1e13454511
Will also add Erin Catto's local implicit version from the GDC 2015 tutorial Added demo for btGeneric6DofSpring2Constraint, thanks to Gabor Puhr Add gfxBridge.autogenerateGraphicsObjects method for Bullet 2 demos in new framework (need to implement all Bullet 2 collision shape types...) Use 1,1,1 for local scaling in btStaticPlaneShape
454 lines
17 KiB
C++
454 lines
17 KiB
C++
#include "Dof6Spring2Setup.h"
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#include "btBulletDynamicsCommon.h"
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#include "BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h"
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#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h"
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#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
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#include "BulletDynamics/MLCPSolvers/btLemkeSolver.h"
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#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
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#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
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#ifndef M_PI
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#define M_PI 3.14159265358979323846
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#endif
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#ifndef M_PI_2
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#define M_PI_2 1.57079632679489661923
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#endif
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#ifndef M_PI_4
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#define M_PI_4 0.785398163397448309616
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#endif
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extern float g_additionalBodyMass;
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//comment this out to compare with original spring constraint
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#define USE_6DOF2
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#ifdef USE_6DOF2
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#define CONSTRAINT_TYPE btGeneric6DofSpring2Constraint
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#define EXTRAPARAMS
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#else
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#define CONSTRAINT_TYPE btGeneric6DofSpringConstraint
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#define EXTRAPARAMS ,true
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#endif
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struct Dof6Spring2SetupInternalData
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{
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btRigidBody* m_TranslateSpringBody;
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btRigidBody* m_TranslateSpringBody2;
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btRigidBody* m_RotateSpringBody;
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btRigidBody* m_RotateSpringBody2;
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btRigidBody* m_BouncingTranslateBody;
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btRigidBody* m_MotorBody;
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btRigidBody* m_ServoMotorBody;
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btRigidBody* m_ChainLeftBody;
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btRigidBody* m_ChainRightBody;
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CONSTRAINT_TYPE* m_ServoMotorConstraint;
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CONSTRAINT_TYPE* m_ChainLeftConstraint;
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CONSTRAINT_TYPE* m_ChainRightConstraint;
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float mDt;
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unsigned int frameID;
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Dof6Spring2SetupInternalData()
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: mDt(1./60.),frameID(0)
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{
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}
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};
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Dof6Spring2Setup::Dof6Spring2Setup()
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{
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m_data = new Dof6Spring2SetupInternalData;
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}
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Dof6Spring2Setup::~Dof6Spring2Setup()
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{
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exitPhysics();
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delete m_data;
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}
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void Dof6Spring2Setup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
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{
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// Setup the basic world
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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btVector3 worldAabbMin(-10000,-10000,-10000);
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btVector3 worldAabbMax(10000,10000,10000);
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m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax);
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/////// uncomment the corresponding line to test a solver.
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//m_solver = new btSequentialImpulseConstraintSolver;
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m_solver = new btNNCGConstraintSolver;
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//m_solver = new btMLCPSolver(new btSolveProjectedGaussSeidel());
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//m_solver = new btMLCPSolver(new btDantzigSolver());
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//m_solver = new btMLCPSolver(new btLemkeSolver());
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
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m_dynamicsWorld->getDispatchInfo().m_useContinuous = true;
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m_dynamicsWorld->setGravity(btVector3(0,0,0));
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// Setup a big ground box
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{
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(5.),btScalar(200.)));
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,-10,0));
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#define CREATE_GROUND_COLLISION_OBJECT 1
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#ifdef CREATE_GROUND_COLLISION_OBJECT
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btCollisionObject* fixedGround = new btCollisionObject();
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fixedGround->setCollisionShape(groundShape);
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fixedGround->setWorldTransform(groundTransform);
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m_dynamicsWorld->addCollisionObject(fixedGround);
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#else
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localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
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#endif //CREATE_GROUND_COLLISION_OBJECT
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}
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m_dynamicsWorld->getSolverInfo().m_numIterations = 100;
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btCollisionShape* shape;
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btVector3 localInertia(0,0,0);
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btDefaultMotionState* motionState;
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btTransform bodyTransform;
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btScalar mass;
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btTransform localA;
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btTransform localB;
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CONSTRAINT_TYPE* constraint;
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//static body centered in the origo
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mass = 0.0;
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shape= new btBoxShape(btVector3(0.5,0.5,0.5));
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localInertia = btVector3(0,0,0);
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bodyTransform.setIdentity();
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motionState = new btDefaultMotionState(bodyTransform);
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btRigidBody* staticBody = new btRigidBody(mass,motionState,shape,localInertia);
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/////////// box with undamped translate spring attached to static body
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/////////// the box should oscillate left-to-right forever
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{
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mass = 1.0;
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shape= new btBoxShape(btVector3(0.5,0.5,0.5));
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shape->calculateLocalInertia(mass,localInertia);
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bodyTransform.setIdentity();
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bodyTransform.setOrigin(btVector3(-2,0,-5));
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motionState = new btDefaultMotionState(bodyTransform);
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m_data->m_TranslateSpringBody = new btRigidBody(mass,motionState,shape,localInertia);
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m_data->m_TranslateSpringBody->setActivationState(DISABLE_DEACTIVATION);
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m_dynamicsWorld->addRigidBody(m_data->m_TranslateSpringBody);
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localA.setIdentity();localA.getOrigin() = btVector3(0,0,-5);
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localB.setIdentity();
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constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_TranslateSpringBody, localA, localB EXTRAPARAMS);
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constraint->setLimit(0, 1,-1);
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constraint->setLimit(1, 0, 0);
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constraint->setLimit(2, 0, 0);
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constraint->setLimit(3, 0, 0);
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constraint->setLimit(4, 0, 0);
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constraint->setLimit(5, 0, 0);
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constraint->enableSpring(0, true);
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constraint->setStiffness(0, 100);
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#ifdef USE_6DOF2
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constraint->setDamping(0, 0);
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#else
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constraint->setDamping(0, 1);
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#endif
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constraint->setEquilibriumPoint(0, 0);
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m_dynamicsWorld->addConstraint(constraint, true);
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}
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/////////// box with rotate spring, attached to static body
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/////////// box should swing (rotate) left-to-right forever
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{
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mass = 1.0;
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shape= new btBoxShape(btVector3(0.5,0.5,0.5));
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shape->calculateLocalInertia(mass,localInertia);
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bodyTransform.setIdentity();
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bodyTransform.getBasis().setEulerZYX(0,0,M_PI_2);
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motionState = new btDefaultMotionState(bodyTransform);
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m_data->m_RotateSpringBody = new btRigidBody(mass,motionState,shape,localInertia);
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m_data->m_RotateSpringBody->setActivationState(DISABLE_DEACTIVATION);
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m_dynamicsWorld->addRigidBody(m_data->m_RotateSpringBody);
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localA.setIdentity();localA.getOrigin() = btVector3(0,0,0);
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localB.setIdentity();localB.setOrigin(btVector3(0,0.5,0));
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constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_RotateSpringBody, localA, localB EXTRAPARAMS);
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constraint->setLimit(0, 0, 0);
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constraint->setLimit(1, 0, 0);
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constraint->setLimit(2, 0, 0);
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constraint->setLimit(3, 0, 0);
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constraint->setLimit(4, 0, 0);
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constraint->setLimit(5, 1, -1);
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constraint->enableSpring(5, true);
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constraint->setStiffness(5, 100);
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#ifdef USE_6DOF2
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constraint->setDamping(5, 0);
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#else
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constraint->setDamping(5, 1);
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#endif
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constraint->setEquilibriumPoint(0, 0);
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m_dynamicsWorld->addConstraint(constraint, true);
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}
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/////////// box with bouncing constraint, translation is bounced at the positive x limit, but not at the negative limit
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/////////// bouncing can not be set independently at low and high limits, so two constraints will be created: one that defines the low (non bouncing) limit, and one that defines the high (bouncing) limit
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/////////// the box should move to the left (as an impulse will be applied to it periodically) until it reaches its limit, then bounce back
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{
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mass = 1.0;
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shape= new btBoxShape(btVector3(0.5,0.5,0.5));
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shape->calculateLocalInertia(mass,localInertia);
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bodyTransform.setIdentity();
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bodyTransform.setOrigin(btVector3(0,0,-3));
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motionState = new btDefaultMotionState(bodyTransform);
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m_data->m_BouncingTranslateBody = new btRigidBody(mass,motionState,shape,localInertia);
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m_data->m_BouncingTranslateBody->setActivationState(DISABLE_DEACTIVATION);
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m_data->m_BouncingTranslateBody->setDeactivationTime(btScalar(20000000));
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m_dynamicsWorld->addRigidBody(m_data->m_BouncingTranslateBody);
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localA.setIdentity();localA.getOrigin() = btVector3(0,0,0);
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localB.setIdentity();
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constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_BouncingTranslateBody, localA, localB EXTRAPARAMS);
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constraint->setLimit(0, -2, SIMD_INFINITY);
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constraint->setLimit(1, 0, 0);
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constraint->setLimit(2, -3, -3);
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constraint->setLimit(3, 0, 0);
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constraint->setLimit(4, 0, 0);
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constraint->setLimit(5, 0, 0);
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#ifdef USE_6DOF2
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constraint->setBounce(0,0);
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#else //bounce is named restitution in 6dofspring, but not implemented for translational limit motor, so the following line has no effect
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constraint->getTranslationalLimitMotor()->m_restitution = 0.0;
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#endif
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constraint->setParam(BT_CONSTRAINT_STOP_ERP,0.995,0);
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constraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,0);
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m_dynamicsWorld->addConstraint(constraint, true);
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constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_BouncingTranslateBody, localA, localB EXTRAPARAMS);
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constraint->setLimit(0, -SIMD_INFINITY, 2);
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constraint->setLimit(1, 0, 0);
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constraint->setLimit(2, -3, -3);
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constraint->setLimit(3, 0, 0);
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constraint->setLimit(4, 0, 0);
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constraint->setLimit(5, 0, 0);
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#ifdef USE_6DOF2
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constraint->setBounce(0,1);
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#else //bounce is named restitution in 6dofspring, but not implemented for translational limit motor, so the following line has no effect
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constraint->getTranslationalLimitMotor()->m_restitution = 1.0;
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#endif
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constraint->setParam(BT_CONSTRAINT_STOP_ERP,0.995,0);
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constraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,0);
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m_dynamicsWorld->addConstraint(constraint, true);
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}
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/////////// box with rotational motor, attached to static body
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/////////// the box should rotate around the y axis
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{
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mass = 1.0;
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shape= new btBoxShape(btVector3(0.5,0.5,0.5));
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shape->calculateLocalInertia(mass,localInertia);
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bodyTransform.setIdentity();
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bodyTransform.setOrigin(btVector3(4,0,0));
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motionState = new btDefaultMotionState(bodyTransform);
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m_data->m_MotorBody = new btRigidBody(mass,motionState,shape,localInertia);
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m_data->m_MotorBody->setActivationState(DISABLE_DEACTIVATION);
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m_dynamicsWorld->addRigidBody(m_data->m_MotorBody);
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localA.setIdentity();localA.getOrigin() = btVector3(4,0,0);
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localB.setIdentity();
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constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_MotorBody, localA, localB EXTRAPARAMS);
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constraint->setLimit(0, 0, 0);
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constraint->setLimit(1, 0, 0);
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constraint->setLimit(2, 0, 0);
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constraint->setLimit(3, 0, 0);
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constraint->setLimit(4, 0, 0);
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constraint->setLimit(5, 1,-1);
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#ifdef USE_6DOF2
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constraint->enableMotor(5,true);
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constraint->setTargetVelocity(5,3.f);
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constraint->setMaxMotorForce(5,10.f);
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#else
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constraint->getRotationalLimitMotor(2)->m_enableMotor = true;
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constraint->getRotationalLimitMotor(2)->m_targetVelocity = 3.f;
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constraint->getRotationalLimitMotor(2)->m_maxMotorForce = 10;
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#endif
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m_dynamicsWorld->addConstraint(constraint, true);
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}
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/////////// box with rotational servo motor, attached to static body
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/////////// the box should rotate around the y axis until it reaches its target
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/////////// the target will be negated periodically
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{
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mass = 1.0;
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shape= new btBoxShape(btVector3(0.5,0.5,0.5));
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shape->calculateLocalInertia(mass,localInertia);
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bodyTransform.setIdentity();
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bodyTransform.setOrigin(btVector3(7,0,0));
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motionState = new btDefaultMotionState(bodyTransform);
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m_data->m_ServoMotorBody = new btRigidBody(mass,motionState,shape,localInertia);
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m_data->m_ServoMotorBody->setActivationState(DISABLE_DEACTIVATION);
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m_dynamicsWorld->addRigidBody(m_data->m_ServoMotorBody);
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localA.setIdentity();localA.getOrigin() = btVector3(7,0,0);
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localB.setIdentity();
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constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_ServoMotorBody, localA, localB EXTRAPARAMS);
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constraint->setLimit(0, 0, 0);
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constraint->setLimit(1, 0, 0);
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constraint->setLimit(2, 0, 0);
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constraint->setLimit(3, 0, 0);
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constraint->setLimit(4, 0, 0);
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constraint->setLimit(5, 1,-1);
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#ifdef USE_6DOF2
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constraint->enableMotor(5,true);
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constraint->setTargetVelocity(5,3.f);
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constraint->setMaxMotorForce(5,10.f);
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constraint->setServo(5,true);
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constraint->setServoTarget(5, M_PI_2);
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#else
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constraint->getRotationalLimitMotor(2)->m_enableMotor = true;
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constraint->getRotationalLimitMotor(2)->m_targetVelocity = 3.f;
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constraint->getRotationalLimitMotor(2)->m_maxMotorForce = 10;
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//servo motor is not implemented in 6dofspring constraint
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#endif
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m_dynamicsWorld->addConstraint(constraint, true);
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m_data->m_ServoMotorConstraint = constraint;
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}
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////////// chain of boxes linked together with fully limited rotational and translational constraints
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////////// the chain will be pulled to the left and to the right periodically. They should strictly stick together.
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{
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btScalar limitConstraintStrength = 0.6;
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int bodycount = 10;
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btRigidBody* prevBody = 0;
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for(int i = 0; i < bodycount; ++i)
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{
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mass = 1.0;
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shape= new btBoxShape(btVector3(0.5,0.5,0.5));
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shape->calculateLocalInertia(mass,localInertia);
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bodyTransform.setIdentity();
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bodyTransform.setOrigin(btVector3(- i,0,3));
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motionState = new btDefaultMotionState(bodyTransform);
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btRigidBody* body = new btRigidBody(mass,motionState,shape,localInertia);
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body->setActivationState(DISABLE_DEACTIVATION);
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m_dynamicsWorld->addRigidBody(body);
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if(prevBody != 0)
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{
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localB.setIdentity();
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localB.setOrigin(btVector3(0.5,0,0));
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btTransform localA;
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localA.setIdentity();
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localA.setOrigin(btVector3(-0.5,0,0));
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CONSTRAINT_TYPE* constraint = new CONSTRAINT_TYPE(*prevBody, *body, localA, localB EXTRAPARAMS);
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constraint->setLimit(0, -0.01, 0.01);
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constraint->setLimit(1, 0, 0);
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constraint->setLimit(2, 0, 0);
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constraint->setLimit(3, 0, 0);
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constraint->setLimit(4, 0, 0);
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constraint->setLimit(5, 0, 0);
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for(int a = 0; a < 6; ++a)
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{
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constraint->setParam(BT_CONSTRAINT_STOP_ERP,0.9,a);
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constraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,a);
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}
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m_dynamicsWorld->addConstraint(constraint, true);
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if(i < bodycount - 1)
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{
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localA.setIdentity();localA.getOrigin() = btVector3(0,0,3);
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localB.setIdentity();
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CONSTRAINT_TYPE* constraintZY = new CONSTRAINT_TYPE(*staticBody, *body, localA, localB EXTRAPARAMS);
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constraintZY->setLimit(0, 1, -1);
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m_dynamicsWorld->addConstraint(constraintZY, true);
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}
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}
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else
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{
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localA.setIdentity();localA.getOrigin() = btVector3(bodycount,0,3);
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localB.setIdentity();
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localB.setOrigin(btVector3(0,0,0));
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m_data->m_ChainLeftBody = body;
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m_data->m_ChainLeftConstraint = new CONSTRAINT_TYPE(*staticBody, *body, localA, localB EXTRAPARAMS);
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m_data->m_ChainLeftConstraint->setLimit(3,0,0);
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m_data->m_ChainLeftConstraint->setLimit(4,0,0);
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m_data->m_ChainLeftConstraint->setLimit(5,0,0);
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for(int a = 0; a < 6; ++a)
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{
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m_data->m_ChainLeftConstraint->setParam(BT_CONSTRAINT_STOP_ERP,limitConstraintStrength,a);
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m_data->m_ChainLeftConstraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,a);
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}
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m_dynamicsWorld->addConstraint(m_data->m_ChainLeftConstraint, true);
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}
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prevBody = body;
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}
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m_data->m_ChainRightBody = prevBody;
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localA.setIdentity();localA.getOrigin() = btVector3(-bodycount,0,3);
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localB.setIdentity();
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localB.setOrigin(btVector3(0,0,0));
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m_data->m_ChainRightConstraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_ChainRightBody, localA, localB EXTRAPARAMS);
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m_data->m_ChainRightConstraint->setLimit(3,0,0);
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m_data->m_ChainRightConstraint->setLimit(4,0,0);
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m_data->m_ChainRightConstraint->setLimit(5,0,0);
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for(int a = 0; a < 6; ++a)
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{
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m_data->m_ChainRightConstraint->setParam(BT_CONSTRAINT_STOP_ERP,limitConstraintStrength,a);
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m_data->m_ChainRightConstraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,a);
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}
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}
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gfxBridge.autogenerateGraphicsObjects(m_dynamicsWorld);
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}
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void Dof6Spring2Setup::animate()
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{
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/////// servo motor: flip its target periodically
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#ifdef USE_6DOF2
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static float servoNextFrame = -1;
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btScalar pos = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_currentPosition;
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btScalar target = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget;
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if(servoNextFrame < 0)
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{
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m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget *= -1;
|
|
servoNextFrame = 3.0;
|
|
}
|
|
servoNextFrame -= m_data->mDt;
|
|
#endif
|
|
|
|
/////// constraint chain: pull the chain left and right periodically
|
|
static float chainNextFrame = -1;
|
|
static bool left = true;
|
|
if(chainNextFrame < 0)
|
|
{
|
|
if(!left)
|
|
{
|
|
m_data->m_ChainRightBody->setActivationState(ACTIVE_TAG);
|
|
m_dynamicsWorld->removeConstraint(m_data->m_ChainRightConstraint);
|
|
m_dynamicsWorld->addConstraint(m_data->m_ChainLeftConstraint, true);
|
|
}
|
|
else
|
|
{
|
|
m_data->m_ChainLeftBody->setActivationState(ACTIVE_TAG);
|
|
m_dynamicsWorld->removeConstraint(m_data->m_ChainLeftConstraint);
|
|
m_dynamicsWorld->addConstraint(m_data->m_ChainRightConstraint, true);
|
|
}
|
|
chainNextFrame = 3.0;
|
|
left = !left;
|
|
}
|
|
chainNextFrame -= m_data->mDt;
|
|
|
|
/////// bouncing constraint: push the box periodically
|
|
m_data->m_BouncingTranslateBody->setActivationState(ACTIVE_TAG);
|
|
static float bounceNextFrame = -1;
|
|
if(bounceNextFrame < 0)
|
|
{
|
|
m_data->m_BouncingTranslateBody->applyCentralImpulse(btVector3(10,0,0));
|
|
bounceNextFrame = 3.0;
|
|
}
|
|
bounceNextFrame -= m_data->mDt;
|
|
|
|
m_data->frameID++;
|
|
}
|
|
|
|
|
|
void Dof6Spring2Setup::stepSimulation(float deltaTime)
|
|
{
|
|
animate();
|
|
m_dynamicsWorld->stepSimulation(deltaTime);
|
|
}
|