2021-07-28 16:34:01 +00:00
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2019 Google Inc. http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "ModeVisualizer.h"
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///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
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#include "btBulletDynamicsCommon.h"
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#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
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#include "BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.h"
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#include "BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodyHelpers.h"
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#include "BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodySolver.h"
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#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
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#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
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#include "../CommonInterfaces/CommonParameterInterface.h"
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#include <stdio.h> //printf debugging
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#include "../CommonInterfaces/CommonDeformableBodyBase.h"
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#include "../Utils/b3ResourcePath.h"
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2021-11-14 07:17:22 +00:00
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static int num_modes = 20;
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2021-07-28 16:34:01 +00:00
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static btScalar visualize_mode = 0;
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static btScalar frequency_scale = 1;
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class ModeVisualizer : public CommonDeformableBodyBase
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{
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btScalar sim_time;
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// get deformed shape
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void getDeformedShape(btReducedSoftBody* rsb, const int mode_n, const btScalar time_term = 1)
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{
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for (int i = 0; i < rsb->m_nodes.size(); ++i)
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for (int k = 0; k < 3; ++k)
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rsb->m_nodes[i].m_x[k] = rsb->m_x0[i][k] + rsb->m_modes[mode_n][3 * i + k] * time_term;
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}
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2021-10-07 19:10:57 +00:00
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btVector3 computeMassWeightedColumnSum(btReducedSoftBody* rsb, const int mode_n)
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{
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btVector3 sum(0, 0, 0);
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for (int i = 0; i < rsb->m_nodes.size(); ++i)
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{
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for (int k = 0; k < 3; ++k)
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{
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sum[k] += rsb->m_nodalMass[i] * rsb->m_modes[mode_n][3 * i + k];
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}
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}
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return sum;
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}
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2021-07-28 16:34:01 +00:00
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public:
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ModeVisualizer(struct GUIHelperInterface* helper)
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: CommonDeformableBodyBase(helper)
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{
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sim_time = 0;
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}
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virtual ~ModeVisualizer()
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{
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}
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void initPhysics();
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void exitPhysics();
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// disable pick force. non-interactive example.
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bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) {
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return false;
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}
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void resetCamera()
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{
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float dist = 10;
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float pitch = 0;
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float yaw = 90;
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float targetPos[3] = {0, 3, 0};
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m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
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}
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void stepSimulation(float deltaTime)
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{
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btReducedSoftBody* rsb = static_cast<btReducedSoftBody*>(static_cast<btDeformableMultiBodyDynamicsWorld*>(m_dynamicsWorld)->getSoftBodyArray()[0]);
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sim_time += deltaTime;
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int n_mode = floor(visualize_mode);
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2021-07-28 18:36:42 +00:00
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btScalar scale = sin(sqrt(rsb->m_eigenvalues[n_mode]) * sim_time / frequency_scale);
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2021-07-28 16:34:01 +00:00
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getDeformedShape(rsb, n_mode, scale);
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2021-10-28 18:12:19 +00:00
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// btVector3 mass_weighted_column_sum = computeMassWeightedColumnSum(rsb, visualize_mode);
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// std::cout << "mode=" << int(visualize_mode) << "\t" << mass_weighted_column_sum[0] << "\t"
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// << mass_weighted_column_sum[1] << "\t"
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// << mass_weighted_column_sum[2] << "\n";
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2021-07-28 16:34:01 +00:00
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}
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virtual void renderScene()
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{
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CommonDeformableBodyBase::renderScene();
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btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
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for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
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{
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btSoftBody* rsb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
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{
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btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer());
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btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
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}
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}
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}
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};
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void ModeVisualizer::initPhysics()
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{
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m_guiHelper->setUpAxis(1);
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///collision configuration contains default setup for memory, collision setup
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m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
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///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_broadphase = new btDbvtBroadphase();
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btReducedSoftBodySolver* reducedSoftBodySolver = new btReducedSoftBodySolver();
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btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
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sol->setDeformableSolver(reducedSoftBodySolver);
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m_solver = sol;
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m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver);
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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// create volumetric soft body
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{
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2021-11-17 02:05:48 +00:00
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btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
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2021-07-28 16:34:01 +00:00
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getDeformableDynamicsWorld()->addSoftBody(rsb);
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rsb->getCollisionShape()->setMargin(0.1);
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2021-09-09 22:35:07 +00:00
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btTransform init_transform;
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init_transform.setIdentity();
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init_transform.setOrigin(btVector3(0, 2, 0));
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2021-10-07 19:10:57 +00:00
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// init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0));
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2021-09-09 22:35:07 +00:00
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rsb->transform(init_transform);
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2021-07-28 16:34:01 +00:00
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btSoftBodyHelpers::generateBoundaryFaces(rsb);
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}
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getDeformableDynamicsWorld()->setImplicit(false);
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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{
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SliderParams slider("Visualize Mode", &visualize_mode);
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slider.m_minVal = 0;
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2021-07-28 18:36:42 +00:00
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slider.m_maxVal = num_modes - 1;
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2021-07-28 16:34:01 +00:00
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if (m_guiHelper->getParameterInterface())
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{
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SliderParams slider("Frequency Reduction", &frequency_scale);
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slider.m_minVal = 1;
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slider.m_maxVal = 1e3;
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if (m_guiHelper->getParameterInterface())
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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}
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void ModeVisualizer::exitPhysics()
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{
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//cleanup in the reverse order of creation/initialization
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removePickingConstraint();
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//remove the rigidbodies from the dynamics world and delete them
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int i;
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for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
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{
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btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
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btRigidBody* body = btRigidBody::upcast(obj);
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if (body && body->getMotionState())
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{
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delete body->getMotionState();
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}
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m_dynamicsWorld->removeCollisionObject(obj);
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delete obj;
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}
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// delete forces
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for (int j = 0; j < m_forces.size(); j++)
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{
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btDeformableLagrangianForce* force = m_forces[j];
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delete force;
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}
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m_forces.clear();
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//delete collision shapes
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for (int j = 0; j < m_collisionShapes.size(); j++)
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{
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btCollisionShape* shape = m_collisionShapes[j];
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delete shape;
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}
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m_collisionShapes.clear();
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delete m_dynamicsWorld;
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delete m_solver;
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delete m_broadphase;
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delete m_dispatcher;
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delete m_collisionConfiguration;
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}
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class CommonExampleInterface* ReducedModeVisualizerCreateFunc(struct CommonExampleOptions& options)
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{
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return new ModeVisualizer(options.m_guiHelper);
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}
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