(ee_pose).reshape(3,4) + #print("ee_pose=",ee_pose) + self.bullet_client.submitProfileTiming("ikfast.inverseDynamics") + joint_configs = self.xarm_kin.inverse(ee_pose.reshape(-1).tolist()) + self.bullet_client.submitProfileTiming() + n_solutions = int(len(joint_configs)/self.n_joints) + print("%d solutions found:"%(n_solutions)) + joint_configs = np.asarray(joint_configs).reshape(n_solutions,self.n_joints) + for joint_config in joint_configs: + print(joint_config) + jointPoses = [0]*self.n_joints + + else: + if useNullSpace: + jointPoses = self.bullet_client.calculateInverseKinematics(self.xarm,xarmEndEffectorIndex, pos, orn,lowerLimits=ll, + upperLimits=ul,jointRanges=jr, restPoses=np.array(self.jointPoses).tolist(),residualThreshold=1e-5, maxNumIterations=50) + self.jointPoses = [0,0,jointPoses[2],jointPoses[3],jointPoses[4],jointPoses[5]] + else: + jointPoses = self.bullet_client.calculateInverseKinematics(self.xarm,xarmEndEffectorIndex, pos, orn, maxNumIterations=50) + #print("jointPoses=",jointPoses) + if useDynamics: + for i in range(xarmNumDofs): + self.bullet_client.setJointMotorControl2(self.xarm, i+1, self.bullet_client.POSITION_CONTROL, jointPoses[i],force=5 * 240.) + else: + for i in range(xarmNumDofs): + self.bullet_client.resetJointState(self.xarm, i+1, jointPoses[i]) + ls = self.bullet_client.getLinkState(self.xarm, xarmEndEffectorIndex, computeForwardKinematics=True) + linkComPos=np.array(ls[0]) + linkComOrn=ls[1] + linkUrdfPos=np.array(ls[4]) + linkUrdfOrn=ls[5] + #print("linkComPos=",linkComPos) + #print("linkUrdfOrn=",linkUrdfOrn) + mat = self.bullet_client.getMatrixFromQuaternion(linkUrdfOrn) + #print("mat=",mat) + self.bullet_client.addUserDebugLine(pos, linkUrdfPos, [1,0,0,1],lifeTime=100) + diff = linkUrdfPos-np.array(pos) + #print("diff=",diff) + + From c2d52750da2b16430a6d1414c2c6db708882e915 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 23 Dec 2019 10:39:39 -0800 Subject: [PATCH 349/389] enable rolling/spinning friction for all contacts --- .../Featherstone/btMultiBodyConstraintSolver.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp index ffae5300f..6c1ed0959 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp @@ -1250,7 +1250,7 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* { const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(manifold->getBody0()); const btMultiBodyLinkCollider* fcB = btMultiBodyLinkCollider::upcast(manifold->getBody1()); - + btMultiBody* mbA = fcA ? fcA->m_multiBody : 0; btMultiBody* mbB = fcB ? fcB->m_multiBody : 0; @@ -1270,7 +1270,7 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* // return; //only a single rollingFriction per manifold - int rollingFriction = 1; + int rollingFriction = 4; for (int j = 0; j < manifold->getNumContacts(); j++) { From 65b75e59370da0c710e44e9e2e828f1e3e924b53 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 27 Dec 2019 12:43:08 -0800 Subject: [PATCH 350/389] bug fixes for face contact to prevent sticking --- .../ConstraintSolver/btContactSolverInfo.h | 2 +- .../btDeformableContactConstraint.cpp | 6 ++- src/BulletSoftBody/btSoftBody.cpp | 41 ++++++++++++++----- src/BulletSoftBody/btSoftBodyInternals.h | 8 ++-- 4 files changed, 39 insertions(+), 18 deletions(-) diff --git a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h index e82d1b139..9dd964706 100644 --- a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h +++ b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h @@ -82,7 +82,7 @@ struct btContactSolverInfo : public btContactSolverInfoData m_numIterations = 10; m_erp = btScalar(0.2); m_erp2 = btScalar(0.2); - m_deformable_erp = btScalar(0.); + m_deformable_erp = btScalar(1.0); m_globalCfm = btScalar(0.); m_frictionERP = btScalar(0.2); //positional friction 'anchors' are disabled by default m_frictionCFM = btScalar(0.); diff --git a/src/BulletSoftBody/btDeformableContactConstraint.cpp b/src/BulletSoftBody/btDeformableContactConstraint.cpp index e8219dc50..96fd8b5ae 100644 --- a/src/BulletSoftBody/btDeformableContactConstraint.cpp +++ b/src/BulletSoftBody/btDeformableContactConstraint.cpp @@ -140,8 +140,8 @@ btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btS { m_total_normal_dv.setZero(); m_total_tangent_dv.setZero(); - // penetration is non-positive. The magnitude of penetration is the depth of penetration. - m_penetration = btMin(btScalar(0), c.m_cti.m_offset); + // The magnitude of penetration is the depth of penetration. + m_penetration = c.m_cti.m_offset; } btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btDeformableRigidContactConstraint& other) @@ -256,6 +256,8 @@ btScalar btDeformableRigidContactConstraint::solveConstraint() impulse = impulse_normal + impulse_tangent; // apply impulse to deformable nodes involved and change their velocities applyImpulse(impulse); + if (residualSquare < 1e-7) + return residualSquare; // apply impulse to the rigid/multibodies involved and change their velocities if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) { diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 2a458b1d8..25766516d 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -53,6 +53,7 @@ btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo, int node_count, const btV n.m_material = pm; } updateBounds(); + setCollisionQuadrature(3); } btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo) @@ -2403,10 +2404,10 @@ bool btSoftBody::checkDeformableContact(const btCollisionObjectWrapper* colObjWr const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject(); // use the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg for collision detect // but resolve contact at x_n -// btTransform wtr = (predict) ? -// (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform()) -// : colObjWrap->getWorldTransform(); - const btTransform& wtr = colObjWrap->getWorldTransform(); + btTransform wtr = (predict) ? + (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform()) + : colObjWrap->getWorldTransform(); +// const btTransform& wtr = colObjWrap->getWorldTransform(); btScalar dst = m_worldInfo->m_sparsesdf.Evaluate( wtr.invXform(x), @@ -2460,7 +2461,7 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO // const btTransform& wtr = colObjWrap->getWorldTransform(); btScalar dst; -//#define USE_QUADRATURE 1 +#define USE_QUADRATURE 1 //#define CACHE_PREV_COLLISION // use the contact position of the previous collision @@ -2476,6 +2477,7 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO nrm, margin); nrm = wtr.getBasis() * nrm; + cti.m_colObj = colObjWrap->getCollisionObject(); // use cached contact point } else @@ -2492,10 +2494,11 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO contact_point = results.witnesses[0]; getBarycentric(contact_point, f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary); nrm = results.normal; + cti.m_colObj = colObjWrap->getCollisionObject(); for (int i = 0; i < 3; ++i) f.m_pcontact[i] = bary[i]; } - + return (dst < 0); #endif // use collision quadrature point @@ -2505,7 +2508,11 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO btVector3 local_nrm; for (int q = 0; q < m_quads.size(); ++q) { - btVector3 p = BaryEval(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, m_quads[q]); + btVector3 p; + if (predict) + p = BaryEval(f.m_n[0]->m_q, f.m_n[1]->m_q, f.m_n[2]->m_q, m_quads[q]); + else + p = BaryEval(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, m_quads[q]); btScalar local_dst = m_worldInfo->m_sparsesdf.Evaluate( wtr.invXform(p), shp, @@ -2513,12 +2520,21 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO margin); if (local_dst < dst) { + if (local_dst < 0 && predict) + return true; dst = local_dst; contact_point = p; bary = m_quads[q]; - nrm = wtr.getBasis() * local_nrm; + nrm = local_nrm; + } + if (!predict) + { + cti.m_colObj = colObjWrap->getCollisionObject(); + cti.m_normal = wtr.getBasis() * nrm; + cti.m_offset = dst; } } + return (dst < 0); } #endif @@ -2530,6 +2546,11 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO triangle_transform.setOrigin(f.m_n[0]->m_x); btTriangleShape triangle(btVector3(0,0,0), f.m_n[1]->m_x-f.m_n[0]->m_x, f.m_n[2]->m_x-f.m_n[0]->m_x); btVector3 guess(0,0,0); + if (predict) + { + triangle_transform.setOrigin(f.m_n[0]->m_q); + triangle = btTriangleShape(btVector3(0,0,0), f.m_n[1]->m_q-f.m_n[0]->m_q, f.m_n[2]->m_q-f.m_n[0]->m_q); + } const btConvexShape* csh = static_cast(shp); btGjkEpaSolver2::SignedDistance(&triangle, triangle_transform, csh, wtr, guess, results); dst = results.distance - margin; @@ -2547,9 +2568,7 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO cti.m_offset = dst; } - if (dst < 0) - return true; - return (false); + return (dst < 0); } // diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index cde4746d5..894e80f38 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -1070,8 +1070,8 @@ struct btSoftColliders if (!n.m_battach) { - // check for collision at x_{n+1}^* as well at x_n - if (psb->checkDeformableContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predict = */ true) || psb->checkDeformableContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predict = */ true)) + // check for collision at x_{n+1}^* + if (psb->checkDeformableContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predict = */ true)) { const btScalar ima = n.m_im; // todo: collision between multibody and fixed deformable node will be missed. @@ -1159,7 +1159,6 @@ struct btSoftColliders btSoftBody::Node* n0 = f.m_n[0]; btSoftBody::Node* n1 = f.m_n[1]; btSoftBody::Node* n2 = f.m_n[2]; - const btScalar m = (n0->m_im > 0 && n1->m_im > 0 && n2->m_im > 0 )? dynmargin : stamargin; btSoftBody::DeformableFaceRigidContact c; btVector3 contact_point; @@ -1181,7 +1180,8 @@ struct btSoftColliders // todo xuchenhan@: this is assuming mass of all vertices are the same. Need to modify if mass are different for distinct vertices c.m_weights = btScalar(2)/(btScalar(1) + bary.length2()) * bary; c.m_face = &f; - const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); + // friction is handled by the nodes to prevent sticking + const btScalar fc = 0; // the effective inverse mass of the face as in https://graphics.stanford.edu/papers/cloth-sig02/cloth.pdf ima = bary.getX()*c.m_weights.getX() * n0->m_im + bary.getY()*c.m_weights.getY() * n1->m_im + bary.getZ()*c.m_weights.getZ() * n2->m_im; From 442047a862930f1b0ba73507d31522cfcbd5b135 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 27 Dec 2019 13:16:31 -0800 Subject: [PATCH 351/389] more bug fixes --- examples/DeformableDemo/DeformableMultibody.cpp | 6 +++--- src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h | 2 +- .../btDeformableMultiBodyConstraintSolver.cpp | 4 ++-- src/BulletSoftBody/btSoftBody.cpp | 4 ++-- 4 files changed, 8 insertions(+), 8 deletions(-) diff --git a/examples/DeformableDemo/DeformableMultibody.cpp b/examples/DeformableDemo/DeformableMultibody.cpp index 1274a3721..5b342aada 100644 --- a/examples/DeformableDemo/DeformableMultibody.cpp +++ b/examples/DeformableDemo/DeformableMultibody.cpp @@ -206,15 +206,15 @@ void DeformableMultibody::initPhysics() psb->getCollisionShape()->setMargin(0.25); psb->generateBendingConstraints(2); - psb->setTotalMass(5); + psb->setTotalMass(1); 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; + psb->m_cfg.kDF = 2; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; psb->setCollisionFlags(0); getDeformableDynamicsWorld()->addSoftBody(psb); - btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2, 0.01, false); + btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(30, 1, true); getDeformableDynamicsWorld()->addForce(psb, mass_spring); m_forces.push_back(mass_spring); diff --git a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h index 9dd964706..810168614 100644 --- a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h +++ b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h @@ -82,7 +82,7 @@ struct btContactSolverInfo : public btContactSolverInfoData m_numIterations = 10; m_erp = btScalar(0.2); m_erp2 = btScalar(0.2); - m_deformable_erp = btScalar(1.0); + m_deformable_erp = btScalar(0.0); m_globalCfm = btScalar(0.); m_frictionERP = btScalar(0.2); //positional friction 'anchors' are disabled by default m_frictionCFM = btScalar(0.); diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp index 06f95d69f..aa70139bf 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp @@ -127,8 +127,8 @@ void btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlySplitImpulseI leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } // solve the position correction between deformable and rigid/multibody - btScalar residual = m_deformableSolver->solveSplitImpulse(infoGlobal); - leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); +// btScalar residual = m_deformableSolver->solveSplitImpulse(infoGlobal); +// leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } if (leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration >= (infoGlobal.m_numIterations - 1)) { diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 25766516d..0dbbf28f9 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -3700,8 +3700,8 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap docollideFace.psb = this; docollideFace.m_colObj1Wrap = pcoWrap; docollideFace.m_rigidBody = prb1; - docollideFace.dynmargin = basemargin + timemargin; - docollideFace.stamargin = basemargin; + docollideFace.dynmargin = 0.9*(basemargin + timemargin); + docollideFace.stamargin = 0.9*basemargin; m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace); } } From de9ac113c49a0c9724b9eb027ec157f1155c5526 Mon Sep 17 00:00:00 2001 From: Anis Date: Mon, 30 Dec 2019 02:17:59 +0100 Subject: [PATCH 352/389] a better approach to merge new manifolds on multithreaded CPU dispatcher --- .../btCollisionDispatcherMt.cpp | 22 ++++++++++++------- .../btCollisionDispatcherMt.h | 1 + 2 files changed, 15 insertions(+), 8 deletions(-) diff --git a/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp b/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp index 6fe56538d..89bc8d920 100644 --- a/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp +++ b/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp @@ -28,6 +28,7 @@ subject to the following restrictions: btCollisionDispatcherMt::btCollisionDispatcherMt(btCollisionConfiguration* config, int grainSize) : btCollisionDispatcher(config) { + m_batchManifoldsPtr.resize(btGetTaskScheduler()->getNumThreads()); m_batchUpdating = false; m_grainSize = grainSize; // iterations per task } @@ -65,6 +66,10 @@ btPersistentManifold* btCollisionDispatcherMt::getNewManifold(const btCollisionO manifold->m_index1a = m_manifoldsPtr.size(); m_manifoldsPtr.push_back(manifold); } + else + { + m_batchManifoldsPtr[btGetCurrentThreadIndex()].push_back(manifold); + } return manifold; } @@ -121,7 +126,7 @@ struct CollisionDispatcherUpdater : public btIParallelForBody void btCollisionDispatcherMt::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher) { - int pairCount = pairCache->getNumOverlappingPairs(); + const int pairCount = pairCache->getNumOverlappingPairs(); if (pairCount == 0) { return; @@ -136,16 +141,17 @@ void btCollisionDispatcherMt::dispatchAllCollisionPairs(btOverlappingPairCache* btParallelFor(0, pairCount, m_grainSize, updater); m_batchUpdating = false; - // reconstruct the manifolds array to ensure determinism - m_manifoldsPtr.resizeNoInitialize(0); - - btBroadphasePair* pairs = pairCache->getOverlappingPairArrayPtr(); - for (int i = 0; i < pairCount; ++i) + // merge new manifolds, if any + for (int i = 0; i < m_batchManifoldsPtr.size(); ++i) { - if (btCollisionAlgorithm* algo = pairs[i].m_algorithm) + btAlignedObjectArray& batchManifoldsPtr = m_batchManifoldsPtr[i]; + + for (int j = 0; j < batchManifoldsPtr.size(); ++j) { - algo->getAllContactManifolds(m_manifoldsPtr); + m_manifoldsPtr.push_back(batchManifoldsPtr[j]); } + + batchManifoldsPtr.resizeNoInitialize(0); } // update the indices (used when releasing manifolds) diff --git a/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h b/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h index 28eba7f32..dd5c9cbca 100644 --- a/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h +++ b/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h @@ -30,6 +30,7 @@ public: virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher) BT_OVERRIDE; protected: + btAlignedObjectArray> m_batchManifoldsPtr; bool m_batchUpdating; int m_grainSize; }; From a808d7489500935ac6665dcfe930c43a2008566b Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 30 Dec 2019 10:55:30 -0800 Subject: [PATCH 353/389] fix bug in the pretransform of rigid body interpolation transform --- .../CollisionDispatch/btCompoundCollisionAlgorithm.cpp | 7 ++++++- src/BulletSoftBody/btSoftBody.cpp | 2 -- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp index 1bb21104c..b5f4a3c86 100644 --- a/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp +++ b/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp @@ -139,7 +139,12 @@ public: if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1)) { - btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, childTrans, -1, index); + btTransform preTransform = childTrans; + if (this->m_compoundColObjWrap->m_preTransform) + { + preTransform = preTransform *(*(this->m_compoundColObjWrap->m_preTransform)); + } + btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, preTransform, -1, index); btCollisionAlgorithm* algo = 0; bool allocatedAlgorithm = false; diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 0dbbf28f9..7becc5f69 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -2407,7 +2407,6 @@ bool btSoftBody::checkDeformableContact(const btCollisionObjectWrapper* colObjWr btTransform wtr = (predict) ? (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform()) : colObjWrap->getWorldTransform(); -// const btTransform& wtr = colObjWrap->getWorldTransform(); btScalar dst = m_worldInfo->m_sparsesdf.Evaluate( wtr.invXform(x), @@ -2458,7 +2457,6 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO btTransform wtr = (predict) ? (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform()) : colObjWrap->getWorldTransform(); -// const btTransform& wtr = colObjWrap->getWorldTransform(); btScalar dst; #define USE_QUADRATURE 1 From dfb0d4deae9f614439508236d80493f866d75c07 Mon Sep 17 00:00:00 2001 From: Josh Junon Date: Tue, 31 Dec 2019 01:34:47 +0100 Subject: [PATCH 354/389] remove unused custom vector math cmake option --- CMakeLists.txt | 1 - 1 file changed, 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 68e0a93bc..4ad1aa1aa 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -55,7 +55,6 @@ IF(NOT WIN32) ENDIF(NOT WIN32) OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF) -OPTION(USE_CUSTOM_VECTOR_MATH "Use custom vectormath library" OFF) #statically linking VC++ isn't supported for WindowsPhone/WindowsStore IF (CMAKE_SYSTEM_NAME STREQUAL WindowsPhone OR CMAKE_SYSTEM_NAME STREQUAL WindowsStore) From 79c1343b6a1da242ab46a24c94471f8188d88d8e Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 31 Dec 2019 14:03:54 -0800 Subject: [PATCH 355/389] change number of quadrature points from 3 to 2 --- src/BulletSoftBody/btSoftBody.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 7becc5f69..40376e96d 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -53,7 +53,7 @@ btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo, int node_count, const btV n.m_material = pm; } updateBounds(); - setCollisionQuadrature(3); + setCollisionQuadrature(2); } btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo) From d7442cee218868ebdcfc81904bfdffa48173e634 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 31 Dec 2019 14:04:18 -0800 Subject: [PATCH 356/389] add strain rate limiting --- .../btDeformableBackwardEulerObjective.cpp | 4 +- .../btDeformableBackwardEulerObjective.h | 2 +- src/BulletSoftBody/btDeformableBodySolver.cpp | 4 +- src/BulletSoftBody/btDeformableBodySolver.h | 2 +- .../btDeformableContactConstraint.cpp | 87 ++++++++++++++----- .../btDeformableContactConstraint.h | 79 ++++++++--------- .../btDeformableContactProjection.cpp | 12 +-- .../btDeformableContactProjection.h | 2 +- .../btDeformableMultiBodyDynamicsWorld.cpp | 2 +- src/BulletSoftBody/btSoftBodyInternals.h | 1 + 10 files changed, 116 insertions(+), 79 deletions(-) diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index 1b247641a..eb50f5a56 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -186,9 +186,9 @@ void btDeformableBackwardEulerObjective::initialGuess(TVStack& dv, const TVStack } //set constraints as projections -void btDeformableBackwardEulerObjective::setConstraints() +void btDeformableBackwardEulerObjective::setConstraints(const btContactSolverInfo& infoGlobal) { - m_projection.setConstraints(); + m_projection.setConstraints(infoGlobal); } void btDeformableBackwardEulerObjective::applyDynamicFriction(TVStack& r) diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index 05ab42ff0..89cbb38c5 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -79,7 +79,7 @@ public: void updateVelocity(const TVStack& dv); //set constraints as projections - void setConstraints(); + void setConstraints(const btContactSolverInfo& infoGlobal); // update the projections and project the residual void project(TVStack& r) diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 7724a8ec6..3972a48b2 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -228,10 +228,10 @@ void btDeformableBodySolver::reinitialize(const btAlignedObjectArrayreinitialize(nodeUpdated, dt); } -void btDeformableBodySolver::setConstraints() +void btDeformableBodySolver::setConstraints(const btContactSolverInfo& infoGlobal) { BT_PROFILE("setConstraint"); - m_objective->setConstraints(); + m_objective->setConstraints(infoGlobal); } btScalar btDeformableBodySolver::solveContactConstraints(btCollisionObject** deformableBodies,int numDeformableBodies) diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index f78a8f696..bd09eda2f 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -77,7 +77,7 @@ public: void reinitialize(const btAlignedObjectArray& softBodies, btScalar dt); // set up contact constraints - void setConstraints(); + void setConstraints(const btContactSolverInfo& infoGlobal); // add in elastic forces and gravity to obtain v_{n+1}^* and calls predictDeformableMotion virtual void predictMotion(btScalar solverdt); diff --git a/src/BulletSoftBody/btDeformableContactConstraint.cpp b/src/BulletSoftBody/btDeformableContactConstraint.cpp index 96fd8b5ae..c11b84464 100644 --- a/src/BulletSoftBody/btDeformableContactConstraint.cpp +++ b/src/BulletSoftBody/btDeformableContactConstraint.cpp @@ -15,9 +15,9 @@ #include "btDeformableContactConstraint.h" /* ================ Deformable Node Anchor =================== */ -btDeformableNodeAnchorConstraint::btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& a) +btDeformableNodeAnchorConstraint::btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& a, const btContactSolverInfo& infoGlobal) : m_anchor(&a) -, btDeformableContactConstraint(a.m_cti.m_normal) +, btDeformableContactConstraint(a.m_cti.m_normal, infoGlobal) { } @@ -134,9 +134,9 @@ void btDeformableNodeAnchorConstraint::applyImpulse(const btVector3& impulse) } /* ================ Deformable vs. Rigid =================== */ -btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c) +btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c, const btContactSolverInfo& infoGlobal) : m_contact(&c) -, btDeformableContactConstraint(c.m_cti.m_normal) +, btDeformableContactConstraint(c.m_cti.m_normal, infoGlobal) { m_total_normal_dv.setZero(); m_total_tangent_dv.setZero(); @@ -321,9 +321,9 @@ btScalar btDeformableRigidContactConstraint::solveSplitImpulse(const btContactSo } /* ================ Node vs. Rigid =================== */ -btDeformableNodeRigidContactConstraint::btDeformableNodeRigidContactConstraint(const btSoftBody::DeformableNodeRigidContact& contact) +btDeformableNodeRigidContactConstraint::btDeformableNodeRigidContactConstraint(const btSoftBody::DeformableNodeRigidContact& contact, const btContactSolverInfo& infoGlobal) : m_node(contact.m_node) - , btDeformableRigidContactConstraint(contact) + , btDeformableRigidContactConstraint(contact, infoGlobal) { } @@ -359,9 +359,9 @@ void btDeformableNodeRigidContactConstraint::applySplitImpulse(const btVector3& }; /* ================ Face vs. Rigid =================== */ -btDeformableFaceRigidContactConstraint::btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact) +btDeformableFaceRigidContactConstraint::btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact, const btContactSolverInfo& infoGlobal) : m_face(contact.m_face) -, btDeformableRigidContactConstraint(contact) +, btDeformableRigidContactConstraint(contact, infoGlobal) { } @@ -413,19 +413,60 @@ void btDeformableFaceRigidContactConstraint::applyImpulse(const btVector3& impul v1 -= dv * contact->m_weights[1]; if (im2 > 0) v2 -= dv * contact->m_weights[2]; - - // apply strain limiting to prevent undamped modes - btScalar m01 = (btScalar(1)/(im0 + im1)); - btScalar m02 = (btScalar(1)/(im0 + im2)); - btScalar m12 = (btScalar(1)/(im1 + im2)); - - btVector3 dv0 = im0 * (m01 * (v1-v0) + m02 * (v2-v0)); - btVector3 dv1 = im1 * (m01 * (v0-v1) + m12 * (v2-v1)); - btVector3 dv2 = im2 * (m12 * (v1-v2) + m02 * (v0-v2)); - - v0 += dv0; - v1 += dv1; - v2 += dv2; + + // apply strain limiting to prevent the new velocity to change the current length of the edge by more than 1%. + btScalar p = 0.01; + btVector3& x0 = face->m_n[0]->m_x; + btVector3& x1 = face->m_n[1]->m_x; + btVector3& x2 = face->m_n[2]->m_x; + const btVector3 x_diff[3] = {x1-x0, x2-x0, x2-x1}; + const btVector3 v_diff[3] = {v1-v0, v2-v0, v2-v1}; + btVector3 u[3]; + btScalar x_diff_dot_u, dn[3]; + btScalar dt = m_infoGlobal->m_timeStep; + for (int i = 0; i < 3; ++i) + { + btScalar x_diff_norm = x_diff[i].safeNorm(); + btScalar x_diff_norm_new = (x_diff[i] + v_diff[i] * dt).safeNorm(); + btScalar strainRate = x_diff_norm_new/x_diff_norm; + u[i] = v_diff[i]; + u[i].safeNormalize(); + if (x_diff_norm == 0 || (1-p <= strainRate && strainRate <= 1+p)) + { + dn[i] = 0; + continue; + } + x_diff_dot_u = btDot(x_diff[i], u[i]); + btScalar s; + if (1-p > strainRate) + { + s = 1/dt * (-x_diff_dot_u - btSqrt(x_diff_dot_u*x_diff_dot_u + (p*p-2*p) * x_diff_norm * x_diff_norm)); + } + else + { + s = 1/dt * (-x_diff_dot_u + btSqrt(x_diff_dot_u*x_diff_dot_u + (p*p+2*p) * x_diff_norm * x_diff_norm)); + } +// x_diff_norm_new = (x_diff[i] + s * u[i] * dt).safeNorm(); +// strainRate = x_diff_norm_new/x_diff_norm; + dn[i] = s - v_diff[i].safeNorm(); + } + + btScalar relaxation = 0.5; + // apply strain limiting to prevent undamped modes + btScalar m01 = (relaxation/(im0 + im1)); + btScalar m02 = (relaxation/(im0 + im2)); + btScalar m12 = (relaxation/(im1 + im2)); + + // btVector3 dv0 = im0 * (m01 * (v1-v0) + m02 * (v2-v0)); + // btVector3 dv1 = im1 * (m01 * (v0-v1) + m12 * (v2-v1)); + // btVector3 dv2 = im2 * (m12 * (v1-v2) + m02 * (v0-v2)); + + btVector3 dv0 = im0 * (m01 * u[0]*(-dn[0]) + m02 * u[1]*-(dn[1])); + btVector3 dv1 = im1 * (m01 * u[0]*(dn[0]) + m12 * u[2]*(-dn[2])); + btVector3 dv2 = im2 * (m12 * u[2]*(dn[2]) + m02 * u[1]*(dn[1])); + v0 += dv0; + v1 += dv1; + v2 += dv2; } void btDeformableFaceRigidContactConstraint::applySplitImpulse(const btVector3& impulse) @@ -449,11 +490,11 @@ void btDeformableFaceRigidContactConstraint::applySplitImpulse(const btVector3& } /* ================ Face vs. Node =================== */ -btDeformableFaceNodeContactConstraint::btDeformableFaceNodeContactConstraint(const btSoftBody::DeformableFaceNodeContact& contact) +btDeformableFaceNodeContactConstraint::btDeformableFaceNodeContactConstraint(const btSoftBody::DeformableFaceNodeContact& contact, const btContactSolverInfo& infoGlobal) : m_node(contact.m_node) , m_face(contact.m_face) , m_contact(&contact) -, btDeformableContactConstraint(contact.m_normal) +, btDeformableContactConstraint(contact.m_normal, infoGlobal) { m_total_normal_dv.setZero(); m_total_tangent_dv.setZero(); diff --git a/src/BulletSoftBody/btDeformableContactConstraint.h b/src/BulletSoftBody/btDeformableContactConstraint.h index 912119e7c..8ede39a19 100644 --- a/src/BulletSoftBody/btDeformableContactConstraint.h +++ b/src/BulletSoftBody/btDeformableContactConstraint.h @@ -24,26 +24,28 @@ public: // True if the friction is static // False if the friction is dynamic bool m_static; - - // normal of the contact - btVector3 m_normal; - - btDeformableContactConstraint(const btVector3& normal): m_static(false), m_normal(normal) - { - } - - btDeformableContactConstraint(bool isStatic, const btVector3& normal): m_static(isStatic), m_normal(normal) - { - } - - btDeformableContactConstraint(const btDeformableContactConstraint& other) - : m_static(other.m_static) - , m_normal(other.m_normal) - { - - } - btDeformableContactConstraint(){} - + const btContactSolverInfo* m_infoGlobal; + + // normal of the contact + btVector3 m_normal; + + btDeformableContactConstraint(const btVector3& normal, const btContactSolverInfo& infoGlobal): m_static(false), m_normal(normal), m_infoGlobal(&infoGlobal) + { + } + + btDeformableContactConstraint(bool isStatic, const btVector3& normal, const btContactSolverInfo& infoGlobal): m_static(isStatic), m_normal(normal), m_infoGlobal(&infoGlobal) + { + } + + btDeformableContactConstraint(){} + + btDeformableContactConstraint(const btDeformableContactConstraint& other) + : m_static(other.m_static) + , m_normal(other.m_normal) + , m_infoGlobal(other.m_infoGlobal) + { + } + virtual ~btDeformableContactConstraint(){} // solve the constraint with inelastic impulse and return the error, which is the square of normal component of velocity diffrerence @@ -79,17 +81,14 @@ class btDeformableStaticConstraint : public btDeformableContactConstraint public: const btSoftBody::Node* m_node; - btDeformableStaticConstraint(){} - - btDeformableStaticConstraint(const btSoftBody::Node* node): m_node(node), btDeformableContactConstraint(false, btVector3(0,0,0)) + btDeformableStaticConstraint(const btSoftBody::Node* node, const btContactSolverInfo& infoGlobal): m_node(node), btDeformableContactConstraint(false, btVector3(0,0,0), infoGlobal) { } - + btDeformableStaticConstraint(){} btDeformableStaticConstraint(const btDeformableStaticConstraint& other) : m_node(other.m_node) , btDeformableContactConstraint(other) { - } virtual ~btDeformableStaticConstraint(){} @@ -130,10 +129,10 @@ class btDeformableNodeAnchorConstraint : public btDeformableContactConstraint { public: const btSoftBody::DeformableNodeRigidAnchor* m_anchor; - - btDeformableNodeAnchorConstraint(){} - btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& c); + + btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& c, const btContactSolverInfo& infoGlobal); btDeformableNodeAnchorConstraint(const btDeformableNodeAnchorConstraint& other); + btDeformableNodeAnchorConstraint(){} virtual ~btDeformableNodeAnchorConstraint() { } @@ -169,10 +168,10 @@ public: btVector3 m_total_tangent_dv; btScalar m_penetration; const btSoftBody::DeformableRigidContact* m_contact; - - btDeformableRigidContactConstraint(){} - btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c); + + btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c, const btContactSolverInfo& infoGlobal); btDeformableRigidContactConstraint(const btDeformableRigidContactConstraint& other); + btDeformableRigidContactConstraint(){} virtual ~btDeformableRigidContactConstraint() { } @@ -197,11 +196,10 @@ class btDeformableNodeRigidContactConstraint : public btDeformableRigidContactCo public: // the deformable node in contact const btSoftBody::Node* m_node; - - btDeformableNodeRigidContactConstraint(){} - btDeformableNodeRigidContactConstraint(const btSoftBody::DeformableNodeRigidContact& contact); + + btDeformableNodeRigidContactConstraint(const btSoftBody::DeformableNodeRigidContact& contact, const btContactSolverInfo& infoGlobal); btDeformableNodeRigidContactConstraint(const btDeformableNodeRigidContactConstraint& other); - + btDeformableNodeRigidContactConstraint(){} virtual ~btDeformableNodeRigidContactConstraint() { } @@ -228,10 +226,9 @@ class btDeformableFaceRigidContactConstraint : public btDeformableRigidContactCo { public: const btSoftBody::Face* m_face; - btDeformableFaceRigidContactConstraint(){} - btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact); + btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact, const btContactSolverInfo& infoGlobal); btDeformableFaceRigidContactConstraint(const btDeformableFaceRigidContactConstraint& other); - + btDeformableFaceRigidContactConstraint(){} virtual ~btDeformableFaceRigidContactConstraint() { } @@ -263,10 +260,8 @@ public: btVector3 m_total_normal_dv; btVector3 m_total_tangent_dv; - btDeformableFaceNodeContactConstraint(){} - - btDeformableFaceNodeContactConstraint(const btSoftBody::DeformableFaceNodeContact& contact); - + btDeformableFaceNodeContactConstraint(const btSoftBody::DeformableFaceNodeContact& contact, const btContactSolverInfo& infoGlobal); + btDeformableFaceNodeContactConstraint(){} virtual ~btDeformableFaceNodeContactConstraint(){} virtual btScalar solveConstraint(); diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index 5a4f3241b..e1666fb86 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -108,7 +108,7 @@ btScalar btDeformableContactProjection::solveSplitImpulse(const btContactSolverI return residualSquare; } -void btDeformableContactProjection::setConstraints() +void btDeformableContactProjection::setConstraints(const btContactSolverInfo& infoGlobal) { BT_PROFILE("setConstraints"); for (int i = 0; i < m_softBodies.size(); ++i) @@ -124,7 +124,7 @@ void btDeformableContactProjection::setConstraints() { if (psb->m_nodes[j].m_im == 0) { - btDeformableStaticConstraint static_constraint(&psb->m_nodes[j]); + btDeformableStaticConstraint static_constraint(&psb->m_nodes[j], infoGlobal); m_staticConstraints[i].push_back(static_constraint); } } @@ -139,7 +139,7 @@ void btDeformableContactProjection::setConstraints() continue; } anchor.m_c1 = anchor.m_cti.m_colObj->getWorldTransform().getBasis() * anchor.m_local; - btDeformableNodeAnchorConstraint constraint(anchor); + btDeformableNodeAnchorConstraint constraint(anchor, infoGlobal); m_nodeAnchorConstraints[i].push_back(constraint); } @@ -152,7 +152,7 @@ void btDeformableContactProjection::setConstraints() { continue; } - btDeformableNodeRigidContactConstraint constraint(contact); + btDeformableNodeRigidContactConstraint constraint(contact, infoGlobal); btVector3 va = constraint.getVa(); btVector3 vb = constraint.getVb(); const btVector3 vr = vb - va; @@ -173,7 +173,7 @@ void btDeformableContactProjection::setConstraints() { continue; } - btDeformableFaceRigidContactConstraint constraint(contact); + btDeformableFaceRigidContactConstraint constraint(contact, infoGlobal); btVector3 va = constraint.getVa(); btVector3 vb = constraint.getVb(); const btVector3 vr = vb - va; @@ -190,7 +190,7 @@ void btDeformableContactProjection::setConstraints() { const btSoftBody::DeformableFaceNodeContact& contact = psb->m_faceNodeContacts[j]; - btDeformableFaceNodeContactConstraint constraint(contact); + btDeformableFaceNodeContactConstraint constraint(contact, infoGlobal); btVector3 va = constraint.getVa(); btVector3 vb = constraint.getVb(); const btVector3 vr = vb - va; diff --git a/src/BulletSoftBody/btDeformableContactProjection.h b/src/BulletSoftBody/btDeformableContactProjection.h index 3c4490765..618eea4c3 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.h +++ b/src/BulletSoftBody/btDeformableContactProjection.h @@ -78,7 +78,7 @@ public: virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal); // Add constraints to m_constraints. In addition, the constraints that each vertex own are recorded in m_constraintsDict. - virtual void setConstraints(); + virtual void setConstraints(const btContactSolverInfo& infoGlobal); // Set up projections for each vertex by adding the projection direction to virtual void setProjection(); diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 618e5c0d7..d6de78612 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -280,7 +280,7 @@ void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep) void btDeformableMultiBodyDynamicsWorld::setupConstraints() { // set up constraints between multibody and deformable bodies - m_deformableBodySolver->setConstraints(); + m_deformableBodySolver->setConstraints(m_solverInfo); // set up constraints among multibodies { diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index 894e80f38..055af1652 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -1182,6 +1182,7 @@ struct btSoftColliders c.m_face = &f; // friction is handled by the nodes to prevent sticking const btScalar fc = 0; +// const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); // the effective inverse mass of the face as in https://graphics.stanford.edu/papers/cloth-sig02/cloth.pdf ima = bary.getX()*c.m_weights.getX() * n0->m_im + bary.getY()*c.m_weights.getY() * n1->m_im + bary.getZ()*c.m_weights.getZ() * n2->m_im; From 4ab550d3582772606ed8758d007b6bc678fa5267 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 31 Dec 2019 14:05:45 -0800 Subject: [PATCH 357/389] update deformable demos --- examples/DeformableDemo/GraspDeformable.cpp | 8 ++++---- examples/DeformableDemo/Pinch.cpp | 2 +- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index 475fa9095..7150657e5 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -275,12 +275,12 @@ void GraspDeformable::initPhysics() { char absolute_path[1024]; b3BulletDefaultFileIO fileio; - fileio.findResourcePath("ditto.vtk", absolute_path, 1024); +// fileio.findResourcePath("ditto.vtk", absolute_path, 1024); // fileio.findResourcePath("banana.vtk", absolute_path, 1024); // fileio.findResourcePath("ball.vtk", absolute_path, 1024); // fileio.findResourcePath("deformable_crumpled_napkin_sim.vtk", absolute_path, 1024); // fileio.findResourcePath("single_tet.vtk", absolute_path, 1024); - // fileio.findResourcePath("tube.vtk", absolute_path, 1024); + fileio.findResourcePath("tube.vtk", absolute_path, 1024); // fileio.findResourcePath("torus.vtk", absolute_path, 1024); // fileio.findResourcePath("paper_roll.vtk", absolute_path, 1024); // fileio.findResourcePath("bread.vtk", absolute_path, 1024); @@ -295,8 +295,8 @@ void GraspDeformable::initPhysics() // psb->scale(btVector3(30, 30, 30)); // for banana psb->scale(btVector3(.7, .7, .7)); // psb->scale(btVector3(2, 2, 2)); -// psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot - psb->scale(btVector3(.1, .1, .1)); // for ditto + psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot +// psb->scale(btVector3(.1, .1, .1)); // for ditto // psb->translate(btVector3(.25, 10, 0.4)); psb->getCollisionShape()->setMargin(0.0005); psb->setMaxStress(50); diff --git a/examples/DeformableDemo/Pinch.cpp b/examples/DeformableDemo/Pinch.cpp index ed811a417..07c491d89 100644 --- a/examples/DeformableDemo/Pinch.cpp +++ b/examples/DeformableDemo/Pinch.cpp @@ -231,7 +231,7 @@ void Pinch::initPhysics() btVector3 gravity = btVector3(0, -10, 0); m_dynamicsWorld->setGravity(gravity); getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; - + getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25); getDeformableDynamicsWorld()->setSolverCallback(dynamics); m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); From 8f03a69e95b6b39687a8f988a223746dcb506346 Mon Sep 17 00:00:00 2001 From: Lopuska Date: Tue, 31 Dec 2019 23:07:03 +0100 Subject: [PATCH 358/389] add btCollisionDispatcherMt,cpp on unity build --- src/btBulletCollisionAll.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/btBulletCollisionAll.cpp b/src/btBulletCollisionAll.cpp index 2851fb3b7..4a3ec8dd6 100644 --- a/src/btBulletCollisionAll.cpp +++ b/src/btBulletCollisionAll.cpp @@ -23,6 +23,7 @@ #include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp" #include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp" #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp" #include "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp" #include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp" #include "BulletCollision/CollisionDispatch/btCollisionObject.cpp" From 78a8ddb46662bbfe77215d8ec48ea15299704eb0 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 31 Dec 2019 14:08:21 -0800 Subject: [PATCH 359/389] change default damping model for mass spring to the angular momentum conserving one --- examples/RoboticsLearning/GripperGraspExample.cpp | 12 ++++++------ .../SharedMemory/PhysicsServerCommandProcessor.cpp | 2 +- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/examples/RoboticsLearning/GripperGraspExample.cpp b/examples/RoboticsLearning/GripperGraspExample.cpp index a07e36c77..e500c412c 100644 --- a/examples/RoboticsLearning/GripperGraspExample.cpp +++ b/examples/RoboticsLearning/GripperGraspExample.cpp @@ -425,12 +425,12 @@ public: m_robotSim.setGravity(btVector3(0, 0, -10)); b3RobotSimulatorLoadDeformableBodyArgs args(2, .01, 0.006); - args.m_springElasticStiffness = .1; - args.m_springDampingStiffness = .0004; - args.m_springBendingStiffness = 1; - args.m_frictionCoeff = 1; + args.m_springElasticStiffness = 1; + args.m_springDampingStiffness = .01; + args.m_springBendingStiffness = .1; + args.m_frictionCoeff = 10; args.m_useSelfCollision = false; -// args.m_useFaceContact = true; + args.m_useFaceContact = true; args.m_useBendingSprings = true; args.m_startPosition.setValue(0, 0, 0); args.m_startOrientation.setValue(0, 0, 1, 1); @@ -476,7 +476,7 @@ public: revoluteJoint2.m_jointType = ePoint2PointType; m_robotSim.createConstraint(0, 2, 0, 4, &revoluteJoint1); m_robotSim.createConstraint(0, 3, 0, 6, &revoluteJoint2); - m_robotSim.setNumSimulationSubSteps(8); + m_robotSim.setNumSimulationSubSteps(2); } if ((m_options & eSOFTBODY_MULTIBODY_COUPLING) != 0) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 9b0b3e089..42bd29c7f 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -8148,7 +8148,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar { spring_bending_stiffness = clientCmd.m_loadSoftBodyArguments.m_springBendingStiffness; } - btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false, spring_bending_stiffness); + btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true, spring_bending_stiffness); deformWorld->addForce(psb, springForce); m_data->m_lf.push_back(springForce); } From 528bd28e34a0959d2c48b84ac60828937003d886 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 31 Dec 2019 18:13:49 -0800 Subject: [PATCH 360/389] increase plane from 30 to 200 (to allow quadrupeds to run further, not fall off cliff) fix issue with gym.wrappers in pybullet_envs.agents.visualize_ppo.py --- examples/pybullet/gym/pybullet_data/plane.urdf | 4 ++-- examples/pybullet/gym/pybullet_envs/agents/visualize_ppo.py | 1 + 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/examples/pybullet/gym/pybullet_data/plane.urdf b/examples/pybullet/gym/pybullet_data/plane.urdf index b04f67e96..7608290cf 100644 --- a/examples/pybullet/gym/pybullet_data/plane.urdf +++ b/examples/pybullet/gym/pybullet_data/plane.urdf @@ -12,7 +12,7 @@ - + @@ -21,7 +21,7 @@ - + diff --git a/examples/pybullet/gym/pybullet_envs/agents/visualize_ppo.py b/examples/pybullet/gym/pybullet_envs/agents/visualize_ppo.py index 8524b6311..141f93c8f 100644 --- a/examples/pybullet/gym/pybullet_envs/agents/visualize_ppo.py +++ b/examples/pybullet/gym/pybullet_envs/agents/visualize_ppo.py @@ -26,6 +26,7 @@ from __future__ import print_function import os import gym +from gym import wrappers import tensorflow as tf from . import tools From a274bcbfa3bf8e21ac4ee35d844a48e2b9b73442 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 31 Dec 2019 19:18:37 -0800 Subject: [PATCH 361/389] add position error into deformable vs. rigid solve --- examples/DeformableDemo/GraspDeformable.cpp | 8 ++++---- .../ConstraintSolver/btContactSolverInfo.h | 4 ++-- src/BulletSoftBody/btDeformableBodySolver.cpp | 4 ++-- src/BulletSoftBody/btDeformableBodySolver.h | 2 +- .../btDeformableContactConstraint.cpp | 18 +++++++++--------- .../btDeformableContactConstraint.h | 10 +++++----- .../btDeformableContactProjection.cpp | 10 +++++----- .../btDeformableContactProjection.h | 2 +- .../btDeformableMultiBodyConstraintSolver.cpp | 4 ++-- src/BulletSoftBody/btSoftBody.cpp | 4 ++-- 10 files changed, 33 insertions(+), 33 deletions(-) diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index 7150657e5..e7d63d52d 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -275,12 +275,12 @@ void GraspDeformable::initPhysics() { char absolute_path[1024]; b3BulletDefaultFileIO fileio; -// fileio.findResourcePath("ditto.vtk", absolute_path, 1024); + fileio.findResourcePath("ditto.vtk", absolute_path, 1024); // fileio.findResourcePath("banana.vtk", absolute_path, 1024); // fileio.findResourcePath("ball.vtk", absolute_path, 1024); // fileio.findResourcePath("deformable_crumpled_napkin_sim.vtk", absolute_path, 1024); // fileio.findResourcePath("single_tet.vtk", absolute_path, 1024); - fileio.findResourcePath("tube.vtk", absolute_path, 1024); +// fileio.findResourcePath("tube.vtk", absolute_path, 1024); // fileio.findResourcePath("torus.vtk", absolute_path, 1024); // fileio.findResourcePath("paper_roll.vtk", absolute_path, 1024); // fileio.findResourcePath("bread.vtk", absolute_path, 1024); @@ -295,8 +295,8 @@ void GraspDeformable::initPhysics() // psb->scale(btVector3(30, 30, 30)); // for banana psb->scale(btVector3(.7, .7, .7)); // psb->scale(btVector3(2, 2, 2)); - psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot -// psb->scale(btVector3(.1, .1, .1)); // for ditto +// psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot + psb->scale(btVector3(.1, .1, .1)); // for ditto // psb->translate(btVector3(.25, 10, 0.4)); psb->getCollisionShape()->setMargin(0.0005); psb->setMaxStress(50); diff --git a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h index 810168614..808fce32c 100644 --- a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h +++ b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h @@ -46,7 +46,7 @@ struct btContactSolverInfoData btScalar m_sor; //successive over-relaxation term btScalar m_erp; //error reduction for non-contact constraints btScalar m_erp2; //error reduction for contact constraints - btScalar m_deformable_erp; //error reduction for deformable constraints + btScalar m_deformable_erp; //error reduction for deformable constraints btScalar m_globalCfm; //constraint force mixing for contacts and non-contacts btScalar m_frictionERP; //error reduction for friction constraints btScalar m_frictionCFM; //constraint force mixing for friction constraints @@ -82,7 +82,7 @@ struct btContactSolverInfo : public btContactSolverInfoData m_numIterations = 10; m_erp = btScalar(0.2); m_erp2 = btScalar(0.2); - m_deformable_erp = btScalar(0.0); + m_deformable_erp = btScalar(0.1); m_globalCfm = btScalar(0.); m_frictionERP = btScalar(0.2); //positional friction 'anchors' are disabled by default m_frictionCFM = btScalar(0.); diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 3972a48b2..6404ce6ee 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -234,10 +234,10 @@ void btDeformableBodySolver::setConstraints(const btContactSolverInfo& infoGloba m_objective->setConstraints(infoGlobal); } -btScalar btDeformableBodySolver::solveContactConstraints(btCollisionObject** deformableBodies,int numDeformableBodies) +btScalar btDeformableBodySolver::solveContactConstraints(btCollisionObject** deformableBodies,int numDeformableBodies, const btContactSolverInfo& infoGlobal) { BT_PROFILE("solveContactConstraints"); - btScalar maxSquaredResidual = m_objective->m_projection.update(deformableBodies,numDeformableBodies); + btScalar maxSquaredResidual = m_objective->m_projection.update(deformableBodies,numDeformableBodies, infoGlobal); return maxSquaredResidual; } diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index bd09eda2f..bce0d30b3 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -65,7 +65,7 @@ public: virtual void solveDeformableConstraints(btScalar solverdt); // solve the contact between deformable and rigid as well as among deformables - btScalar solveContactConstraints(btCollisionObject** deformableBodies,int numDeformableBodies); + btScalar solveContactConstraints(btCollisionObject** deformableBodies,int numDeformableBodies, const btContactSolverInfo& infoGlobal); // solve the position error between deformable and rigid as well as among deformables; btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal); diff --git a/src/BulletSoftBody/btDeformableContactConstraint.cpp b/src/BulletSoftBody/btDeformableContactConstraint.cpp index c11b84464..61eaae5a8 100644 --- a/src/BulletSoftBody/btDeformableContactConstraint.cpp +++ b/src/BulletSoftBody/btDeformableContactConstraint.cpp @@ -79,7 +79,7 @@ btVector3 btDeformableNodeAnchorConstraint::getVa() const return va; } -btScalar btDeformableNodeAnchorConstraint::solveConstraint() +btScalar btDeformableNodeAnchorConstraint::solveConstraint(const btContactSolverInfo& infoGlobal) { const btSoftBody::sCti& cti = m_anchor->m_cti; btVector3 va = getVa(); @@ -141,7 +141,7 @@ btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btS m_total_normal_dv.setZero(); m_total_tangent_dv.setZero(); // The magnitude of penetration is the depth of penetration. - m_penetration = c.m_cti.m_offset; + m_penetration = btMin(btScalar(0),c.m_cti.m_offset); } btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btDeformableRigidContactConstraint& other) @@ -206,16 +206,16 @@ btVector3 btDeformableRigidContactConstraint::getVa() const return va; } -btScalar btDeformableRigidContactConstraint::solveConstraint() +btScalar btDeformableRigidContactConstraint::solveConstraint(const btContactSolverInfo& infoGlobal) { const btSoftBody::sCti& cti = m_contact->m_cti; btVector3 va = getVa(); btVector3 vb = getVb(); btVector3 vr = vb - va; - const btScalar dn = btDot(vr, cti.m_normal); + const btScalar dn = btDot(vr, cti.m_normal) + m_penetration * infoGlobal.m_deformable_erp / infoGlobal.m_timeStep; // dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt btScalar residualSquare = dn*dn; - btVector3 impulse = m_contact->m_c0 * vr; + btVector3 impulse = m_contact->m_c0 * (vr + m_penetration * infoGlobal.m_deformable_erp / infoGlobal.m_timeStep * cti.m_normal) ; const btVector3 impulse_normal = m_contact->m_c0 * (cti.m_normal * dn); btVector3 impulse_tangent = impulse - impulse_normal; btVector3 old_total_tangent_dv = m_total_tangent_dv; @@ -457,9 +457,9 @@ void btDeformableFaceRigidContactConstraint::applyImpulse(const btVector3& impul btScalar m02 = (relaxation/(im0 + im2)); btScalar m12 = (relaxation/(im1 + im2)); - // btVector3 dv0 = im0 * (m01 * (v1-v0) + m02 * (v2-v0)); - // btVector3 dv1 = im1 * (m01 * (v0-v1) + m12 * (v2-v1)); - // btVector3 dv2 = im2 * (m12 * (v1-v2) + m02 * (v0-v2)); +// btVector3 dv0 = im0 * (m01 * (v1-v0) + m02 * (v2-v0)); +// btVector3 dv1 = im1 * (m01 * (v0-v1) + m12 * (v2-v1)); +// btVector3 dv2 = im2 * (m12 * (v1-v2) + m02 * (v0-v2)); btVector3 dv0 = im0 * (m01 * u[0]*(-dn[0]) + m02 * u[1]*-(dn[1])); btVector3 dv1 = im1 * (m01 * u[0]*(dn[0]) + m12 * u[2]*(-dn[2])); @@ -530,7 +530,7 @@ btVector3 btDeformableFaceNodeContactConstraint::getDv(const btSoftBody::Node* n return dv * contact->m_weights[2]; } -btScalar btDeformableFaceNodeContactConstraint::solveConstraint() +btScalar btDeformableFaceNodeContactConstraint::solveConstraint(const btContactSolverInfo& infoGlobal) { btVector3 va = getVa(); btVector3 vb = getVb(); diff --git a/src/BulletSoftBody/btDeformableContactConstraint.h b/src/BulletSoftBody/btDeformableContactConstraint.h index 8ede39a19..7acf9aa69 100644 --- a/src/BulletSoftBody/btDeformableContactConstraint.h +++ b/src/BulletSoftBody/btDeformableContactConstraint.h @@ -50,7 +50,7 @@ public: // solve the constraint with inelastic impulse and return the error, which is the square of normal component of velocity diffrerence // the constraint is solved by calculating the impulse between object A and B in the contact and apply the impulse to both objects involved in the contact - virtual btScalar solveConstraint() = 0; + virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal) = 0; // solve the position error by applying an inelastic impulse that changes only the position (not velocity) virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal) = 0; @@ -93,7 +93,7 @@ public: virtual ~btDeformableStaticConstraint(){} - virtual btScalar solveConstraint() + virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal) { return 0; } @@ -136,7 +136,7 @@ public: virtual ~btDeformableNodeAnchorConstraint() { } - virtual btScalar solveConstraint(); + virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal); virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal) { // todo xuchenhan@ @@ -179,7 +179,7 @@ public: // object A is the rigid/multi body, and object B is the deformable node/face virtual btVector3 getVa() const; - virtual btScalar solveConstraint(); + virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal); virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal); @@ -264,7 +264,7 @@ public: btDeformableFaceNodeContactConstraint(){} virtual ~btDeformableFaceNodeContactConstraint(){} - virtual btScalar solveConstraint(); + virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal); virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal) { diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index e1666fb86..a59177e16 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -17,7 +17,7 @@ #include "btDeformableMultiBodyDynamicsWorld.h" #include #include -btScalar btDeformableContactProjection::update(btCollisionObject** deformableBodies,int numDeformableBodies) +btScalar btDeformableContactProjection::update(btCollisionObject** deformableBodies,int numDeformableBodies, const btContactSolverInfo& infoGlobal) { btScalar residualSquare = 0; for (int i = 0; i < numDeformableBodies; ++i) @@ -32,25 +32,25 @@ btScalar btDeformableContactProjection::update(btCollisionObject** deformableBod for (int k = 0; k < m_nodeRigidConstraints[j].size(); ++k) { btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[j][k]; - btScalar localResidualSquare = constraint.solveConstraint(); + btScalar localResidualSquare = constraint.solveConstraint(infoGlobal); residualSquare = btMax(residualSquare, localResidualSquare); } for (int k = 0; k < m_nodeAnchorConstraints[j].size(); ++k) { btDeformableNodeAnchorConstraint& constraint = m_nodeAnchorConstraints[j][k]; - btScalar localResidualSquare = constraint.solveConstraint(); + btScalar localResidualSquare = constraint.solveConstraint(infoGlobal); residualSquare = btMax(residualSquare, localResidualSquare); } for (int k = 0; k < m_faceRigidConstraints[j].size(); ++k) { btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[j][k]; - btScalar localResidualSquare = constraint.solveConstraint(); + btScalar localResidualSquare = constraint.solveConstraint(infoGlobal); residualSquare = btMax(residualSquare, localResidualSquare); } for (int k = 0; k < m_deformableConstraints[j].size(); ++k) { btDeformableFaceNodeContactConstraint& constraint = m_deformableConstraints[j][k]; - btScalar localResidualSquare = constraint.solveConstraint(); + btScalar localResidualSquare = constraint.solveConstraint(infoGlobal); residualSquare = btMax(residualSquare, localResidualSquare); } } diff --git a/src/BulletSoftBody/btDeformableContactProjection.h b/src/BulletSoftBody/btDeformableContactProjection.h index 618eea4c3..32d6c4d75 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.h +++ b/src/BulletSoftBody/btDeformableContactProjection.h @@ -72,7 +72,7 @@ public: virtual void applyDynamicFriction(TVStack& f); // update and solve the constraints - virtual btScalar update(btCollisionObject** deformableBodies,int numDeformableBodies); + virtual btScalar update(btCollisionObject** deformableBodies,int numDeformableBodies, const btContactSolverInfo& infoGlobal); // solve the position error using split impulse virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal); diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp index aa70139bf..c8cc47923 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp @@ -32,7 +32,7 @@ btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations(b m_leastSquaresResidual = solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); // solver body velocity -> rigid body velocity solverBodyWriteBack(infoGlobal); - btScalar deformableResidual = m_deformableSolver->solveContactConstraints(deformableBodies,numDeformableBodies); + btScalar deformableResidual = m_deformableSolver->solveContactConstraints(deformableBodies,numDeformableBodies, infoGlobal); // update rigid body velocity in rigid/deformable contact m_leastSquaresResidual = btMax(m_leastSquaresResidual, deformableResidual); // solver body velocity <- rigid body velocity @@ -112,7 +112,7 @@ void btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlySplitImpulseI if (infoGlobal.m_splitImpulse) { { - m_deformableSolver->splitImpulseSetup(infoGlobal); +// m_deformableSolver->splitImpulseSetup(infoGlobal); for (iteration = 0; iteration < infoGlobal.m_numIterations; iteration++) { btScalar leastSquaresResidual = 0.f; diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 40376e96d..ca7eec13d 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -53,7 +53,7 @@ btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo, int node_count, const btV n.m_material = pm; } updateBounds(); - setCollisionQuadrature(2); + setCollisionQuadrature(3); } btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo) @@ -2459,7 +2459,7 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO : colObjWrap->getWorldTransform(); btScalar dst; -#define USE_QUADRATURE 1 +//#define USE_QUADRATURE 1 //#define CACHE_PREV_COLLISION // use the contact position of the previous collision From b6dea7ba643fa7e05ac93e91cd4c490118f7282e Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 1 Jan 2020 18:47:46 -0800 Subject: [PATCH 362/389] fix a few pybullet Gym environments for rendering in stable_baselines if PYBULLET_EGL environment is set, try to enable EGL for faster rendering bump up pybullet to 2.6.2 --- data/multibody.bullet | Bin 16836 -> 16900 bytes .../pybullet/gym/pybullet_envs/env_bases.py | 43 +++++++++++++++--- .../gym/pybullet_envs/gym_locomotion_envs.py | 4 +- .../gym/pybullet_envs/scene_stadium.py | 2 +- .../gym/pybullet_utils/bullet_client.py | 11 ----- setup.py | 5 +- 6 files changed, 44 insertions(+), 21 deletions(-) diff --git a/data/multibody.bullet b/data/multibody.bullet index 563b8939bbaae7b8ceb5d8f8c6591cc6293fe864..0bfa1717be1f6b25a65b94a15d5750a3cb51599d 100644 GIT binary patch delta 2653 zcmai#d2~%z6o>bbm)x7-UeO>SNkb)wQt=|A3=h?&MMa2t3Zf{j8q%uaMMQ|Padj;n zbS7HWmWNhNk6Qjw9dtm=tv|YIXpPlc%j$QZ7gAHR)|Ye6KEL1I`<$HjvU|2FFIQom z3cGdd(tA{!5@&iwRaikCk*Yz>t12pjnnVqZ+F58lphjCW14F{%$6w#^;ql!YIyODA z!zxm(e8Kl8Y}+pUoUGT%MKC_*(0+F=>(csxQQ7uJ&t2i$=N}yEmDeY^tnfOM!%7BU z&RKKrRBlklVxOZy#Nxx-Y-N7M%pLZqv!SdaN3z3lWn|9Mfc7!=$VTa&@~J*Wk4cMi z$5xGSo!>hv$5-@}>x!?7@QK5Gf}M>MU7@eUdG*T8cB}C**W5=t*cnQ%`?{00F}YrE z=MrzHK`XOtfpsZhm^D&0iP`IQ+ZjqP9!U1JA34FXy>;gVS7o0pFTyO(SB|_Ob;i>m zG(f3?R->?JwaJqbwl7G_pIBT{kk`v9iiq-rMEn*QRy1+)m=ROP6-_Q4+1GO{>TtMc zYhp-ny{Mq8DnFo!%9DI~Tl$IDbHJG#pjud=sVPdgI;KV_hgF!`ELoRn;*jYu17?C7 zN@14hQU*mE^wD z8G$nbr-9SJY2c(ED>A()XTTY4J5wZ*e5;@umceRRZcR&1Ow+}~d;|S$giY`nd=8uG zEkRPHAsJUeH7tYGu-rP3o>-*e)$ZXg0pOqbmpnd4dxlrfRk*Mda{l6cGv-4 z*a=%;7kml3#juJq;xaVZN0qPX=o`tTn5r!OzSOGaiv_d^z}X{@-Um zw_CcetUo-{RvE>N`?RZ4Ir4Rzs_yt?AKzd&0ZP<5Oc_L5<#!^K^f~&994a ziQ`>{EAj-w+U=SMO}PLU;g;@6KBRf_7oMvW`y2j&YtohY6aKhPTqmv*?(#itq40C7V$A|VPIL1Tzk4vA6SsdSeUSkc)D zElmoU_bF6!N^5j>yxXLZd7na0-FBxMSEX@P8ds&&x~d+xU8#;vN2jCHYw7a2x-8!_ zjpcw3x|JqzoGL+ja?3Z~Yb*^tsC425#58GwhOaAmh?Dn_UOb=zX@)r-5}-M>fR*2js&F=`Ud<>#6EV0rVnaZzx3H zhyA|L5BkFZVot^s8Nfe-2pNce5DfNvhA<9=VNe9a(T>0~(#@n8M#0krM#C89W8oR* z<6t~I3(vs>c%Hq9FbO8BfixK`Q&g~&koX1mUxYQ>(^U3fA~ub2I?RBXkRpR<(f;o4 zFJ0YSWvS{Vvs7;>tL6BgMZ^ITye3wtYl{u@2DD9t0eh=@k2EPe_iX4E6#1;H}KmY ztyT_A-emn2yv^PU#&_Udcn{u(m2fMw)1P@LUrna0QQ`6teXWI$;S;*}lsuKb7cH`m z6O_@-`a(5~XKP@ni^0HPU@$OfHx27(w@f)@y(;28ImLr#1Iae}k_{)8L~LlS*uQy~ B`S}0< delta 2665 zcma);c~n$Y9LIl`8F&w2p5TaxKu7{YYQW&Y45FZAVWJ?Q;=ZJ2mRpPM4Jz(i`08Y) zW#w*WHC9?_o2TWREL*faD=W9uHVgHiK5v*&^vF4J&WC&N@BY5O<<6Z8b#-dbY!%&W zU|Cu3>Iq$DxICWv=*s%BY4x)fMhHLQVzyEf&62Q;OkIf_#?;2L2Y)VIubsAQx0xH3 z?NEZZ9`I7i9HZKrNnsOvca}9D%<+Z9BDUakA7cz;?znhA@E^@(g(AhUG+2RTv8qs;XC+krg`|Gqzxr64545pLxtSDdPRW2Dx00 zP?UF(#bC+ve`qg_P{;joQ8uMkm6QJ3Y6COiy}n1>4D=wiC3W47xu zQJh3^62(Cj2T>eEv8vT%xmoT>ZB!<@`DArj2kXI#y#XGDji%p|m1h?}wQh%(;AMD) z8q*~oorX?Br=io(Y3MX`PH)!u=5z&I5V!20r=8+qp3mID+$(XM->VWUud#j|cEN6V z19rlj@D{uc?~rGYXy$5fiq|fCrI2cJP`5&Dpf*q&s14LsCIhvB+CXif)=}%`X>W?p zQd|9WqZYe-1RqNg8N9L&J_&ptcB#ewDSQT>lY2iLVEzSs$^0wEucbS>9_V`ff1NKN zET*VJgoVurbrR}L66(Q(BHu^}U%&41EvdhQ@40q1DQ0c3Hdyxx?uXXb;AQ!@mV@B@ zfdYPnpWqOk{LHD2=oX)PZP3k$n^T(c^7ST#m8>z?#a=qGbom8-g~M0ic^|)Lo zEiTgP@*8_6;3Qn|wQlD15)~*qRE>tOCMSISItfSMC>(?J1do$azED<|A%R0q(a`Vk z2mDF1f5G3<2fwBb82B0Z8Tc7Z{BGduTPml~{6mg^p#i*Sq%RwNf*U#;Ivcv2kuu3@ zrhu~)aL(LPl%C1^&x08On)RGRBpg3qq(fRLheRo}p(w3@uGnk?@z53$lwI1Xek8hl z2WRQvoLSYq`9z^E4H6kvqBY&q`1^7BMEx&0QjMe1I4X^!(wZDq`6WlH@Xs|@^ zM&*$t7rLq*;>MmI*sqaxge+k00qb4#G8QVcb#Vy~OWB< ziTOmhnfWBR1#X4OFa@TvHw~u4ZE6@rM#}9fQtlw|o$Swm&2)Dc`*&lzhw)yx5AFxI z45vivH6J1maFP$ID(UM})l$ou&*Y3}slhT^4V5~A&p|L3#=$(84+~%+EP}tI^zAhivMnS|V^Da3F9X(9R3CQEshr;XH=>=0): + view_matrix = self._p.computeViewMatrixFromYawPitchRoll(cameraTargetPosition=base_pos, distance=self._cam_dist, yaw=self._cam_yaw, pitch=self._cam_pitch, roll=0, upAxisIndex=2) - proj_matrix = self._p.computeProjectionMatrixFOV(fov=60, + proj_matrix = self._p.computeProjectionMatrixFOV(fov=60, aspect=float(self._render_width) / self._render_height, nearVal=0.1, farVal=100.0) - (_, _, px, _, _) = self._p.getCameraImage(width=self._render_width, + (_, _, px, _, _) = self._p.getCameraImage(width=self._render_width, height=self._render_height, viewMatrix=view_matrix, projectionMatrix=proj_matrix, renderer=pybullet.ER_BULLET_HARDWARE_OPENGL) - rgb_array = np.array(px) + try: + # Keep the previous orientation of the camera set by the user. + con_mode = self._p.getConnectionInfo()['connectionMethod'] + if con_mode==self._p.SHARED_MEMORY or con_mode == self._p.GUI: + [yaw, pitch, dist] = self._p.getDebugVisualizerCamera()[8:11] + self._p.resetDebugVisualizerCamera(dist, yaw, pitch, base_pos) + except: + pass + + else: + px = np.array([[[255,255,255,255]]*self._render_width]*self._render_height, dtype=np.uint8) + rgb_array = np.array(px, dtype=np.uint8) rgb_array = np.reshape(np.array(px), (self._render_height, self._render_width, -1)) rgb_array = rgb_array[:, :, :3] return rgb_array diff --git a/examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py b/examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py index d601c130b..cbf096600 100644 --- a/examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py +++ b/examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py @@ -9,12 +9,12 @@ class WalkerBaseBulletEnv(MJCFBaseBulletEnv): def __init__(self, robot, render=False): # print("WalkerBase::__init__ start") - MJCFBaseBulletEnv.__init__(self, robot, render) - self.camera_x = 0 self.walk_target_x = 1e3 # kilometer away self.walk_target_y = 0 self.stateId = -1 + MJCFBaseBulletEnv.__init__(self, robot, render) + def create_single_player_scene(self, bullet_client): self.stadium_scene = SinglePlayerStadiumScene(bullet_client, diff --git a/examples/pybullet/gym/pybullet_envs/scene_stadium.py b/examples/pybullet/gym/pybullet_envs/scene_stadium.py index 0ab34f202..388215f62 100644 --- a/examples/pybullet/gym/pybullet_envs/scene_stadium.py +++ b/examples/pybullet/gym/pybullet_envs/scene_stadium.py @@ -32,7 +32,7 @@ class StadiumScene(Scene): for i in self.ground_plane_mjcf: self._p.changeDynamics(i, -1, lateralFriction=0.8, restitution=0.5) self._p.changeVisualShape(i, -1, rgbaColor=[1, 1, 1, 0.8]) - self._p.configureDebugVisualizer(pybullet.COV_ENABLE_PLANAR_REFLECTION, 1) + self._p.configureDebugVisualizer(pybullet.COV_ENABLE_PLANAR_REFLECTION,i) # for j in range(p.getNumJoints(i)): # self._p.changeDynamics(i,j,lateralFriction=0) diff --git a/examples/pybullet/gym/pybullet_utils/bullet_client.py b/examples/pybullet/gym/pybullet_utils/bullet_client.py index 192cc1b87..832cee545 100644 --- a/examples/pybullet/gym/pybullet_utils/bullet_client.py +++ b/examples/pybullet/gym/pybullet_utils/bullet_client.py @@ -42,17 +42,6 @@ class BulletClient(object): """Inject the client id into Bullet functions.""" attribute = getattr(pybullet, name) - if inspect.isbuiltin(attribute): - if name not in [ - "invertTransform", - "multiplyTransforms", - "getMatrixFromQuaternion", - "getEulerFromQuaternion", - "computeViewMatrixFromYawPitchRoll", - "computeProjectionMatrixFOV", - "getQuaternionFromEuler", - ]: # A temporary hack for now. - attribute = functools.partial(attribute, physicsClientId=self._client) if name=="disconnect": self._client = -1 return attribute diff --git a/setup.py b/setup.py index 6d79f6988..9d17619d9 100644 --- a/setup.py +++ b/setup.py @@ -491,7 +491,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS: setup( name='pybullet', - version='2.6.1', + version='2.6.2', description= 'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning', long_description= @@ -505,6 +505,9 @@ setup( 'game development', 'virtual reality', 'physics simulation', 'robotics', 'collision detection', 'opengl' ], + install_requires=[ + 'numpy', + ], ext_modules=extensions, classifiers=[ 'Development Status :: 5 - Production/Stable', From a9455ce89176f7e9a20d2f58738c5f01def80115 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 1 Jan 2020 18:53:32 -0800 Subject: [PATCH 363/389] add 'runServer.py' script in pybullet_utils, this will run a GUI server that accepts SHARED_MEMORY connections. Handy if you run a pybullet_envs Gym environment and want to visualize it. By default, bullet_client will try to connect to a shared memory connection first. --- .../pybullet/gym/pybullet_utils/runServer.py | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) create mode 100644 examples/pybullet/gym/pybullet_utils/runServer.py diff --git a/examples/pybullet/gym/pybullet_utils/runServer.py b/examples/pybullet/gym/pybullet_utils/runServer.py new file mode 100644 index 000000000..054fe66a4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_utils/runServer.py @@ -0,0 +1,18 @@ +#add parent dir to find package. Only needed for source code build, pip install doesn't need it. +import os +import inspect +currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) +parentdir = os.path.dirname(os.path.dirname(currentdir)) +os.sys.path.insert(0, parentdir) + +import pybullet_data +import pybullet as p +import time + +p.connect(p.GUI_SERVER) +p.setAdditionalSearchPath(pybullet_data.getDataPath()) + +while (1): + #this is a no-op command, to allow GUI updates on Mac OSX (main thread) + p.setPhysicsEngineParameter() + time.sleep(0.01) From c39afa61cbf84f068173a2a23bd9af27ed50e0be Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 1 Jan 2020 20:27:27 -0800 Subject: [PATCH 364/389] revert bullet_client.py --- examples/pybullet/gym/pybullet_utils/bullet_client.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/pybullet/gym/pybullet_utils/bullet_client.py b/examples/pybullet/gym/pybullet_utils/bullet_client.py index 832cee545..a477f5c4d 100644 --- a/examples/pybullet/gym/pybullet_utils/bullet_client.py +++ b/examples/pybullet/gym/pybullet_utils/bullet_client.py @@ -41,7 +41,7 @@ class BulletClient(object): def __getattr__(self, name): """Inject the client id into Bullet functions.""" attribute = getattr(pybullet, name) - + attribute = functools.partial(attribute, physicsClientId=self._client) if name=="disconnect": self._client = -1 return attribute From 9c969614bcb52e5856b854d4bd2b02951e0563a6 Mon Sep 17 00:00:00 2001 From: Antonin RAFFIN Date: Thu, 2 Jan 2020 11:00:45 +0100 Subject: [PATCH 365/389] Add Stable-Baselines example with SAC and TD3 --- .../stable_baselines/__init__.py | 0 .../pybullet_envs/stable_baselines/train.py | 69 +++++++++++ .../pybullet_envs/stable_baselines/utils.py | 114 ++++++++++++++++++ 3 files changed, 183 insertions(+) create mode 100644 examples/pybullet/gym/pybullet_envs/stable_baselines/__init__.py create mode 100644 examples/pybullet/gym/pybullet_envs/stable_baselines/train.py create mode 100644 examples/pybullet/gym/pybullet_envs/stable_baselines/utils.py diff --git a/examples/pybullet/gym/pybullet_envs/stable_baselines/__init__.py b/examples/pybullet/gym/pybullet_envs/stable_baselines/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py b/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py new file mode 100644 index 000000000..c258a30c7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py @@ -0,0 +1,69 @@ +# Code adapted from https://github.com/araffin/rl-baselines-zoo +# it requires stable-baselines to be installed +# Colab Notebook: +# Author: Antonin RAFFIN +# MIT License + +# Add parent dir to find package. Only needed for source code build, pip install doesn't need it. +import os +import inspect +import argparse + +try: + import pybullet_envs +except ImportError: + current_dir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) + parent_dir = os.path.dirname(os.path.dirname(current_dir)) + os.sys.path.insert(0, parent_dir) + +import gym +import numpy as np +from stable_baselines import SAC, TD3 +from stable_baselines.common.noise import NormalActionNoise + +from utils import TimeFeatureWrapper, EvalCallback + + +if __name__ == '__main__': + parser = argparse.ArgumentParser() + parser.add_argument('--algo', help='RL Algorithm (Soft Actor-Critic by default)', default='sac', + type=str, required=False, choices=['sac', 'td3']) + parser.add_argument('--env', type=str, default='HalfCheetahBulletEnv-v0', help='environment ID') + parser.add_argument('-n', '--n-timesteps', help='Number of training timesteps', default=int(1e6), + type=int) + args = parser.parse_args() + + env_id = args.env + n_timesteps = args.n_timesteps + save_path = '{}_{}'.format(args.algo, env_id) + + # Instantiate and wrap the environment + env = TimeFeatureWrapper(gym.make(env_id)) + + # Create the evaluation environment and callback + eval_env = TimeFeatureWrapper(gym.make(env_id)) + callback = EvalCallback(eval_env, best_model_save_path=save_path + '_best') + + algo = { + 'sac': SAC, + 'td3': TD3 + }[args.algo] + + n_actions = env.action_space.shape[0] + + # Tuned hyperparameters from https://github.com/araffin/rl-baselines-zoo + hyperparams = { + 'sac': dict(batch_size=256, gamma=0.98, policy_kwargs=dict(layers=[256, 256]), + learning_starts=10000, buffer_size=int(1e6), tau=0.01), + + 'td3': dict(batch_size=100, policy_kwargs=dict(layers=[400, 300]), + learning_rate=1e-3, learning_starts=10000, buffer_size=int(1e6), + train_freq=1000, gradient_steps=1000, + action_noise=NormalActionNoise(mean=np.zeros(n_actions), sigma=0.1 * np.ones(n_actions))) + }[args.algo] + + model = algo('MlpPolicy', env, verbose=1, **hyperparams) + model.learn(n_timesteps, callback=callback) + + print("Saving to {}.zip".format(save_path)) + model.save(save_path) diff --git a/examples/pybullet/gym/pybullet_envs/stable_baselines/utils.py b/examples/pybullet/gym/pybullet_envs/stable_baselines/utils.py new file mode 100644 index 000000000..1e2c054c8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/stable_baselines/utils.py @@ -0,0 +1,114 @@ +# Code adapted from https://github.com/araffin/rl-baselines-zoo +# it requires stable-baselines to be installed +# Author: Antonin RAFFIN +# MIT License +import gym +import numpy as np +from gym.wrappers import TimeLimit + +from stable_baselines.common.evaluation import evaluate_policy + + +class TimeFeatureWrapper(gym.Wrapper): + """ + Add remaining time to observation space for fixed length episodes. + See https://arxiv.org/abs/1712.00378 and https://github.com/aravindr93/mjrl/issues/13. + + :param env: (gym.Env) + :param max_steps: (int) Max number of steps of an episode + if it is not wrapped in a TimeLimit object. + :param test_mode: (bool) In test mode, the time feature is constant, + equal to zero. This allow to check that the agent did not overfit this feature, + learning a deterministic pre-defined sequence of actions. + """ + def __init__(self, env, max_steps=1000, test_mode=False): + assert isinstance(env.observation_space, gym.spaces.Box) + # Add a time feature to the observation + low, high = env.observation_space.low, env.observation_space.high + low, high= np.concatenate((low, [0])), np.concatenate((high, [1.])) + env.observation_space = gym.spaces.Box(low=low, high=high, dtype=np.float32) + + super(TimeFeatureWrapper, self).__init__(env) + + if isinstance(env, TimeLimit): + self._max_steps = env._max_episode_steps + else: + self._max_steps = max_steps + self._current_step = 0 + self._test_mode = test_mode + + def reset(self): + self._current_step = 0 + return self._get_obs(self.env.reset()) + + def step(self, action): + self._current_step += 1 + obs, reward, done, info = self.env.step(action) + return self._get_obs(obs), reward, done, info + + def _get_obs(self, obs): + """ + Concatenate the time feature to the current observation. + + :param obs: (np.ndarray) + :return: (np.ndarray) + """ + # Remaining time is more general + time_feature = 1 - (self._current_step / self._max_steps) + if self._test_mode: + time_feature = 1.0 + # Optionnaly: concatenate [time_feature, time_feature ** 2] + return np.concatenate((obs, [time_feature])) + + +class EvalCallback(object): + """ + Callback for evaluating an agent. + + :param eval_env: (gym.Env) The environment used for initialization + :param n_eval_episodes: (int) The number of episodes to test the agent + :param eval_freq: (int) Evaluate the agent every eval_freq call of the callback. + :param deterministic: (bool) + :param best_model_save_path: (str) + :param verbose: (int) + """ + def __init__(self, eval_env, n_eval_episodes=5, eval_freq=10000, + deterministic=True, best_model_save_path=None, verbose=1): + super(EvalCallback, self).__init__() + self.n_eval_episodes = n_eval_episodes + self.eval_freq = eval_freq + self.best_mean_reward = -np.inf + self.deterministic = deterministic + self.eval_env = eval_env + self.verbose = verbose + self.model, self.num_timesteps = None, 0 + self.best_model_save_path = best_model_save_path + self.n_calls = 0 + + def __call__(self, locals_, globals_): + """ + :param locals_: (dict) + :param globals_: (dict) + :return: (bool) + """ + self.n_calls += 1 + self.model = locals_['self'] + self.num_timesteps = self.model.num_timesteps + + if self.n_calls % self.eval_freq == 0: + episode_rewards, _ = evaluate_policy(self.model, self.eval_env, n_eval_episodes=self.n_eval_episodes, + deterministic=self.deterministic, return_episode_rewards=True) + + + mean_reward, std_reward = np.mean(episode_rewards), np.std(episode_rewards) + if self.verbose > 0: + print("Eval num_timesteps={}, " + "episode_reward={:.2f} +/- {:.2f}".format(self.num_timesteps, mean_reward, std_reward)) + + if mean_reward > self.best_mean_reward: + if self.best_model_save_path is not None: + print("Saving best model") + self.model.save(self.best_model_save_path) + self.best_mean_reward = mean_reward + + return True From da0483b03a34ac6402d13be454365201de368c5e Mon Sep 17 00:00:00 2001 From: Antonin RAFFIN Date: Thu, 2 Jan 2020 11:06:39 +0100 Subject: [PATCH 366/389] Add colab notebook --- examples/pybullet/gym/pybullet_envs/stable_baselines/train.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py b/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py index c258a30c7..cc8055d73 100644 --- a/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py +++ b/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py @@ -1,6 +1,6 @@ # Code adapted from https://github.com/araffin/rl-baselines-zoo # it requires stable-baselines to be installed -# Colab Notebook: +# Colab Notebook: https://colab.research.google.com/drive/1nZkHO4QTYfAksm9ZTaZ5vXyC7szZxC3F # Author: Antonin RAFFIN # MIT License From 59c61a46bb51aded4db9800a9bcbe60bca59cac7 Mon Sep 17 00:00:00 2001 From: Antonin RAFFIN Date: Thu, 2 Jan 2020 11:12:45 +0100 Subject: [PATCH 367/389] Simplify imports --- .../gym/pybullet_envs/stable_baselines/train.py | 11 +---------- 1 file changed, 1 insertion(+), 10 deletions(-) diff --git a/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py b/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py index cc8055d73..9a47dc463 100644 --- a/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py +++ b/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py @@ -3,18 +3,9 @@ # Colab Notebook: https://colab.research.google.com/drive/1nZkHO4QTYfAksm9ZTaZ5vXyC7szZxC3F # Author: Antonin RAFFIN # MIT License - -# Add parent dir to find package. Only needed for source code build, pip install doesn't need it. -import os -import inspect import argparse -try: - import pybullet_envs -except ImportError: - current_dir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) - parent_dir = os.path.dirname(os.path.dirname(current_dir)) - os.sys.path.insert(0, parent_dir) +import pybullet_envs import gym import numpy as np From adad4dc402a4b361cde269ede393acb31464c9a8 Mon Sep 17 00:00:00 2001 From: Antonin RAFFIN Date: Thu, 2 Jan 2020 14:47:30 +0100 Subject: [PATCH 368/389] Update buffer size --- examples/pybullet/gym/pybullet_envs/stable_baselines/train.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py b/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py index 9a47dc463..4390b7bb9 100644 --- a/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py +++ b/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py @@ -45,7 +45,7 @@ if __name__ == '__main__': # Tuned hyperparameters from https://github.com/araffin/rl-baselines-zoo hyperparams = { 'sac': dict(batch_size=256, gamma=0.98, policy_kwargs=dict(layers=[256, 256]), - learning_starts=10000, buffer_size=int(1e6), tau=0.01), + learning_starts=10000, buffer_size=int(2e5), tau=0.01), 'td3': dict(batch_size=100, policy_kwargs=dict(layers=[400, 300]), learning_rate=1e-3, learning_starts=10000, buffer_size=int(1e6), From 3c8cf390d47b3c9490c053db1b84fcce0decdf47 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 2 Jan 2020 14:45:42 -0800 Subject: [PATCH 369/389] one more fix in previous commit related to bullet_client.py --- examples/pybullet/gym/pybullet_utils/bullet_client.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/examples/pybullet/gym/pybullet_utils/bullet_client.py b/examples/pybullet/gym/pybullet_utils/bullet_client.py index a477f5c4d..0eb09f8a2 100644 --- a/examples/pybullet/gym/pybullet_utils/bullet_client.py +++ b/examples/pybullet/gym/pybullet_utils/bullet_client.py @@ -41,7 +41,8 @@ class BulletClient(object): def __getattr__(self, name): """Inject the client id into Bullet functions.""" attribute = getattr(pybullet, name) - attribute = functools.partial(attribute, physicsClientId=self._client) + if inspect.isbuiltin(attribute): + attribute = functools.partial(attribute, physicsClientId=self._client) if name=="disconnect": self._client = -1 return attribute From ea3857c2c49f7ee7d4aba1d06abfff2fe03040f9 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 2 Jan 2020 14:51:26 -0800 Subject: [PATCH 370/389] bump up version, fix due to regression in bullet_client --- setup.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/setup.py b/setup.py index 9d17619d9..e11032b8c 100644 --- a/setup.py +++ b/setup.py @@ -491,7 +491,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS: setup( name='pybullet', - version='2.6.2', + version='2.6.3', description= 'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning', long_description= From 3cdbc4cc29424c8d184239ca4887e26678af3f8e Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 2 Jan 2020 19:33:57 -0800 Subject: [PATCH 371/389] fix CartPoleBulletEnv-v1 and add CartPoleContinuousBulletEnv-v0 (continuous version) --- .../pybullet/gym/pybullet_envs/__init__.py | 8 ++ .../gym/pybullet_envs/bullet/__init__.py | 1 + .../pybullet_envs/bullet/cartpole_bullet.py | 110 ++++++++++++++---- 3 files changed, 97 insertions(+), 22 deletions(-) diff --git a/examples/pybullet/gym/pybullet_envs/__init__.py b/examples/pybullet/gym/pybullet_envs/__init__.py index 42c5d7ccf..83b536fdb 100644 --- a/examples/pybullet/gym/pybullet_envs/__init__.py +++ b/examples/pybullet/gym/pybullet_envs/__init__.py @@ -25,6 +25,14 @@ register( reward_threshold=190.0, ) +register( + id='CartPoleContinuousBulletEnv-v0', + entry_point='pybullet_envs.bullet:CartPoleContinuousBulletEnv', + max_episode_steps=200, + reward_threshold=190.0, +) + + register( id='MinitaurBulletEnv-v0', entry_point='pybullet_envs.bullet:MinitaurBulletEnv', diff --git a/examples/pybullet/gym/pybullet_envs/bullet/__init__.py b/examples/pybullet/gym/pybullet_envs/bullet/__init__.py index 75c133276..42932a7ed 100644 --- a/examples/pybullet/gym/pybullet_envs/bullet/__init__.py +++ b/examples/pybullet/gym/pybullet_envs/bullet/__init__.py @@ -1,4 +1,5 @@ from pybullet_envs.bullet.cartpole_bullet import CartPoleBulletEnv +from pybullet_envs.bullet.cartpole_bullet import CartPoleContinuousBulletEnv from pybullet_envs.bullet.minitaur_gym_env import MinitaurBulletEnv from pybullet_envs.bullet.minitaur_duck_gym_env import MinitaurBulletDuckEnv from pybullet_envs.bullet.racecarGymEnv import RacecarGymEnv diff --git a/examples/pybullet/gym/pybullet_envs/bullet/cartpole_bullet.py b/examples/pybullet/gym/pybullet_envs/bullet/cartpole_bullet.py index f1b594cde..1fe2cfe65 100644 --- a/examples/pybullet/gym/pybullet_envs/bullet/cartpole_bullet.py +++ b/examples/pybullet/gym/pybullet_envs/bullet/cartpole_bullet.py @@ -15,8 +15,9 @@ from gym.utils import seeding import numpy as np import time import subprocess -import pybullet as p +import pybullet as p2 import pybullet_data +import pybullet_utils.bullet_client as bc from pkg_resources import parse_version logger = logging.getLogger(__name__) @@ -25,13 +26,13 @@ logger = logging.getLogger(__name__) class CartPoleBulletEnv(gym.Env): metadata = {'render.modes': ['human', 'rgb_array'], 'video.frames_per_second': 50} - def __init__(self, renders=True): + def __init__(self, renders=False, discrete_actions=True): # start the bullet physics server self._renders = renders - if (renders): - p.connect(p.GUI) - else: - p.connect(p.DIRECT) + self._discrete_actions = discrete_actions + self._render_height = 200 + self._render_width = 320 + self._physics_client_id = -1 self.theta_threshold_radians = 12 * 2 * math.pi / 360 self.x_threshold = 0.4 #2.4 high = np.array([ @@ -42,7 +43,13 @@ class CartPoleBulletEnv(gym.Env): self.force_mag = 10 - self.action_space = spaces.Discrete(2) + if self._discrete_actions: + self.action_space = spaces.Discrete(2) + else: + action_dim = 1 + action_high = np.array([self.force_mag] * action_dim) + self.action_space = spaces.Box(-action_high, action_high) + self.observation_space = spaces.Box(-high, high, dtype=np.float32) self.seed() @@ -58,7 +65,11 @@ class CartPoleBulletEnv(gym.Env): return [seed] def step(self, action): - force = self.force_mag if action == 1 else -self.force_mag + p = self._p + if self._discrete_actions: + force = self.force_mag if action == 1 else -self.force_mag + else: + force = action[0] p.setJointMotorControl2(self.cartpole, 0, p.TORQUE_CONTROL, force=force) p.stepSimulation() @@ -77,19 +88,27 @@ class CartPoleBulletEnv(gym.Env): def reset(self): # print("-----------reset simulation---------------") - p.resetSimulation() - self.cartpole = p.loadURDF(os.path.join(pybullet_data.getDataPath(), "cartpole.urdf"), - [0, 0, 0]) - p.changeDynamics(self.cartpole, -1, linearDamping=0, angularDamping=0) - p.changeDynamics(self.cartpole, 0, linearDamping=0, angularDamping=0) - p.changeDynamics(self.cartpole, 1, linearDamping=0, angularDamping=0) - self.timeStep = 0.02 - p.setJointMotorControl2(self.cartpole, 1, p.VELOCITY_CONTROL, force=0) - p.setJointMotorControl2(self.cartpole, 0, p.VELOCITY_CONTROL, force=0) - p.setGravity(0, 0, -9.8) - p.setTimeStep(self.timeStep) - p.setRealTimeSimulation(0) - + if self._physics_client_id < 0: + if self._renders: + self._p = bc.BulletClient(connection_mode=p2.GUI) + else: + self._p = bc.BulletClient() + self._physics_client_id = self._p._client + + p = self._p + p.resetSimulation() + self.cartpole = p.loadURDF(os.path.join(pybullet_data.getDataPath(), "cartpole.urdf"), + [0, 0, 0]) + p.changeDynamics(self.cartpole, -1, linearDamping=0, angularDamping=0) + p.changeDynamics(self.cartpole, 0, linearDamping=0, angularDamping=0) + p.changeDynamics(self.cartpole, 1, linearDamping=0, angularDamping=0) + self.timeStep = 0.02 + p.setJointMotorControl2(self.cartpole, 1, p.VELOCITY_CONTROL, force=0) + p.setJointMotorControl2(self.cartpole, 0, p.VELOCITY_CONTROL, force=0) + p.setGravity(0, 0, -9.8) + p.setTimeStep(self.timeStep) + p.setRealTimeSimulation(0) + p = self._p randstate = self.np_random.uniform(low=-0.05, high=0.05, size=(4,)) p.resetJointState(self.cartpole, 1, randstate[0], randstate[1]) p.resetJointState(self.cartpole, 0, randstate[2], randstate[3]) @@ -99,4 +118,51 @@ class CartPoleBulletEnv(gym.Env): return np.array(self.state) def render(self, mode='human', close=False): - return + if mode == "human": + self._renders = True + if mode != "rgb_array": + return np.array([]) + base_pos=[0,0,0] + self._cam_dist = 2 + self._cam_pitch = 0.3 + self._cam_yaw = 0 + if (self._physics_client_id>=0): + view_matrix = self._p.computeViewMatrixFromYawPitchRoll( + cameraTargetPosition=base_pos, + distance=self._cam_dist, + yaw=self._cam_yaw, + pitch=self._cam_pitch, + roll=0, + upAxisIndex=2) + proj_matrix = self._p.computeProjectionMatrixFOV(fov=60, + aspect=float(self._render_width) / + self._render_height, + nearVal=0.1, + farVal=100.0) + (_, _, px, _, _) = self._p.getCameraImage( + width=self._render_width, + height=self._render_height, + renderer=self._p.ER_BULLET_HARDWARE_OPENGL, + viewMatrix=view_matrix, + projectionMatrix=proj_matrix) + else: + px = np.array([[[255,255,255,255]]*self._render_width]*self._render_height, dtype=np.uint8) + rgb_array = np.array(px, dtype=np.uint8) + rgb_array = np.reshape(np.array(px), (self._render_height, self._render_width, -1)) + rgb_array = rgb_array[:, :, :3] + return rgb_array + + def configure(self, args): + pass + + def close(self): + if self._physics_client_id >= 0: + self._p.disconnect() + self._physics_client_id = -1 + +class CartPoleContinuousBulletEnv(CartPoleBulletEnv): + metadata = {'render.modes': ['human', 'rgb_array'], 'video.frames_per_second': 50} + + def __init__(self, renders=False): + # start the bullet physics server + CartPoleBulletEnv.__init__(self, renders, discrete_actions=False) From 02d48d743f5661e930af0bbd651c3ab2f947f987 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 2 Jan 2020 21:31:48 -0800 Subject: [PATCH 372/389] add Python version 3.7 and 3.8 to setup.py --- setup.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/setup.py b/setup.py index e11032b8c..bfadab97a 100644 --- a/setup.py +++ b/setup.py @@ -516,7 +516,8 @@ setup( 'Operating System :: MacOS', 'Intended Audience :: Science/Research', "Programming Language :: Python", 'Programming Language :: Python :: 2.7', 'Programming Language :: Python :: 3.4', 'Programming Language :: Python :: 3.5', - 'Programming Language :: Python :: 3.6', 'Topic :: Games/Entertainment :: Simulation', + 'Programming Language :: Python :: 3.6', 'Programming Language :: Python :: 3.7', + 'Programming Language :: Python :: 3.8', 'Topic :: Games/Entertainment :: Simulation', 'Topic :: Scientific/Engineering :: Artificial Intelligence', 'Framework :: Robot Framework' ], From ee2a811c092ff3152b30fa397ec7b4f32f1057b5 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Sat, 4 Jan 2020 17:13:43 -0800 Subject: [PATCH 373/389] parameter tweaks after testing on robot --- examples/DeformableDemo/DeformableRigid.cpp | 2 +- .../ConstraintSolver/btContactSolverInfo.h | 2 +- .../btDeformableContactConstraint.cpp | 26 +++++++++---------- src/BulletSoftBody/btSoftBody.cpp | 6 ++--- src/BulletSoftBody/btSoftBodyInternals.h | 4 +-- 5 files changed, 20 insertions(+), 20 deletions(-) diff --git a/examples/DeformableDemo/DeformableRigid.cpp b/examples/DeformableDemo/DeformableRigid.cpp index f6c087d2a..47ac3d9ff 100644 --- a/examples/DeformableDemo/DeformableRigid.cpp +++ b/examples/DeformableDemo/DeformableRigid.cpp @@ -219,7 +219,7 @@ void DeformableRigid::initPhysics() psb->setTotalMass(1); psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb->m_cfg.kCHR = 1; // collision hardness with rigid body - psb->m_cfg.kDF = 2; + psb->m_cfg.kDF = .4; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; getDeformableDynamicsWorld()->addSoftBody(psb); diff --git a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h index 808fce32c..50c09d83e 100644 --- a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h +++ b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h @@ -82,7 +82,7 @@ struct btContactSolverInfo : public btContactSolverInfoData m_numIterations = 10; m_erp = btScalar(0.2); m_erp2 = btScalar(0.2); - m_deformable_erp = btScalar(0.1); + m_deformable_erp = btScalar(0.3); m_globalCfm = btScalar(0.); m_frictionERP = btScalar(0.2); //positional friction 'anchors' are disabled by default m_frictionCFM = btScalar(0.); diff --git a/src/BulletSoftBody/btDeformableContactConstraint.cpp b/src/BulletSoftBody/btDeformableContactConstraint.cpp index 61eaae5a8..3a5dfc88d 100644 --- a/src/BulletSoftBody/btDeformableContactConstraint.cpp +++ b/src/BulletSoftBody/btDeformableContactConstraint.cpp @@ -414,6 +414,11 @@ void btDeformableFaceRigidContactConstraint::applyImpulse(const btVector3& impul if (im2 > 0) v2 -= dv * contact->m_weights[2]; + btScalar relaxation = 1./btScalar(m_infoGlobal->m_numIterations); + btScalar m01 = (relaxation/(im0 + im1)); + btScalar m02 = (relaxation/(im0 + im2)); + btScalar m12 = (relaxation/(im1 + im2)); + #ifdef USE_STRAIN_RATE_LIMITING // apply strain limiting to prevent the new velocity to change the current length of the edge by more than 1%. btScalar p = 0.01; btVector3& x0 = face->m_n[0]->m_x; @@ -446,24 +451,19 @@ void btDeformableFaceRigidContactConstraint::applyImpulse(const btVector3& impul { s = 1/dt * (-x_diff_dot_u + btSqrt(x_diff_dot_u*x_diff_dot_u + (p*p+2*p) * x_diff_norm * x_diff_norm)); } -// x_diff_norm_new = (x_diff[i] + s * u[i] * dt).safeNorm(); -// strainRate = x_diff_norm_new/x_diff_norm; + // x_diff_norm_new = (x_diff[i] + s * u[i] * dt).safeNorm(); + // strainRate = x_diff_norm_new/x_diff_norm; dn[i] = s - v_diff[i].safeNorm(); } - - btScalar relaxation = 0.5; - // apply strain limiting to prevent undamped modes - btScalar m01 = (relaxation/(im0 + im1)); - btScalar m02 = (relaxation/(im0 + im2)); - btScalar m12 = (relaxation/(im1 + im2)); - -// btVector3 dv0 = im0 * (m01 * (v1-v0) + m02 * (v2-v0)); -// btVector3 dv1 = im1 * (m01 * (v0-v1) + m12 * (v2-v1)); -// btVector3 dv2 = im2 * (m12 * (v1-v2) + m02 * (v0-v2)); - btVector3 dv0 = im0 * (m01 * u[0]*(-dn[0]) + m02 * u[1]*-(dn[1])); btVector3 dv1 = im1 * (m01 * u[0]*(dn[0]) + m12 * u[2]*(-dn[2])); btVector3 dv2 = im2 * (m12 * u[2]*(dn[2]) + m02 * u[1]*(dn[1])); +#else + // apply strain limiting to prevent undamped modes + btVector3 dv0 = im0 * (m01 * (v1-v0) + m02 * (v2-v0)); + btVector3 dv1 = im1 * (m01 * (v0-v1) + m12 * (v2-v1)); + btVector3 dv2 = im2 * (m12 * (v1-v2) + m02 * (v0-v2)); +#endif v0 += dv0; v1 += dv1; v2 += dv2; diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index ca7eec13d..634778d00 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -2459,7 +2459,7 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO : colObjWrap->getWorldTransform(); btScalar dst; -//#define USE_QUADRATURE 1 +#define USE_QUADRATURE 1 //#define CACHE_PREV_COLLISION // use the contact position of the previous collision @@ -3698,8 +3698,8 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap docollideFace.psb = this; docollideFace.m_colObj1Wrap = pcoWrap; docollideFace.m_rigidBody = prb1; - docollideFace.dynmargin = 0.9*(basemargin + timemargin); - docollideFace.stamargin = 0.9*basemargin; + docollideFace.dynmargin = 0.05*(basemargin + timemargin); + docollideFace.stamargin = 0.05*basemargin; m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace); } } diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index 055af1652..6ef0ee367 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -1181,8 +1181,8 @@ struct btSoftColliders c.m_weights = btScalar(2)/(btScalar(1) + bary.length2()) * bary; c.m_face = &f; // friction is handled by the nodes to prevent sticking - const btScalar fc = 0; -// const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); +// const btScalar fc = 0; + const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); // the effective inverse mass of the face as in https://graphics.stanford.edu/papers/cloth-sig02/cloth.pdf ima = bary.getX()*c.m_weights.getX() * n0->m_im + bary.getY()*c.m_weights.getY() * n1->m_im + bary.getZ()*c.m_weights.getZ() * n2->m_im; From 6fde189735a8729855ec18c6aff0367b3f23a79c Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 8 Jan 2020 13:49:41 -0800 Subject: [PATCH 374/389] fix indexing issue removing graphics shape in tinyrenderer plugin (use getUserIndex3 instead of broadphase uid) --- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 3b1f30f81..3388bbd3d 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -10544,7 +10544,7 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared { if (m_data->m_pluginManager.getRenderInterface()) { - m_data->m_pluginManager.getRenderInterface()->removeVisualShape(bodyHandle->m_multiBody->getBaseCollider()->getBroadphaseHandle()->getUid()); + m_data->m_pluginManager.getRenderInterface()->removeVisualShape(bodyHandle->m_multiBody->getBaseCollider()->getUserIndex3()); } m_data->m_dynamicsWorld->removeCollisionObject(bodyHandle->m_multiBody->getBaseCollider()); int graphicsIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex(); @@ -10558,7 +10558,7 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared { if (m_data->m_pluginManager.getRenderInterface()) { - m_data->m_pluginManager.getRenderInterface()->removeVisualShape(bodyHandle->m_multiBody->getLink(link).m_collider->getBroadphaseHandle()->getUid()); + m_data->m_pluginManager.getRenderInterface()->removeVisualShape(bodyHandle->m_multiBody->getLink(link).m_collider->getUserIndex3()); } m_data->m_dynamicsWorld->removeCollisionObject(bodyHandle->m_multiBody->getLink(link).m_collider); int graphicsIndex = bodyHandle->m_multiBody->getLink(link).m_collider->getUserIndex(); From 07cdae8c6e09edacf9224d960012ff258d04b7e5 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 8 Jan 2020 14:02:32 -0800 Subject: [PATCH 375/389] also apply TinyRenderer remove shape fix for rigid body and soft body/deformable --- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 3388bbd3d..bc484b8d0 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -10578,7 +10578,7 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared { if (m_data->m_pluginManager.getRenderInterface()) { - m_data->m_pluginManager.getRenderInterface()->removeVisualShape(bodyHandle->m_rigidBody->getBroadphaseHandle()->getUid()); + m_data->m_pluginManager.getRenderInterface()->removeVisualShape(bodyHandle->m_rigidBody->getUserIndex3()); } serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId; @@ -10602,7 +10602,7 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared btSoftBody* psb = bodyHandle->m_softBody; if (m_data->m_pluginManager.getRenderInterface()) { - m_data->m_pluginManager.getRenderInterface()->removeVisualShape(psb->getBroadphaseHandle()->getUid()); + m_data->m_pluginManager.getRenderInterface()->removeVisualShape(psb->getUserIndex3()); } serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId; btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld(); From 5cd46479431120271c9f1a9a2fd75ede08dfa2f4 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 9 Jan 2020 10:40:14 -0800 Subject: [PATCH 376/389] fix submitProfileTiming API in b3RobotSimulatorClientAPI_NoDirect --- .../b3RobotSimulatorClientAPI_NoDirect.cpp | 12 +++++++++--- .../b3RobotSimulatorClientAPI_NoDirect.h | 2 +- 2 files changed, 10 insertions(+), 4 deletions(-) diff --git a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp index 0a2741d7b..9f04cf6ce 100644 --- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp +++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp @@ -1131,7 +1131,7 @@ void b3RobotSimulatorClientAPI_NoDirect::resetDebugVisualizerCamera(double camer } } -void b3RobotSimulatorClientAPI_NoDirect::submitProfileTiming(const std::string& profileName, int durationInMicroSeconds) +void b3RobotSimulatorClientAPI_NoDirect::submitProfileTiming(const std::string& profileName) { if (!isConnected()) { @@ -1140,10 +1140,16 @@ void b3RobotSimulatorClientAPI_NoDirect::submitProfileTiming(const std::string& } b3SharedMemoryCommandHandle commandHandle = b3ProfileTimingCommandInit(m_data->m_physicsClientHandle, profileName.c_str()); - if (durationInMicroSeconds >= 0) + + if (profileName.length()) { - b3SetProfileTimingDuractionInMicroSeconds(commandHandle, durationInMicroSeconds); + b3SetProfileTimingType(commandHandle, 0); } + else + { + b3SetProfileTimingType(commandHandle, 1); + } + b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle); } diff --git a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h index dc039974e..c23a7af0d 100644 --- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h +++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h @@ -670,7 +670,7 @@ public: void getVREvents(b3VREventsData *vrEventsData, int deviceTypeFilter); void getKeyboardEvents(b3KeyboardEventsData *keyboardEventsData); - void submitProfileTiming(const std::string &profileName, int durationInMicroSeconds = 1); + void submitProfileTiming(const std::string &profileName); // JFC: added these 24 methods From b526c01becf31fa73c66308253b7eff1b59d0ecd Mon Sep 17 00:00:00 2001 From: Dale McConachie Date: Thu, 9 Jan 2020 16:24:32 -0500 Subject: [PATCH 377/389] Update existing deformable gravity forces on gravity change. --- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 3b1f30f81..bfad20bc4 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -9353,6 +9353,15 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st if (deformWorld) { deformWorld->getWorldInfo().m_gravity = grav; + for (int i = 0; i < m_data->m_lf.size(); ++i) + { + btDeformableLagrangianForce* force = m_data->m_lf[i]; + if (force->getForceType() == BT_GRAVITY_FORCE) + { + btDeformableGravityForce* gforce = (btDeformableGravityForce*)force; + gforce->m_gravity = grav; + } + } } From 8ebdf7862c1a36d178eb7e8c0590016505b52ba7 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 9 Jan 2020 17:56:21 -0800 Subject: [PATCH 378/389] fix b3RobotSimulatorClientAPI_NoDirect::changeConstraint API --- examples/SharedMemory/SharedMemoryCommands.h | 16 ---- examples/SharedMemory/SharedMemoryPublic.h | 17 ++++ .../b3RobotSimulatorClientAPI_NoDirect.cpp | 29 +++++- .../b3RobotSimulatorClientAPI_NoDirect.h | 96 ++++++++++++++++++- 4 files changed, 136 insertions(+), 22 deletions(-) diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 958cf38a4..223a0a5d5 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -789,22 +789,6 @@ struct CalculateInverseKinematicsResultArgs double m_jointPositions[MAX_DEGREE_OF_FREEDOM]; }; -enum EnumUserConstraintFlags -{ - USER_CONSTRAINT_ADD_CONSTRAINT = 1, - USER_CONSTRAINT_REMOVE_CONSTRAINT = 2, - USER_CONSTRAINT_CHANGE_CONSTRAINT = 4, - USER_CONSTRAINT_CHANGE_PIVOT_IN_B = 8, - USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B = 16, - USER_CONSTRAINT_CHANGE_MAX_FORCE = 32, - USER_CONSTRAINT_REQUEST_INFO = 64, - USER_CONSTRAINT_CHANGE_GEAR_RATIO = 128, - USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK = 256, - USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET = 512, - USER_CONSTRAINT_CHANGE_ERP = 1024, - USER_CONSTRAINT_REQUEST_STATE = 2048, - USER_CONSTRAINT_ADD_SOFT_BODY_ANCHOR = 4096, -}; enum EnumBodyChangeFlags { diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index 01727fe5c..63a7cfa55 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -309,6 +309,23 @@ struct b3UserDataValue const char* m_data1; }; +enum EnumUserConstraintFlags +{ + USER_CONSTRAINT_ADD_CONSTRAINT = 1, + USER_CONSTRAINT_REMOVE_CONSTRAINT = 2, + USER_CONSTRAINT_CHANGE_CONSTRAINT = 4, + USER_CONSTRAINT_CHANGE_PIVOT_IN_B = 8, + USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B = 16, + USER_CONSTRAINT_CHANGE_MAX_FORCE = 32, + USER_CONSTRAINT_REQUEST_INFO = 64, + USER_CONSTRAINT_CHANGE_GEAR_RATIO = 128, + USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK = 256, + USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET = 512, + USER_CONSTRAINT_CHANGE_ERP = 1024, + USER_CONSTRAINT_REQUEST_STATE = 2048, + USER_CONSTRAINT_ADD_SOFT_BODY_ANCHOR = 4096, +}; + struct b3UserConstraint { int m_parentBodyIndex; diff --git a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp index 9f04cf6ce..4e81e599a 100644 --- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp +++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp @@ -620,7 +620,7 @@ int b3RobotSimulatorClientAPI_NoDirect::createConstraint(int parentBodyIndex, in return -1; } -int b3RobotSimulatorClientAPI_NoDirect::changeConstraint(int constraintId, b3JointInfo* jointInfo) +int b3RobotSimulatorClientAPI_NoDirect::changeConstraint(int constraintId, b3RobotUserConstraint* jointInfo) { if (!isConnected()) { @@ -629,16 +629,35 @@ int b3RobotSimulatorClientAPI_NoDirect::changeConstraint(int constraintId, b3Joi } b3SharedMemoryCommandHandle commandHandle = b3InitChangeUserConstraintCommand(m_data->m_physicsClientHandle, constraintId); - if (jointInfo->m_flags & eJointChangeMaxForce) + if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_MAX_FORCE) { - b3InitChangeUserConstraintSetMaxForce(commandHandle, jointInfo->m_jointMaxForce); + b3InitChangeUserConstraintSetMaxForce(commandHandle, jointInfo->m_maxAppliedForce); } - if (jointInfo->m_flags & eJointChangeChildFramePosition) + if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_GEAR_RATIO) + { + b3InitChangeUserConstraintSetGearRatio(commandHandle, jointInfo->m_gearRatio); + } + + if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_ERP) + { + b3InitChangeUserConstraintSetERP(commandHandle, jointInfo->m_erp); + } + if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK) + { + b3InitChangeUserConstraintSetGearAuxLink(commandHandle, jointInfo->m_gearAuxLink); + } + + if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET) + { + b3InitChangeUserConstraintSetRelativePositionTarget(commandHandle, jointInfo->m_relativePositionTarget); + } + + if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_PIVOT_IN_B) { b3InitChangeUserConstraintSetPivotInB(commandHandle, &jointInfo->m_childFrame[0]); } - if (jointInfo->m_flags & eJointChangeChildFrameOrientation) + if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B) { b3InitChangeUserConstraintSetFrameInB(commandHandle, &jointInfo->m_childFrame[3]); } diff --git a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h index c23a7af0d..78f729735 100644 --- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h +++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h @@ -526,6 +526,100 @@ struct b3RobotSimulatorCreateMultiBodyArgs } }; + +struct b3RobotUserConstraint : public b3UserConstraint +{ + int m_userUpdateFlags;//see EnumUserConstraintFlags + + void setErp(double erp) + { + m_erp = erp; + m_userUpdateFlags |= USER_CONSTRAINT_CHANGE_ERP; + } + + void setMaxAppliedForce(double maxForce) + { + m_maxAppliedForce = maxForce; + m_userUpdateFlags |= USER_CONSTRAINT_CHANGE_MAX_FORCE; + } + + void setGearRatio(double gearRatio) + { + m_gearRatio = gearRatio; + m_userUpdateFlags |= USER_CONSTRAINT_CHANGE_GEAR_RATIO; + } + + void setGearAuxLink(int link) + { + m_gearAuxLink = link; + m_userUpdateFlags |= USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK; + } + + void setRelativePositionTarget(double target) + { + m_relativePositionTarget = target; + m_userUpdateFlags |= USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET; + } + + void setChildPivot(double pivot[3]) + { + m_childFrame[0] = pivot[0]; + m_childFrame[1] = pivot[1]; + m_childFrame[2] = pivot[2]; + m_userUpdateFlags |= USER_CONSTRAINT_CHANGE_PIVOT_IN_B; + } + + void setChildFrameOrientation(double orn[4]) + { + m_childFrame[3] = orn[0]; + m_childFrame[4] = orn[1]; + m_childFrame[5] = orn[2]; + m_childFrame[6] = orn[3]; + m_userUpdateFlags |= USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B; + } + + b3RobotUserConstraint() + :m_userUpdateFlags(0) + { + m_parentBodyIndex = -1; + m_parentJointIndex = -1; + m_childBodyIndex = -1; + m_childJointIndex = -1; + //position + m_parentFrame[0] = 0; + m_parentFrame[1] = 0; + m_parentFrame[2] = 0; + //orientation quaternion [x,y,z,w] + m_parentFrame[3] = 0; + m_parentFrame[4] = 0; + m_parentFrame[5] = 0; + m_parentFrame[6] = 1; + + //position + m_childFrame[0] = 0; + m_childFrame[1] = 0; + m_childFrame[2] = 0; + //orientation quaternion [x,y,z,w] + m_childFrame[3] = 0; + m_childFrame[4] = 0; + m_childFrame[5] = 0; + m_childFrame[6] = 1; + + m_jointAxis[0] = 0; + m_jointAxis[1] = 0; + m_jointAxis[2] = 1; + + m_jointType = eFixedType; + + m_maxAppliedForce = 500; + m_userConstraintUniqueId = -1; + m_gearRatio = -1; + m_gearAuxLink = -1; + m_relativePositionTarget = 0; + m_erp = 0; + } +}; + struct b3RobotJointInfo : public b3JointInfo { b3RobotJointInfo() @@ -624,7 +718,7 @@ public: int createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo *jointInfo); - int changeConstraint(int constraintId, b3JointInfo *jointInfo); + int changeConstraint(int constraintId, b3RobotUserConstraint*jointInfo); void removeConstraint(int constraintId); From 5bf6adcf9da7a010c886dbcded1260ab967920eb Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Sat, 11 Jan 2020 06:57:35 -0800 Subject: [PATCH 379/389] Update btCollisionDispatcherMt.h add a space to fix compile errors --- src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h b/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h index dd5c9cbca..1155de2cf 100644 --- a/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h +++ b/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h @@ -30,7 +30,7 @@ public: virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher) BT_OVERRIDE; protected: - btAlignedObjectArray> m_batchManifoldsPtr; + btAlignedObjectArray > m_batchManifoldsPtr; bool m_batchUpdating; int m_grainSize; }; From 83bdef8254cd43e57f29dbc68cfae183e543f368 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sat, 11 Jan 2020 12:19:42 -0800 Subject: [PATCH 380/389] add --mp4fps=30 command line parameter for ExampleBrowser (and using pybullet.connect(p.GUI, options="--mp4fps=30 --mp4=\"testvideo.mp4\"") --- .../CommonGraphicsAppInterface.h | 1 + .../ExampleBrowser/OpenGLExampleBrowser.cpp | 7 +++++++ examples/OpenGLWindow/SimpleOpenGL3App.cpp | 18 +++++++++++++----- examples/OpenGLWindow/SimpleOpenGL3App.h | 1 + 4 files changed, 22 insertions(+), 5 deletions(-) diff --git a/examples/CommonInterfaces/CommonGraphicsAppInterface.h b/examples/CommonInterfaces/CommonGraphicsAppInterface.h index acfaf478c..a3d9d3eac 100644 --- a/examples/CommonInterfaces/CommonGraphicsAppInterface.h +++ b/examples/CommonInterfaces/CommonGraphicsAppInterface.h @@ -93,6 +93,7 @@ struct CommonGraphicsApp if (blue) *blue = m_backgroundColorRGB[2]; } + virtual void setMp4Fps(int fps) {} virtual void setBackgroundColor(float red, float green, float blue) { m_backgroundColorRGB[0] = red; diff --git a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp index fcfb1c05a..a76cdfe5b 100644 --- a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp +++ b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp @@ -921,6 +921,13 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[]) m_internalData->m_app = s_app; char* gVideoFileName = 0; args.GetCmdLineArgument("mp4", gVideoFileName); + int gVideoFps = 0; + args.GetCmdLineArgument("mp4fps", gVideoFps); + if (gVideoFps) + { + simpleApp->setMp4Fps(gVideoFps); + } + #ifndef NO_OPENGL3 if (gVideoFileName) simpleApp->dumpFramesToVideo(gVideoFileName); diff --git a/examples/OpenGLWindow/SimpleOpenGL3App.cpp b/examples/OpenGLWindow/SimpleOpenGL3App.cpp index 7293cc5b6..e3faf48d9 100644 --- a/examples/OpenGLWindow/SimpleOpenGL3App.cpp +++ b/examples/OpenGLWindow/SimpleOpenGL3App.cpp @@ -66,6 +66,8 @@ struct SimpleInternalData int m_upAxis; //y=1 or z=2 is supported int m_customViewPortWidth; int m_customViewPortHeight; + int m_mp4Fps; + SimpleInternalData() : m_fontTextureId(0), m_largeFontTextureId(0), @@ -82,7 +84,8 @@ struct SimpleInternalData m_userPointer(0), m_upAxis(1), m_customViewPortWidth(-1), - m_customViewPortHeight(-1) + m_customViewPortHeight(-1), + m_mp4Fps(60) { } }; @@ -1089,6 +1092,11 @@ void SimpleOpenGL3App::swapBuffer() m_window->startRendering(); } +void SimpleOpenGL3App::setMp4Fps(int fps) +{ + m_data->m_mp4Fps = fps; +} + // see also http://blog.mmacklin.com/2013/06/11/real-time-video-capture-with-ffmpeg/ void SimpleOpenGL3App::dumpFramesToVideo(const char* mp4FileName) { @@ -1100,12 +1108,12 @@ void SimpleOpenGL3App::dumpFramesToVideo(const char* mp4FileName) #ifdef _WIN32 sprintf(cmd, - "ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - " + "ffmpeg -r %d -f rawvideo -pix_fmt rgba -s %dx%d -i - " "-threads 0 -y -b:v 50000k -c:v libx264 -preset slow -crf 22 -an -pix_fmt yuv420p -vf vflip %s", - width, height, mp4FileName); + m_data->m_mp4Fps, width, height, mp4FileName); - //sprintf(cmd, "ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - " - // "-y -crf 0 -b:v 1500000 -an -vcodec h264 -vf vflip %s", width, height, mp4FileName); + //sprintf(cmd, "ffmpeg -r %d -f rawvideo -pix_fmt rgba -s %dx%d -i - " + // "-y -crf 0 -b:v 1500000 -an -vcodec h264 -vf vflip %s", m_data->m_mp4Fps, width, height, mp4FileName); #else sprintf(cmd, diff --git a/examples/OpenGLWindow/SimpleOpenGL3App.h b/examples/OpenGLWindow/SimpleOpenGL3App.h index cc9573c29..c90f47387 100644 --- a/examples/OpenGLWindow/SimpleOpenGL3App.h +++ b/examples/OpenGLWindow/SimpleOpenGL3App.h @@ -14,6 +14,7 @@ struct SimpleOpenGL3App : public CommonGraphicsApp class GLPrimitiveRenderer* m_primRenderer; class GLInstancingRenderer* m_instancingRenderer; virtual void setBackgroundColor(float red, float green, float blue); + virtual void setMp4Fps(int fps); SimpleOpenGL3App(const char* title, int width, int height, bool allowRetina = true, int windowType = 0, int renderDevice = -1, int maxNumObjectCapacity = 128 * 1024, int maxShapeCapacityInBytes = 128 * 1024 * 1024); From 2336dfcb9ec74909e37ddf769a2bdbf7160b0f27 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sat, 11 Jan 2020 12:43:27 -0800 Subject: [PATCH 381/389] Remove a temporary global static work matrix in the BussIK, since it conflicts with multithreaded applications. Instead, let the user pass it in explicitly. --- .../InverseKinematicsExample.cpp | 4 ++-- examples/SharedMemory/IKTrajectoryHelper.cpp | 10 ++++++---- examples/ThirdPartyLibs/BussIK/Jacobian.cpp | 16 ++++++++-------- examples/ThirdPartyLibs/BussIK/Jacobian.h | 8 ++++---- examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp | 7 ++++--- examples/ThirdPartyLibs/BussIK/MatrixRmn.h | 9 +-------- 6 files changed, 25 insertions(+), 29 deletions(-) diff --git a/examples/InverseKinematics/InverseKinematicsExample.cpp b/examples/InverseKinematics/InverseKinematicsExample.cpp index 9fea9ce35..a5333555d 100644 --- a/examples/InverseKinematics/InverseKinematicsExample.cpp +++ b/examples/InverseKinematics/InverseKinematicsExample.cpp @@ -100,7 +100,7 @@ void DoUpdateStep(double Tstep, Tree& treeY, Jacobian* jacob, int ikMethod) jacob->SetJendActive(); } jacob->ComputeJacobian(targetaa); // Set up Jacobian and deltaS vectors - + MatrixRmn AugMat; // Calculate the change in theta values switch (ikMethod) { @@ -108,7 +108,7 @@ void DoUpdateStep(double Tstep, Tree& treeY, Jacobian* jacob, int ikMethod) jacob->CalcDeltaThetasTranspose(); // Jacobian transpose method break; case IK_DLS: - jacob->CalcDeltaThetasDLS(); // Damped least squares method + jacob->CalcDeltaThetasDLS(AugMat); // Damped least squares method break; case IK_DLS_SVD: jacob->CalcDeltaThetasDLSwithSVD(); diff --git a/examples/SharedMemory/IKTrajectoryHelper.cpp b/examples/SharedMemory/IKTrajectoryHelper.cpp index 472a24beb..fb002cc3a 100644 --- a/examples/SharedMemory/IKTrajectoryHelper.cpp +++ b/examples/SharedMemory/IKTrajectoryHelper.cpp @@ -44,6 +44,7 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3], const double* q_current, int numQ, int endEffectorIndex, double* q_new, int ikMethod, const double* linear_jacobian, const double* angular_jacobian, int jacobian_size, const double dampIk[6]) { + MatrixRmn AugMat; bool useAngularPart = (ikMethod == IK2_VEL_DLS_WITH_ORIENTATION || ikMethod == IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE || ikMethod == IK2_VEL_SDLS_WITH_ORIENTATION) ? true : false; Jacobian ikJacobian(useAngularPart, numQ, 1); @@ -142,12 +143,12 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3], case IK2_VEL_DLS: //ikJacobian.CalcDeltaThetasDLS(); // Damped least squares method assert(m_data->m_dampingCoeff.GetLength() == numQ); - ikJacobian.CalcDeltaThetasDLS2(m_data->m_dampingCoeff); + ikJacobian.CalcDeltaThetasDLS2(m_data->m_dampingCoeff, AugMat); break; case IK2_VEL_DLS_WITH_NULLSPACE: case IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE: assert(m_data->m_nullSpaceVelocity.GetLength() == numQ); - ikJacobian.CalcDeltaThetasDLSwithNullspace(m_data->m_nullSpaceVelocity); + ikJacobian.CalcDeltaThetasDLSwithNullspace(m_data->m_nullSpaceVelocity, AugMat); break; case IK2_DLS_SVD: ikJacobian.CalcDeltaThetasDLSwithSVD(); @@ -193,6 +194,7 @@ bool IKTrajectoryHelper::computeIK2( const double* q_current, int numQ, double* q_new, int ikMethod, const double* linear_jacobians, const double dampIk[6]) { + MatrixRmn AugMat; bool useAngularPart = false;//for now (ikMethod == IK2_VEL_DLS_WITH_ORIENTATION || ikMethod == IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE || ikMethod == IK2_VEL_SDLS_WITH_ORIENTATION) ? true : false; Jacobian ikJacobian(useAngularPart, numQ, numEndEffectors); @@ -250,12 +252,12 @@ bool IKTrajectoryHelper::computeIK2( case IK2_VEL_DLS: //ikJacobian.CalcDeltaThetasDLS(); // Damped least squares method assert(m_data->m_dampingCoeff.GetLength() == numQ); - ikJacobian.CalcDeltaThetasDLS2(m_data->m_dampingCoeff); + ikJacobian.CalcDeltaThetasDLS2(m_data->m_dampingCoeff, AugMat); break; case IK2_VEL_DLS_WITH_NULLSPACE: case IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE: assert(m_data->m_nullSpaceVelocity.GetLength() == numQ); - ikJacobian.CalcDeltaThetasDLSwithNullspace(m_data->m_nullSpaceVelocity); + ikJacobian.CalcDeltaThetasDLSwithNullspace(m_data->m_nullSpaceVelocity, AugMat); break; case IK2_DLS_SVD: ikJacobian.CalcDeltaThetasDLSwithSVD(); diff --git a/examples/ThirdPartyLibs/BussIK/Jacobian.cpp b/examples/ThirdPartyLibs/BussIK/Jacobian.cpp index f91a5e397..4a728a072 100644 --- a/examples/ThirdPartyLibs/BussIK/Jacobian.cpp +++ b/examples/ThirdPartyLibs/BussIK/Jacobian.cpp @@ -243,7 +243,7 @@ void Jacobian::UpdateThetaDot() m_tree->Compute(); } -void Jacobian::CalcDeltaThetas() +void Jacobian::CalcDeltaThetas(MatrixRmn& AugMat) { switch (CurrentUpdateMode) { @@ -257,7 +257,7 @@ void Jacobian::CalcDeltaThetas() CalcDeltaThetasPseudoinverse(); break; case JACOB_DLS: - CalcDeltaThetasDLS(); + CalcDeltaThetasDLS(AugMat); break; case JACOB_SDLS: CalcDeltaThetasSDLS(); @@ -327,7 +327,7 @@ void Jacobian::CalcDeltaThetasPseudoinverse() } } -void Jacobian::CalcDeltaThetasDLSwithNullspace(const VectorRn& desiredV) +void Jacobian::CalcDeltaThetasDLSwithNullspace(const VectorRn& desiredV, MatrixRmn& AugMat) { const MatrixRmn& J = ActiveJacobian(); @@ -341,7 +341,7 @@ void Jacobian::CalcDeltaThetasDLSwithNullspace(const VectorRn& desiredV) // J.MultiplyTranspose( dTextra, dTheta ); // Use these two lines for the traditional DLS method - U.Solve(dS, &dT1); + U.Solve(dS, &dT1, AugMat); J.MultiplyTranspose(dT1, dTheta); // Compute JInv in damped least square form @@ -379,7 +379,7 @@ void Jacobian::CalcDeltaThetasDLSwithNullspace(const VectorRn& desiredV) } } -void Jacobian::CalcDeltaThetasDLS() +void Jacobian::CalcDeltaThetasDLS(MatrixRmn& AugMat) { const MatrixRmn& J = ActiveJacobian(); @@ -393,7 +393,7 @@ void Jacobian::CalcDeltaThetasDLS() // J.MultiplyTranspose( dTextra, dTheta ); // Use these two lines for the traditional DLS method - U.Solve(dS, &dT1); + U.Solve(dS, &dT1, AugMat); J.MultiplyTranspose(dT1, dTheta); // Scale back to not exceed maximum angle changes @@ -404,7 +404,7 @@ void Jacobian::CalcDeltaThetasDLS() } } -void Jacobian::CalcDeltaThetasDLS2(const VectorRn& dVec) +void Jacobian::CalcDeltaThetasDLS2(const VectorRn& dVec, MatrixRmn& AugMat) { const MatrixRmn& J = ActiveJacobian(); @@ -414,7 +414,7 @@ void Jacobian::CalcDeltaThetasDLS2(const VectorRn& dVec) dT1.SetLength(J.GetNumColumns()); J.MultiplyTranspose(dS, dT1); - U.Solve(dT1, &dTheta); + U.Solve(dT1, &dTheta, AugMat); // Scale back to not exceed maximum angle changes double maxChange = dTheta.MaxAbs(); diff --git a/examples/ThirdPartyLibs/BussIK/Jacobian.h b/examples/ThirdPartyLibs/BussIK/Jacobian.h index d7dc81bcd..915e56aa3 100644 --- a/examples/ThirdPartyLibs/BussIK/Jacobian.h +++ b/examples/ThirdPartyLibs/BussIK/Jacobian.h @@ -66,15 +66,15 @@ public: void SetJendTrans(MatrixRmn& J); void SetDeltaS(VectorRn& S); - void CalcDeltaThetas(); // Use this only if the Current Mode has been set. + void CalcDeltaThetas(MatrixRmn& AugMat); // Use this only if the Current Mode has been set. void ZeroDeltaThetas(); void CalcDeltaThetasTranspose(); void CalcDeltaThetasPseudoinverse(); - void CalcDeltaThetasDLS(); - void CalcDeltaThetasDLS2(const VectorRn& dVec); + void CalcDeltaThetasDLS(MatrixRmn& AugMat); + void CalcDeltaThetasDLS2(const VectorRn& dVec, MatrixRmn& AugMat); void CalcDeltaThetasDLSwithSVD(); void CalcDeltaThetasSDLS(); - void CalcDeltaThetasDLSwithNullspace(const VectorRn& desiredV); + void CalcDeltaThetasDLSwithNullspace(const VectorRn& desiredV, MatrixRmn& AugMat); void UpdateThetas(); void UpdateThetaDot(); diff --git a/examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp b/examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp index 4bf1e8771..c1c20cc83 100644 --- a/examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp +++ b/examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp @@ -30,7 +30,6 @@ subject to the following restrictions: #include "MatrixRmn.h" -MatrixRmn MatrixRmn::WorkMatrix; // Temporary work matrix // Fill the diagonal entries with the value d. The rest of the matrix is unchanged. void MatrixRmn::SetDiagonalEntries(double d) @@ -354,12 +353,14 @@ MatrixRmn& MatrixRmn::MultiplyTranspose(const MatrixRmn& A, const MatrixRmn& B, // Solves the equation (*this)*xVec = b; // Uses row operations. Assumes *this is square and invertible. // No error checking for divide by zero or instability (except with asserts) -void MatrixRmn::Solve(const VectorRn& b, VectorRn* xVec) const +void MatrixRmn::Solve(const VectorRn& b, VectorRn* xVec, MatrixRmn& AugMat) const { + B3_PROFILE("MatrixRmn::Solve"); assert(NumRows == NumCols && NumCols == xVec->GetLength() && NumRows == b.GetLength()); // Copy this matrix and b into an Augmented Matrix - MatrixRmn& AugMat = GetWorkMatrix(NumRows, NumCols + 1); + + AugMat.SetSize(NumRows, NumCols + 1); AugMat.LoadAsSubmatrix(*this); AugMat.SetColumn(NumRows, b); diff --git a/examples/ThirdPartyLibs/BussIK/MatrixRmn.h b/examples/ThirdPartyLibs/BussIK/MatrixRmn.h index 86e42678b..343e79b90 100644 --- a/examples/ThirdPartyLibs/BussIK/MatrixRmn.h +++ b/examples/ThirdPartyLibs/BussIK/MatrixRmn.h @@ -117,7 +117,7 @@ public: MatrixRmn& AddToDiagonal(const VectorRn& dVec); // Solving systems of linear equations - void Solve(const VectorRn& b, VectorRn* x) const; // Solves the equation (*this)*x = b; Uses row operations. Assumes *this is invertible. + void Solve(const VectorRn& b, VectorRn* x, MatrixRmn& AugMat) const; // Solves the equation (*this)*x = b; Uses row operations. Assumes *this is invertible. // Row Echelon Form and Reduced Row Echelon Form routines // Row echelon form here allows non-negative entries (instead of 1's) in the positions of lead variables. @@ -150,13 +150,6 @@ private: double* x; // Array of vector entries - stored in column order long AllocSize; // Allocated size of the x array - static MatrixRmn WorkMatrix; // Temporary work matrix - static MatrixRmn& GetWorkMatrix() { return WorkMatrix; } - static MatrixRmn& GetWorkMatrix(long numRows, long numCols) - { - WorkMatrix.SetSize(numRows, numCols); - return WorkMatrix; - } // Internal helper routines for SVD calculations static void CalcBidiagonal(MatrixRmn& U, MatrixRmn& V, VectorRn& w, VectorRn& superDiag); From 8f8bbbee3bbd281a190f8a11443d91f57f135f44 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sat, 11 Jan 2020 13:06:45 -0800 Subject: [PATCH 382/389] example how to create a video using PyBullet using GUI mode with ffmpeg, synchronizing video with stepSimulation at specific frame rate (240 Hz for example) --- examples/pybullet/examples/video_sync_mp4.py | 24 ++++++++++++++++++++ 1 file changed, 24 insertions(+) create mode 100644 examples/pybullet/examples/video_sync_mp4.py diff --git a/examples/pybullet/examples/video_sync_mp4.py b/examples/pybullet/examples/video_sync_mp4.py new file mode 100644 index 000000000..ba8956bec --- /dev/null +++ b/examples/pybullet/examples/video_sync_mp4.py @@ -0,0 +1,24 @@ +import pybullet as p +import time + +#by default, PyBullet runs at 240Hz +p.connect(p.GUI, options="--mp4=\"test.mp4\" --mp4fps=240") +p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1) +p.loadURDF("plane.urdf") + +#in 3 seconds, the object travels about 0.5*g*t^2 meter ~ 45 meter. +r2d2 = p.loadURDF("r2d2.urdf",[0,0,45]) +#disable linear damping +p.changeDynamics(r2d2,-1, linearDamping=0) +p.setGravity(0,0,-10) + +for i in range (3*240): + txt = "frame "+str(i) + item = p.addUserDebugText(txt, [0,1,0]) + p.stepSimulation() + #synchronize the visualizer (rendering frames for the video mp4) with stepSimulation + p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1) + #print("r2d2 vel=", p.getBaseVelocity(r2d2)[0][2]) + p.removeUserDebugItem(item) + +p.disconnect() From 3f11b03255525d56627260396bd5338638359f43 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sat, 11 Jan 2020 13:13:28 -0800 Subject: [PATCH 383/389] add friction anchors for Panda gripper (prevents/reduces sliding objects out of gripper) --- .../gym/pybullet_data/franka_panda/panda.urdf | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/panda.urdf b/examples/pybullet/gym/pybullet_data/franka_panda/panda.urdf index 77a14aeb8..abb3b2edc 100644 --- a/examples/pybullet/gym/pybullet_data/franka_panda/panda.urdf +++ b/examples/pybullet/gym/pybullet_data/franka_panda/panda.urdf @@ -253,6 +253,13 @@ + + + + + + + @@ -272,6 +279,14 @@ + + + + + + + + From eee7bcbc14a6546c9358ee7b930cceb1a016f6d5 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sat, 11 Jan 2020 13:16:12 -0800 Subject: [PATCH 384/389] remove debug/profile tag --- examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp b/examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp index c1c20cc83..5a864d318 100644 --- a/examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp +++ b/examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp @@ -355,7 +355,6 @@ MatrixRmn& MatrixRmn::MultiplyTranspose(const MatrixRmn& A, const MatrixRmn& B, // No error checking for divide by zero or instability (except with asserts) void MatrixRmn::Solve(const VectorRn& b, VectorRn* xVec, MatrixRmn& AugMat) const { - B3_PROFILE("MatrixRmn::Solve"); assert(NumRows == NumCols && NumCols == xVec->GetLength() && NumRows == b.GetLength()); // Copy this matrix and b into an Augmented Matrix From e73de6ea00c4fc8f4717bee0dc705799e3ce27ff Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sat, 11 Jan 2020 16:06:14 -0800 Subject: [PATCH 385/389] bump up pybullet version to 2.6.4 --- setup.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/setup.py b/setup.py index bfadab97a..a6caac784 100644 --- a/setup.py +++ b/setup.py @@ -491,7 +491,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS: setup( name='pybullet', - version='2.6.3', + version='2.6.4', description= 'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning', long_description= From 3ca233193f6fa5a674b7acfad8995e5705b91122 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sun, 12 Jan 2020 07:03:38 -0800 Subject: [PATCH 386/389] : --- .../pybullet/gym/pybullet_robots/__init__.py | 1 + .../gym/pybullet_robots/panda/__init__.py | 1 + .../gym/pybullet_robots/panda/batchsim3.py | 189 ++++++++++++++++++ .../pybullet_robots/panda/batchsim3_grasp.py | 186 +++++++++++++++++ .../gym/pybullet_robots/panda/loadpanda.py | 21 ++ .../pybullet_robots/panda/loadpanda_grasp.py | 39 ++++ .../gym/pybullet_robots/panda/panda_sim.py | 65 ++++++ .../pybullet_robots/panda/panda_sim_grasp.py | 151 ++++++++++++++ 8 files changed, 653 insertions(+) create mode 100644 examples/pybullet/gym/pybullet_robots/__init__.py create mode 100644 examples/pybullet/gym/pybullet_robots/panda/__init__.py create mode 100644 examples/pybullet/gym/pybullet_robots/panda/batchsim3.py create mode 100644 examples/pybullet/gym/pybullet_robots/panda/batchsim3_grasp.py create mode 100644 examples/pybullet/gym/pybullet_robots/panda/loadpanda.py create mode 100644 examples/pybullet/gym/pybullet_robots/panda/loadpanda_grasp.py create mode 100644 examples/pybullet/gym/pybullet_robots/panda/panda_sim.py create mode 100644 examples/pybullet/gym/pybullet_robots/panda/panda_sim_grasp.py diff --git a/examples/pybullet/gym/pybullet_robots/__init__.py b/examples/pybullet/gym/pybullet_robots/__init__.py new file mode 100644 index 000000000..8b1378917 --- /dev/null +++ b/examples/pybullet/gym/pybullet_robots/__init__.py @@ -0,0 +1 @@ + diff --git a/examples/pybullet/gym/pybullet_robots/panda/__init__.py b/examples/pybullet/gym/pybullet_robots/panda/__init__.py new file mode 100644 index 000000000..8b1378917 --- /dev/null +++ b/examples/pybullet/gym/pybullet_robots/panda/__init__.py @@ -0,0 +1 @@ + diff --git a/examples/pybullet/gym/pybullet_robots/panda/batchsim3.py b/examples/pybullet/gym/pybullet_robots/panda/batchsim3.py new file mode 100644 index 000000000..c3d9d65b1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_robots/panda/batchsim3.py @@ -0,0 +1,189 @@ +import os +import inspect +currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) +parentdir = os.path.dirname(os.path.dirname(currentdir)) +os.sys.path.insert(0, parentdir) + +from pybullet_utils import bullet_client +import panda_sim + + +import time + +useGUI = False +timeStep = 1./60. + +# Importing the libraries +import os +import time +import multiprocessing as mp +from multiprocessing import Process, Pipe + +pandaEndEffectorIndex = 11 #8 +pandaNumDofs = 7 + + +_RESET = 1 +_CLOSE = 2 +_EXPLORE = 3 + + +def ExploreWorker(rank, num_processes, childPipe, args): + print("hi:",rank, " out of ", num_processes) + import pybullet as op1 + import pybullet_data as pd + logName="" + p1=0 + n = 0 + space = 2 + simulations=[] + sims_per_worker = 10 + + offsetY = rank*space + while True: + n += 1 + try: + # Only block for short times to have keyboard exceptions be raised. + if not childPipe.poll(0.0001): + continue + message, payload = childPipe.recv() + except (EOFError, KeyboardInterrupt): + break + if message == _RESET: + if (useGUI): + p1 = bullet_client.BulletClient(op1.GUI) + else: + p1 = bullet_client.BulletClient(op1.DIRECT) + p1.setTimeStep(timeStep) + + p1.setPhysicsEngineParameter(numSolverIterations=8) + p1.setPhysicsEngineParameter(minimumSolverIslandSize=100) + p1.configureDebugVisualizer(p1.COV_ENABLE_Y_AXIS_UP,1) + p1.configureDebugVisualizer(p1.COV_ENABLE_RENDERING,0) + p1.setAdditionalSearchPath(pd.getDataPath()) + p1.setGravity(0,-9.8,0) + logName = str("batchsim")+str(rank) + for j in range (3): + offsetX = 0#-sims_per_worker/2.0*space + for i in range (sims_per_worker): + offset=[offsetX,0, offsetY] + sim = panda_sim.PandaSim(p1, offset) + simulations.append(sim) + offsetX += space + offsetY += space + childPipe.send(["reset ok"]) + p1.configureDebugVisualizer(p1.COV_ENABLE_RENDERING,1) + for i in range (100): + p1.stepSimulation() + + logId = p1.startStateLogging(op1.STATE_LOGGING_PROFILE_TIMINGS,logName) + continue + if message == _EXPLORE: + sum_rewards=rank + + if useGUI: + numSteps = int(20000) + else: + numSteps = int(5) + for i in range (numSteps): + for s in simulations: + s.step() + p1.stepSimulation() + #print("logId=",logId) + #print("numSteps=",numSteps) + + childPipe.send([sum_rewards]) + continue + if message == _CLOSE: + p1.stopStateLogging(logId) + childPipe.send(["close ok"]) + break + childPipe.close() + + +if __name__ == "__main__": + mp.freeze_support() + if useGUI: + num_processes = 1 + else: + num_processes = 12 + processes = [] + args=[0]*num_processes + + childPipes = [] + parentPipes = [] + + for pr in range(num_processes): + parentPipe, childPipe = Pipe() + parentPipes.append(parentPipe) + childPipes.append(childPipe) + + for rank in range(num_processes): + p = mp.Process(target=ExploreWorker, args=(rank, num_processes, childPipes[rank], args)) + p.start() + processes.append(p) + + + for parentPipe in parentPipes: + parentPipe.send([_RESET, "blaat"]) + + positive_rewards = [0]*num_processes + for k in range(num_processes): + #print("reset msg=",parentPipes[k].recv()[0]) + msg = parentPipes[k].recv()[0] + + for parentPipe in parentPipes: + parentPipe.send([_EXPLORE, "blaat"]) + + positive_rewards = [0]*num_processes + for k in range(num_processes): + positive_rewards[k] = parentPipes[k].recv()[0] + #print("positive_rewards=",positive_rewards[k]) + + + for parentPipe in parentPipes: + parentPipe.send([_EXPLORE, "blaat"]) + + positive_rewards = [0]*num_processes + for k in range(num_processes): + positive_rewards[k] = parentPipes[k].recv()[0] + #print("positive_rewards=",positive_rewards[k]) + msg = positive_rewards[k] + + for parentPipe in parentPipes: + parentPipe.send([_EXPLORE, "blaat"]) + + positive_rewards = [0]*num_processes + for k in range(num_processes): + positive_rewards[k] = parentPipes[k].recv()[0] + #print("positive_rewards=",positive_rewards[k]) + + + for parentPipe in parentPipes: + parentPipe.send([_CLOSE, "pay2"]) + + for p in processes: + p.join() + + #now we merge the separate json files into a single one + fnameout = 'batchsim.json' + count = 0 + outfile = open(fnameout, "w+") + outfile.writelines(["{\"traceEvents\":[\n"]) + numFiles = num_processes + for num in range(numFiles): + print("num=",num) + fname = 'batchsim%d_0.json' % (num) + with open(fname) as infile: + for line in infile: + if "pid" in line: + line = line.replace('\"pid\":1', '\"pid\":'+str(num)) + if num < (numFiles-1) and not "{}}," in line: + line = line.replace('{}}', '{}},') + print("line[",count,"]=",line) + outfile.write(line) + count += 1 + print ("count=",count) + outfile.writelines(["],\n"]) + outfile.writelines(["\"displayTimeUnit\": \"ns\"}\n"]) + outfile.close() diff --git a/examples/pybullet/gym/pybullet_robots/panda/batchsim3_grasp.py b/examples/pybullet/gym/pybullet_robots/panda/batchsim3_grasp.py new file mode 100644 index 000000000..39c8cc41a --- /dev/null +++ b/examples/pybullet/gym/pybullet_robots/panda/batchsim3_grasp.py @@ -0,0 +1,186 @@ +import os +import inspect +currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) +parentdir = os.path.dirname(os.path.dirname(currentdir)) +os.sys.path.insert(0, parentdir) + +from pybullet_utils import bullet_client +import panda_sim_grasp as panda_sim + + +import time + +useGUI = True#False +timeStep = 1./240. + +# Importing the libraries +import os +import time +import multiprocessing as mp +from multiprocessing import Process, Pipe + +pandaEndEffectorIndex = 11 #8 +pandaNumDofs = 7 + + +_RESET = 1 +_CLOSE = 2 +_EXPLORE = 3 + + +def ExploreWorker(rank, num_processes, childPipe, args): + print("hi:",rank, " out of ", num_processes) + import pybullet as op1 + import pybullet_data as pd + logName="" + p1=0 + n = 0 + space = 2 + simulations=[] + sims_per_worker = 10 + + offsetY = rank*space + while True: + n += 1 + try: + # Only block for short times to have keyboard exceptions be raised. + if not childPipe.poll(0.0001): + continue + message, payload = childPipe.recv() + except (EOFError, KeyboardInterrupt): + break + if message == _RESET: + if (useGUI): + p1 = bullet_client.BulletClient(op1.GUI) + else: + p1 = bullet_client.BulletClient(op1.DIRECT) + p1.setTimeStep(timeStep) + + p1.setPhysicsEngineParameter(numSolverIterations=8) + p1.setPhysicsEngineParameter(minimumSolverIslandSize=100) + p1.configureDebugVisualizer(p1.COV_ENABLE_Y_AXIS_UP,1) + p1.configureDebugVisualizer(p1.COV_ENABLE_RENDERING,0) + p1.setAdditionalSearchPath(pd.getDataPath()) + p1.setGravity(0,-9.8,0) + logName = str("batchsim")+str(rank) + for j in range (3): + offsetX = 0#-sims_per_worker/2.0*space + for i in range (sims_per_worker): + offset=[offsetX,0, offsetY] + sim = panda_sim.PandaSimAuto(p1, offset) + simulations.append(sim) + offsetX += space + offsetY += space + childPipe.send(["reset ok"]) + p1.configureDebugVisualizer(p1.COV_ENABLE_RENDERING,1) + for i in range (100): + p1.stepSimulation() + + logId = p1.startStateLogging(op1.STATE_LOGGING_PROFILE_TIMINGS,logName) + continue + if message == _EXPLORE: + sum_rewards=rank + + if useGUI: + numSteps = int(20000) + else: + numSteps = int(5) + for i in range (numSteps): + for s in simulations: + s.step() + p1.stepSimulation() + #print("logId=",logId) + #print("numSteps=",numSteps) + + childPipe.send([sum_rewards]) + continue + if message == _CLOSE: + p1.stopStateLogging(logId) + childPipe.send(["close ok"]) + break + childPipe.close() + + +if __name__ == "__main__": + mp.freeze_support() + if useGUI: + num_processes = 1 + else: + num_processes = 12 + processes = [] + args=[0]*num_processes + + childPipes = [] + parentPipes = [] + + for pr in range(num_processes): + parentPipe, childPipe = Pipe() + parentPipes.append(parentPipe) + childPipes.append(childPipe) + + for rank in range(num_processes): + p = mp.Process(target=ExploreWorker, args=(rank, num_processes, childPipes[rank], args)) + p.start() + processes.append(p) + + + for parentPipe in parentPipes: + parentPipe.send([_RESET, "blaat"]) + + positive_rewards = [0]*num_processes + for k in range(num_processes): + #print("reset msg=",parentPipes[k].recv()[0]) + msg = parentPipes[k].recv()[0] + for parentPipe in parentPipes: + parentPipe.send([_EXPLORE, "blaat"]) + + positive_rewards = [0]*num_processes + for k in range(num_processes): + positive_rewards[k] = parentPipes[k].recv()[0] + #print("positive_rewards=",positive_rewards[k]) + + for parentPipe in parentPipes: + parentPipe.send([_EXPLORE, "blaat"]) + positive_rewards = [0]*num_processes + for k in range(num_processes): + positive_rewards[k] = parentPipes[k].recv()[0] + #print("positive_rewards=",positive_rewards[k]) + msg = positive_rewards[k] + + for parentPipe in parentPipes: + parentPipe.send([_EXPLORE, "blaat"]) + + positive_rewards = [0]*num_processes + for k in range(num_processes): + positive_rewards[k] = parentPipes[k].recv()[0] + #print("positive_rewards=",positive_rewards[k]) + + + for parentPipe in parentPipes: + parentPipe.send([_CLOSE, "pay2"]) + + for p in processes: + p.join() + + #now we merge the separate json files into a single one + fnameout = 'batchsim.json' + count = 0 + outfile = open(fnameout, "w+") + outfile.writelines(["{\"traceEvents\":[\n"]) + numFiles = num_processes + for num in range(numFiles): + print("num=",num) + fname = 'batchsim%d_0.json' % (num) + with open(fname) as infile: + for line in infile: + if "pid" in line: + line = line.replace('\"pid\":1', '\"pid\":'+str(num)) + if num < (numFiles-1) and not "{}}," in line: + line = line.replace('{}}', '{}},') + print("line[",count,"]=",line) + outfile.write(line) + count += 1 + print ("count=",count) + outfile.writelines(["],\n"]) + outfile.writelines(["\"displayTimeUnit\": \"ns\"}\n"]) + outfile.close() diff --git a/examples/pybullet/gym/pybullet_robots/panda/loadpanda.py b/examples/pybullet/gym/pybullet_robots/panda/loadpanda.py new file mode 100644 index 000000000..207a5ba40 --- /dev/null +++ b/examples/pybullet/gym/pybullet_robots/panda/loadpanda.py @@ -0,0 +1,21 @@ +import pybullet as p +import pybullet_data as pd +import math +import time +import numpy as np +import panda_sim + +p.connect(p.GUI) +p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP,1) +p.setAdditionalSearchPath(pd.getDataPath()) + +timeStep=1./60. +p.setTimeStep(timeStep) +p.setGravity(0,-9.8,0) + +panda = panda_sim.PandaSim(p,[0,0,0]) +while (1): + panda.step() + p.stepSimulation() + time.sleep(timeStep) + \ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_robots/panda/loadpanda_grasp.py b/examples/pybullet/gym/pybullet_robots/panda/loadpanda_grasp.py new file mode 100644 index 000000000..d6fd15687 --- /dev/null +++ b/examples/pybullet/gym/pybullet_robots/panda/loadpanda_grasp.py @@ -0,0 +1,39 @@ +import pybullet as p +import pybullet_data as pd +import math +import time +import numpy as np +import panda_sim_grasp as panda_sim + +#video requires ffmpeg available in path +createVideo=False + +if createVideo: + p.connect(p.GUI, options="--mp4=\"pybullet_grasp.mp4\", --mp4fps=240") +else: + p.connect(p.GUI) + +p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP,1) +p.configureDebugVisualizer(p.COV_ENABLE_GUI,0) + +p.resetDebugVisualizerCamera(cameraDistance=1.3, cameraYaw=38, cameraPitch=-22, cameraTargetPosition=[0.35,-0.13,0]) +p.setAdditionalSearchPath(pd.getDataPath()) + +timeStep=1./120.#240. +p.setTimeStep(timeStep) +p.setGravity(0,-9.8,0) + +panda = panda_sim.PandaSimAuto(p,[0,0,0]) +logId = panda.bullet_client.startStateLogging(panda.bullet_client.STATE_LOGGING_PROFILE_TIMINGS, "log.json") +panda.bullet_client.submitProfileTiming("start") +for i in range (100000): + panda.bullet_client.submitProfileTiming("full_step") + panda.step() + p.stepSimulation() + if createVideo: + p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1) + time.sleep(timeStep) + panda.bullet_client.submitProfileTiming() +panda.bullet_client.submitProfileTiming() +panda.bullet_client.stopStateLogging(logId) + diff --git a/examples/pybullet/gym/pybullet_robots/panda/panda_sim.py b/examples/pybullet/gym/pybullet_robots/panda/panda_sim.py new file mode 100644 index 000000000..b4d688687 --- /dev/null +++ b/examples/pybullet/gym/pybullet_robots/panda/panda_sim.py @@ -0,0 +1,65 @@ +import time +import numpy as np +import math + +useNullSpace = 1 +ikSolver = 0 +pandaEndEffectorIndex = 11 #8 +pandaNumDofs = 7 + +ll = [-7]*pandaNumDofs +#upper limits for null space (todo: set them to proper range) +ul = [7]*pandaNumDofs +#joint ranges for null space (todo: set them to proper range) +jr = [7]*pandaNumDofs +#restposes for null space +jointPositions=[0.98, 0.458, 0.31, -2.24, -0.30, 2.66, 2.32, 0.02, 0.02] +rp = jointPositions + +class PandaSim(object): + def __init__(self, bullet_client, offset): + self.bullet_client = bullet_client + self.offset = np.array(offset) + + #print("offset=",offset) + flags = self.bullet_client.URDF_ENABLE_CACHED_GRAPHICS_SHAPES + legos=[] + self.bullet_client.loadURDF("tray/traybox.urdf", [0+offset[0], 0+offset[1], -0.6+offset[2]], [-0.5, -0.5, -0.5, 0.5], flags=flags) + legos.append(self.bullet_client.loadURDF("lego/lego.urdf",np.array([0.1, 0.3, -0.5])+self.offset, flags=flags)) + legos.append(self.bullet_client.loadURDF("lego/lego.urdf",np.array([-0.1, 0.3, -0.5])+self.offset, flags=flags)) + legos.append(self.bullet_client.loadURDF("lego/lego.urdf",np.array([0.1, 0.3, -0.7])+self.offset, flags=flags)) + sphereId = self.bullet_client.loadURDF("sphere_small.urdf",np.array( [0, 0.3, -0.6])+self.offset, flags=flags) + self.bullet_client.loadURDF("sphere_small.urdf",np.array( [0, 0.3, -0.5])+self.offset, flags=flags) + self.bullet_client.loadURDF("sphere_small.urdf",np.array( [0, 0.3, -0.7])+self.offset, flags=flags) + orn=[-0.707107, 0.0, 0.0, 0.707107]#p.getQuaternionFromEuler([-math.pi/2,math.pi/2,0]) + eul = self.bullet_client.getEulerFromQuaternion([-0.5, -0.5, -0.5, 0.5]) + self.panda = self.bullet_client.loadURDF("franka_panda/panda.urdf", np.array([0,0,0])+self.offset, orn, useFixedBase=True, flags=flags) + index = 0 + for j in range(self.bullet_client.getNumJoints(self.panda)): + self.bullet_client.changeDynamics(self.panda, j, linearDamping=0, angularDamping=0) + info = self.bullet_client.getJointInfo(self.panda, j) + + jointName = info[1] + jointType = info[2] + if (jointType == self.bullet_client.JOINT_PRISMATIC): + + self.bullet_client.resetJointState(self.panda, j, jointPositions[index]) + index=index+1 + if (jointType == self.bullet_client.JOINT_REVOLUTE): + self.bullet_client.resetJointState(self.panda, j, jointPositions[index]) + index=index+1 + self.t = 0. + def reset(self): + pass + + def step(self): + t = self.t + self.t += 1./60. + pos = [self.offset[0]+0.2 * math.sin(1.5 * t), self.offset[1]+0.044, self.offset[2]+-0.6 + 0.1 * math.cos(1.5 * t)] + orn = self.bullet_client.getQuaternionFromEuler([math.pi/2.,0.,0.]) + jointPoses = self.bullet_client.calculateInverseKinematics(self.panda,pandaEndEffectorIndex, pos, orn, ll, ul, + jr, rp, maxNumIterations=5) + for i in range(pandaNumDofs): + self.bullet_client.setJointMotorControl2(self.panda, i, self.bullet_client.POSITION_CONTROL, jointPoses[i],force=5 * 240.) + pass + diff --git a/examples/pybullet/gym/pybullet_robots/panda/panda_sim_grasp.py b/examples/pybullet/gym/pybullet_robots/panda/panda_sim_grasp.py new file mode 100644 index 000000000..05b561050 --- /dev/null +++ b/examples/pybullet/gym/pybullet_robots/panda/panda_sim_grasp.py @@ -0,0 +1,151 @@ +import time +import numpy as np +import math + +useNullSpace = 1 +ikSolver = 0 +pandaEndEffectorIndex = 11 #8 +pandaNumDofs = 7 + +ll = [-7]*pandaNumDofs +#upper limits for null space (todo: set them to proper range) +ul = [7]*pandaNumDofs +#joint ranges for null space (todo: set them to proper range) +jr = [7]*pandaNumDofs +#restposes for null space +jointPositions=[0.98, 0.458, 0.31, -2.24, -0.30, 2.66, 2.32, 0.02, 0.02] +rp = jointPositions + +class PandaSim(object): + def __init__(self, bullet_client, offset): + self.bullet_client = bullet_client + self.bullet_client.setPhysicsEngineParameter(solverResidualThreshold=0) + self.offset = np.array(offset) + + #print("offset=",offset) + flags = self.bullet_client.URDF_ENABLE_CACHED_GRAPHICS_SHAPES + self.legos=[] + + self.bullet_client.loadURDF("tray/traybox.urdf", [0+offset[0], 0+offset[1], -0.6+offset[2]], [-0.5, -0.5, -0.5, 0.5], flags=flags) + self.legos.append(self.bullet_client.loadURDF("lego/lego.urdf",np.array([0.1, 0.3, -0.5])+self.offset, flags=flags)) + self.bullet_client.changeVisualShape(self.legos[0],-1,rgbaColor=[1,0,0,1]) + self.legos.append(self.bullet_client.loadURDF("lego/lego.urdf",np.array([-0.1, 0.3, -0.5])+self.offset, flags=flags)) + self.legos.append(self.bullet_client.loadURDF("lego/lego.urdf",np.array([0.1, 0.3, -0.7])+self.offset, flags=flags)) + self.sphereId = self.bullet_client.loadURDF("sphere_small.urdf",np.array( [0, 0.3, -0.6])+self.offset, flags=flags) + self.bullet_client.loadURDF("sphere_small.urdf",np.array( [0, 0.3, -0.5])+self.offset, flags=flags) + self.bullet_client.loadURDF("sphere_small.urdf",np.array( [0, 0.3, -0.7])+self.offset, flags=flags) + orn=[-0.707107, 0.0, 0.0, 0.707107]#p.getQuaternionFromEuler([-math.pi/2,math.pi/2,0]) + eul = self.bullet_client.getEulerFromQuaternion([-0.5, -0.5, -0.5, 0.5]) + self.panda = self.bullet_client.loadURDF("franka_panda/panda.urdf", np.array([0,0,0])+self.offset, orn, useFixedBase=True, flags=flags) + index = 0 + self.state = 0 + self.control_dt = 1./120. + self.finger_target = 0 + self.gripper_height = 0.2 + #create a constraint to keep the fingers centered + c = self.bullet_client.createConstraint(self.panda, + 9, + self.panda, + 10, + jointType=self.bullet_client.JOINT_GEAR, + jointAxis=[1, 0, 0], + parentFramePosition=[0, 0, 0], + childFramePosition=[0, 0, 0]) + self.bullet_client.changeConstraint(c, gearRatio=-1, erp=0.1, maxForce=50) + + for j in range(self.bullet_client.getNumJoints(self.panda)): + self.bullet_client.changeDynamics(self.panda, j, linearDamping=0, angularDamping=0) + info = self.bullet_client.getJointInfo(self.panda, j) + #print("info=",info) + jointName = info[1] + jointType = info[2] + if (jointType == self.bullet_client.JOINT_PRISMATIC): + + self.bullet_client.resetJointState(self.panda, j, jointPositions[index]) + index=index+1 + if (jointType == self.bullet_client.JOINT_REVOLUTE): + self.bullet_client.resetJointState(self.panda, j, jointPositions[index]) + index=index+1 + self.t = 0. + def reset(self): + pass + + def update_state(self): + keys = self.bullet_client.getKeyboardEvents() + if len(keys)>0: + for k,v in keys.items(): + if v&self.bullet_client.KEY_WAS_TRIGGERED: + if (k==ord('1')): + self.state = 1 + if (k==ord('2')): + self.state = 2 + if (k==ord('3')): + self.state = 3 + if (k==ord('4')): + self.state = 4 + if (k==ord('5')): + self.state = 5 + if (k==ord('6')): + self.state = 6 + if v&self.bullet_client.KEY_WAS_RELEASED: + self.state = 0 + def step(self): + if self.state==6: + self.finger_target = 0.01 + if self.state==5: + self.finger_target = 0.04 + self.bullet_client.submitProfileTiming("step") + self.update_state() + #print("self.state=",self.state) + #print("self.finger_target=",self.finger_target) + alpha = 0.9 #0.99 + if self.state==1 or self.state==2 or self.state==3 or self.state==4 or self.state==7: + #gripper_height = 0.034 + self.gripper_height = alpha * self.gripper_height + (1.-alpha)*0.03 + if self.state == 2 or self.state == 3 or self.state == 7: + self.gripper_height = alpha * self.gripper_height + (1.-alpha)*0.2 + + t = self.t + self.t += self.control_dt + pos = [self.offset[0]+0.2 * math.sin(1.5 * t), self.offset[1]+self.gripper_height, self.offset[2]+-0.6 + 0.1 * math.cos(1.5 * t)] + if self.state == 3 or self.state== 4: + pos, o = self.bullet_client.getBasePositionAndOrientation(self.legos[0]) + pos = [pos[0], self.gripper_height, pos[2]] + self.prev_pos = pos + if self.state == 7: + pos = self.prev_pos + diffX = pos[0] - self.offset[0] + diffZ = pos[2] - (self.offset[2]-0.6) + self.prev_pos = [self.prev_pos[0] - diffX*0.1, self.prev_pos[1], self.prev_pos[2]-diffZ*0.1] + + + orn = self.bullet_client.getQuaternionFromEuler([math.pi/2.,0.,0.]) + self.bullet_client.submitProfileTiming("IK") + jointPoses = self.bullet_client.calculateInverseKinematics(self.panda,pandaEndEffectorIndex, pos, orn, ll, ul, + jr, rp, maxNumIterations=20) + self.bullet_client.submitProfileTiming() + for i in range(pandaNumDofs): + self.bullet_client.setJointMotorControl2(self.panda, i, self.bullet_client.POSITION_CONTROL, jointPoses[i],force=5 * 240.) + #target for fingers + for i in [9,10]: + self.bullet_client.setJointMotorControl2(self.panda, i, self.bullet_client.POSITION_CONTROL,self.finger_target ,force= 10) + self.bullet_client.submitProfileTiming() + + +class PandaSimAuto(PandaSim): + def __init__(self, bullet_client, offset): + PandaSim.__init__(self, bullet_client, offset) + self.state_t = 0 + self.cur_state = 0 + self.states=[0,3,5,4,6,3,7] + self.state_durations=[1,1,1,2,1,1, 10] + + def update_state(self): + self.state_t += self.control_dt + if self.state_t > self.state_durations[self.cur_state]: + self.cur_state += 1 + if self.cur_state>=len(self.states): + self.cur_state = 0 + self.state_t = 0 + self.state=self.states[self.cur_state] + #print("self.state=",self.state) From fb15aea414c1de4c214faca11e0172521dafd904 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sun, 12 Jan 2020 07:11:57 -0800 Subject: [PATCH 387/389] add example robots in pybullet_robots module --- .../gym/pybullet_envs/examples/testBike.py | 139 ------------------ .../laikago}/laikago.py | 0 .../examples => pybullet_robots/xarm}/xarm.py | 0 .../xarm}/xarm_sim.py | 0 4 files changed, 139 deletions(-) delete mode 100644 examples/pybullet/gym/pybullet_envs/examples/testBike.py rename examples/pybullet/gym/{pybullet_envs/examples => pybullet_robots/laikago}/laikago.py (100%) rename examples/pybullet/gym/{pybullet_envs/examples => pybullet_robots/xarm}/xarm.py (100%) rename examples/pybullet/gym/{pybullet_envs/examples => pybullet_robots/xarm}/xarm_sim.py (100%) diff --git a/examples/pybullet/gym/pybullet_envs/examples/testBike.py b/examples/pybullet/gym/pybullet_envs/examples/testBike.py deleted file mode 100644 index 62475c60d..000000000 --- a/examples/pybullet/gym/pybullet_envs/examples/testBike.py +++ /dev/null @@ -1,139 +0,0 @@ -import os -import inspect -currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) -parentdir = os.path.dirname(os.path.dirname(currentdir)) -os.sys.path.insert(0, parentdir) - -import pybullet as p -import math -import time -import pybullet_data - -p.connect(p.GUI) -#p.loadURDF("wheel.urdf",[0,0,3]) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) -plane = p.loadURDF("plane100.urdf", [0, 0, 0]) -timestep = 1. / 240. - -bike = -1 -for i in range(1): - - bike = p.loadURDF("bicycle/bike.urdf", [0, 0 + 3 * i, 1.5], [0, 0, 0, 1], useFixedBase=False) - p.setJointMotorControl2(bike, 0, p.VELOCITY_CONTROL, targetVelocity=0, force=0.05) - #p.setJointMotorControl2(bike,1,p.VELOCITY_CONTROL,targetVelocity=5, force=1000) - p.setJointMotorControl2(bike, 1, p.VELOCITY_CONTROL, targetVelocity=5, force=0) - p.setJointMotorControl2(bike, 2, p.VELOCITY_CONTROL, targetVelocity=15, force=20) - - p.changeDynamics(plane, -1, mass=0, lateralFriction=1, linearDamping=0, angularDamping=0) - p.changeDynamics(bike, 1, lateralFriction=1, linearDamping=0, angularDamping=0) - p.changeDynamics(bike, 2, lateralFriction=1, linearDamping=0, angularDamping=0) - #p.resetJointState(bike,1,0,100) - #p.resetJointState(bike,2,0,100) - #p.resetBaseVelocity(bike,[0,0,0],[0,0,0]) -#p.setPhysicsEngineParameter(numSubSteps=0) -#bike=p.loadURDF("frame.urdf",useFixedBase=True) -#bike = p.loadURDF("handlebar.urdf", useFixedBase=True) -#p.loadURDF("handlebar.urdf",[0,2,1]) -#coord = p.loadURDF("handlebar.urdf", [0.7700000000000005, 0, 0.22000000000000006],useFixedBase=True)# p.loadURDF("coordinateframe.urdf",[-2,0,1],useFixedBase=True) -#coord = p.loadURDF("coordinateframe.urdf",[-2,0,1],useFixedBase=True) -p.setGravity(0, 0, -10) -p.setRealTimeSimulation(0) -#coordPos = [0,0,0] -#coordOrnEuler = [0,0,0] - -#coordPos= [0.7000000000000004, 0, 0.22000000000000006] -#coordOrnEuler= [0, -0.2617993877991496, 0] - -coordPos = [0.07, 0, -0.6900000000000004] -coordOrnEuler = [0, 0, 0] - -coordPos2 = [0, 0, 0] -coordOrnEuler2 = [0, 0, 0] - -invPos, invOrn = p.invertTransform(coordPos, p.getQuaternionFromEuler(coordOrnEuler)) -mPos, mOrn = p.multiplyTransforms(invPos, invOrn, coordPos2, - p.getQuaternionFromEuler(coordOrnEuler2)) -eul = p.getEulerFromQuaternion(mOrn) -print("rpy=\"", eul[0], eul[1], eul[2], "\" xyz=\"", mPos[0], mPos[1], mPos[2]) - -shift = 0 -gui = 1 - -frame = 0 -states = [] -states.append(p.saveState()) -#observations=[] -#observations.append(obs) - -running = True -reverting = False -p.getCameraImage(320, 200) #,renderer=p.ER_BULLET_HARDWARE_OPENGL ) - -while (1): - - updateCam = 0 - keys = p.getKeyboardEvents() - for k, v in keys.items(): - if (reverting or (k == p.B3G_LEFT_ARROW and (v & p.KEY_WAS_TRIGGERED))): - reverting = True - stateIndex = len(states) - 1 - #print("prestateIndex=",stateIndex) - time.sleep(timestep) - updateCam = 1 - if (stateIndex > 0): - stateIndex -= 1 - states = states[:stateIndex + 1] - #observations=observations[:stateIndex+1] - - #print("states=",states) - #print("stateIndex =",stateIndex ) - p.restoreState(states[stateIndex]) - #obs=observations[stateIndex] - - #obs, r, done, _ = env.step(a) - if (k == p.B3G_LEFT_ARROW and (v & p.KEY_WAS_RELEASED)): - reverting = False - - if (k == ord('1') and (v & p.KEY_WAS_TRIGGERED)): - gui = not gui - - if (k == p.B3G_RIGHT_ARROW and (v & p.KEY_WAS_RELEASED)): - running = False - - if (running or (k == p.B3G_RIGHT_ARROW and (v & p.KEY_WAS_TRIGGERED))): - running = True - - if (running): - - p.stepSimulation() - - updateCam = 1 - time.sleep(timestep) - pts = p.getContactPoints() - #print("numPoints=",len(pts)) - #for point in pts: - # print("Point:bodyA=", point[1],"bodyB=",point[2],"linkA=",point[3],"linkB=",point[4],"dist=",point[8],"force=",point[9]) - - states.append(p.saveState()) - #observations.append(obs) - stateIndex = len(states) - #print("stateIndex =",stateIndex ) - frame += 1 - if (updateCam): - distance = 5 - yaw = 0 - humanPos, humanOrn = p.getBasePositionAndOrientation(bike) - humanBaseVel = p.getBaseVelocity(bike) - #print("frame",frame, "humanPos=",humanPos, "humanVel=",humanBaseVel) - if (gui): - - camInfo = p.getDebugVisualizerCamera() - curTargetPos = camInfo[11] - distance = camInfo[10] - yaw = camInfo[8] - pitch = camInfo[9] - targetPos = [ - 0.95 * curTargetPos[0] + 0.05 * humanPos[0], 0.95 * curTargetPos[1] + 0.05 * humanPos[1], - curTargetPos[2] - ] - p.resetDebugVisualizerCamera(distance, yaw, pitch, targetPos) diff --git a/examples/pybullet/gym/pybullet_envs/examples/laikago.py b/examples/pybullet/gym/pybullet_robots/laikago/laikago.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/examples/laikago.py rename to examples/pybullet/gym/pybullet_robots/laikago/laikago.py diff --git a/examples/pybullet/gym/pybullet_envs/examples/xarm.py b/examples/pybullet/gym/pybullet_robots/xarm/xarm.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/examples/xarm.py rename to examples/pybullet/gym/pybullet_robots/xarm/xarm.py diff --git a/examples/pybullet/gym/pybullet_envs/examples/xarm_sim.py b/examples/pybullet/gym/pybullet_robots/xarm/xarm_sim.py similarity index 100% rename from examples/pybullet/gym/pybullet_envs/examples/xarm_sim.py rename to examples/pybullet/gym/pybullet_robots/xarm/xarm_sim.py From 84e2ea918c2317d43f738203e56f61310f40e36e Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sun, 12 Jan 2020 07:20:32 -0800 Subject: [PATCH 388/389] add xarm, modify loadpanda to work with pybullet_robots module --- .../gym/pybullet_robots/panda/loadpanda.py | 4 ++-- .../pybullet_robots/panda/loadpanda_grasp.py | 2 +- .../gym/pybullet_robots/xarm/loadxarm_sim.py | 20 +++++++++++++++++++ 3 files changed, 23 insertions(+), 3 deletions(-) create mode 100644 examples/pybullet/gym/pybullet_robots/xarm/loadxarm_sim.py diff --git a/examples/pybullet/gym/pybullet_robots/panda/loadpanda.py b/examples/pybullet/gym/pybullet_robots/panda/loadpanda.py index 207a5ba40..08057626c 100644 --- a/examples/pybullet/gym/pybullet_robots/panda/loadpanda.py +++ b/examples/pybullet/gym/pybullet_robots/panda/loadpanda.py @@ -3,7 +3,7 @@ import pybullet_data as pd import math import time import numpy as np -import panda_sim +import pybullet_robots.panda.panda_sim as panda_sim p.connect(p.GUI) p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP,1) @@ -18,4 +18,4 @@ while (1): panda.step() p.stepSimulation() time.sleep(timeStep) - \ No newline at end of file + diff --git a/examples/pybullet/gym/pybullet_robots/panda/loadpanda_grasp.py b/examples/pybullet/gym/pybullet_robots/panda/loadpanda_grasp.py index d6fd15687..b31b39a8f 100644 --- a/examples/pybullet/gym/pybullet_robots/panda/loadpanda_grasp.py +++ b/examples/pybullet/gym/pybullet_robots/panda/loadpanda_grasp.py @@ -3,7 +3,7 @@ import pybullet_data as pd import math import time import numpy as np -import panda_sim_grasp as panda_sim +import pybullet_robots.panda.panda_sim_grasp as panda_sim #video requires ffmpeg available in path createVideo=False diff --git a/examples/pybullet/gym/pybullet_robots/xarm/loadxarm_sim.py b/examples/pybullet/gym/pybullet_robots/xarm/loadxarm_sim.py new file mode 100644 index 000000000..f25097975 --- /dev/null +++ b/examples/pybullet/gym/pybullet_robots/xarm/loadxarm_sim.py @@ -0,0 +1,20 @@ +import pybullet as p +import pybullet_data as pd +import math +import time +import numpy as np +import pybullet_robots.xarm.xarm_sim as xarm_sim + +p.connect(p.GUI) +p.setAdditionalSearchPath(pd.getDataPath()) + +timeStep=1./60. +p.setTimeStep(timeStep) +p.setGravity(0,0,-9.8) + +xarm = xarm_sim.XArm6Sim(p,[0,0,0]) +while (1): + xarm.step() + p.stepSimulation() + time.sleep(timeStep) + From 1be6a1d16b843b595bb8bbad583bbb989e6fcf9a Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sun, 12 Jan 2020 08:07:54 -0800 Subject: [PATCH 389/389] fix loadpanda video generation remove duplicate code (formerly Windows ffpmeg needed different settings?) --- examples/OpenGLWindow/SimpleOpenGL3App.cpp | 16 ---------------- .../gym/pybullet_robots/panda/loadpanda_grasp.py | 12 ++++++++---- .../gym/pybullet_robots/panda/panda_sim_grasp.py | 2 +- 3 files changed, 9 insertions(+), 21 deletions(-) diff --git a/examples/OpenGLWindow/SimpleOpenGL3App.cpp b/examples/OpenGLWindow/SimpleOpenGL3App.cpp index e3faf48d9..83d262af0 100644 --- a/examples/OpenGLWindow/SimpleOpenGL3App.cpp +++ b/examples/OpenGLWindow/SimpleOpenGL3App.cpp @@ -1106,27 +1106,11 @@ void SimpleOpenGL3App::dumpFramesToVideo(const char* mp4FileName) int height = (int)m_window->getRetinaScale() * m_instancingRenderer->getScreenHeight(); char cmd[8192]; -#ifdef _WIN32 sprintf(cmd, "ffmpeg -r %d -f rawvideo -pix_fmt rgba -s %dx%d -i - " "-threads 0 -y -b:v 50000k -c:v libx264 -preset slow -crf 22 -an -pix_fmt yuv420p -vf vflip %s", m_data->m_mp4Fps, width, height, mp4FileName); - //sprintf(cmd, "ffmpeg -r %d -f rawvideo -pix_fmt rgba -s %dx%d -i - " - // "-y -crf 0 -b:v 1500000 -an -vcodec h264 -vf vflip %s", m_data->m_mp4Fps, width, height, mp4FileName); -#else - - sprintf(cmd, - "ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - " - "-threads 0 -y -b 50000k -c:v libx264 -preset slow -crf 22 -an -pix_fmt yuv420p -vf vflip %s", - width, height, mp4FileName); -#endif - - //sprintf(cmd,"ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - " - // "-threads 0 -y -crf 0 -b 50000k -vf vflip %s",width,height,mp4FileName); - - // sprintf(cmd,"ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - " - // "-threads 0 -preset fast -y -crf 21 -vf vflip %s",width,height,mp4FileName); if (m_data->m_ffmpegFile) { diff --git a/examples/pybullet/gym/pybullet_robots/panda/loadpanda_grasp.py b/examples/pybullet/gym/pybullet_robots/panda/loadpanda_grasp.py index b31b39a8f..b8effa89b 100644 --- a/examples/pybullet/gym/pybullet_robots/panda/loadpanda_grasp.py +++ b/examples/pybullet/gym/pybullet_robots/panda/loadpanda_grasp.py @@ -7,23 +7,26 @@ import pybullet_robots.panda.panda_sim_grasp as panda_sim #video requires ffmpeg available in path createVideo=False +fps=240. +timeStep = 1./fps if createVideo: - p.connect(p.GUI, options="--mp4=\"pybullet_grasp.mp4\", --mp4fps=240") + p.connect(p.GUI, options="--minGraphicsUpdateTimeMs=0 --mp4=\"pybullet_grasp.mp4\" --mp4fps="+str(fps) ) else: p.connect(p.GUI) p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP,1) p.configureDebugVisualizer(p.COV_ENABLE_GUI,0) - +p.setPhysicsEngineParameter(maxNumCmdPer1ms=1000) p.resetDebugVisualizerCamera(cameraDistance=1.3, cameraYaw=38, cameraPitch=-22, cameraTargetPosition=[0.35,-0.13,0]) p.setAdditionalSearchPath(pd.getDataPath()) -timeStep=1./120.#240. p.setTimeStep(timeStep) p.setGravity(0,-9.8,0) panda = panda_sim.PandaSimAuto(p,[0,0,0]) +panda.control_dt = timeStep + logId = panda.bullet_client.startStateLogging(panda.bullet_client.STATE_LOGGING_PROFILE_TIMINGS, "log.json") panda.bullet_client.submitProfileTiming("start") for i in range (100000): @@ -32,7 +35,8 @@ for i in range (100000): p.stepSimulation() if createVideo: p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1) - time.sleep(timeStep) + if not createVideo: + time.sleep(timeStep) panda.bullet_client.submitProfileTiming() panda.bullet_client.submitProfileTiming() panda.bullet_client.stopStateLogging(logId) diff --git a/examples/pybullet/gym/pybullet_robots/panda/panda_sim_grasp.py b/examples/pybullet/gym/pybullet_robots/panda/panda_sim_grasp.py index 05b561050..58721aa6a 100644 --- a/examples/pybullet/gym/pybullet_robots/panda/panda_sim_grasp.py +++ b/examples/pybullet/gym/pybullet_robots/panda/panda_sim_grasp.py @@ -39,7 +39,7 @@ class PandaSim(object): self.panda = self.bullet_client.loadURDF("franka_panda/panda.urdf", np.array([0,0,0])+self.offset, orn, useFixedBase=True, flags=flags) index = 0 self.state = 0 - self.control_dt = 1./120. + self.control_dt = 1./240. self.finger_target = 0 self.gripper_height = 0.2 #create a constraint to keep the fingers centered

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