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https://github.com/bulletphysics/bullet3
synced 2024-12-05 01:50:05 +00:00
add render mesh interpolation from simulation mesh
This commit is contained in:
Xuchen Han
parent
1febf8d612
commit
a47eeb8225
@ -3082,6 +3082,20 @@ void btSoftBody::applyForces()
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}
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}
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//
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void btSoftBody::interpolateRenderMesh()
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{
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for (int i = 0; i < m_renderNodes.size(); ++i)
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{
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Node& n = m_renderNodes[i];
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n.m_x.setZero();
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for (int j = 0; j < m_renderNodesParents[i].size(); ++j)
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{
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n.m_x += m_renderNodesParents[i][j]->m_x * m_renderNodesInterpolationWeights[j];
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}
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}
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}
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//
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void btSoftBody::PSolve_Anchors(btSoftBody* psb, btScalar kst, btScalar ti)
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{
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@ -703,8 +703,10 @@ public:
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btSoftBodyWorldInfo* m_worldInfo; // World info
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tNoteArray m_notes; // Notes
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tNodeArray m_nodes; // Nodes
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tNodeArray m_renderNodes; // Nodes
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tLinkArray m_links; // Links
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tFaceArray m_faces; // Faces
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tFaceArray m_renderFaces; // Faces
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tTetraArray m_tetras; // Tetras
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tAnchorArray m_anchors; // Anchors
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tRContactArray m_rcontacts; // Rigid contacts
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@ -719,6 +721,9 @@ public:
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btDbvt m_cdbvt; // Clusters tree
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tClusterArray m_clusters; // Clusters
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btScalar m_dampingCoefficient; // Damping Coefficient
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btAlignedObjectArray<btVector4> m_renderNodesInterpolationWeights;
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btAlignedObjectArray<btAlignedObjectArray<const btSoftBody::Node*> > m_renderNodesParents;
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btAlignedObjectArray<bool> m_clusterConnectivity; //cluster connectivity, for self-collision
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@ -1030,6 +1035,7 @@ public:
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void initializeDmInverse();
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void updateDeformation();
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void applyForces();
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void interpolateRenderMesh();
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static void PSolve_Anchors(btSoftBody* psb, btScalar kst, btScalar ti);
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static void PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti);
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static void PSolve_SContacts(btSoftBody* psb, btScalar, btScalar ti);
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@ -23,8 +23,9 @@ subject to the following restrictions:
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#include "btSoftBodyHelpers.h"
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#include "LinearMath/btConvexHull.h"
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#include "LinearMath/btConvexHullComputer.h"
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#include <map>
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#include <vector>
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//
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static void drawVertex(btIDebugDraw* idraw,
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const btVector3& x, btScalar s, const btVector3& c)
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{
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@ -1321,6 +1322,57 @@ btSoftBody* btSoftBodyHelpers::CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo,
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psb->appendLink(ni[2], ni[3], 0, true);
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}
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}
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std::map<std::vector<int>, std::vector<int> > dict;
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for (int i = 0; i < indices.size(); ++i)
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{
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for (int j = 0; j < 4; ++j)
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{
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std::vector<int> f;
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if (j == 0)
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{
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f.push_back(indices[i][1]);
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f.push_back(indices[i][0]);
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f.push_back(indices[i][2]);
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}
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if (j == 1)
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{
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f.push_back(indices[i][3]);
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f.push_back(indices[i][0]);
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f.push_back(indices[i][1]);
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}
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if (j == 2)
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{
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f.push_back(indices[i][3]);
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f.push_back(indices[i][1]);
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f.push_back(indices[i][2]);
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}
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if (j == 3)
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{
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f.push_back(indices[i][2]);
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f.push_back(indices[i][0]);
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f.push_back(indices[i][3]);
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}
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std::vector<int> f_sorted = f;
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std::sort(f_sorted.begin(), f_sorted.end());
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if (dict.find(f_sorted) != dict.end())
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{
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dict.erase(f_sorted);
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}
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else
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{
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dict.insert(std::make_pair(f_sorted, f));
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}
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}
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}
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for (auto it = dict.begin(); it != dict.end(); ++it)
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{
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std::vector<int> f = it->second;
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psb->appendFace(f[0], f[1], f[2]);
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}
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psb->initializeDmInverse();
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printf("Nodes: %u\r\n", psb->m_nodes.size());
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printf("Links: %u\r\n", psb->m_links.size());
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@ -1330,3 +1382,111 @@ btSoftBody* btSoftBodyHelpers::CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo,
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fs.close();
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return psb;
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}
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void btSoftBodyHelpers::writeObj(const char* filename, const btSoftBody* psb)
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{
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std::ofstream fs;
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fs.open(filename);
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btAssert(fs);
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for (int i = 0; i < psb->m_nodes.size(); ++i)
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{
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fs << "v";
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for (int d = 0; d < 3; d++)
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{
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fs << " " << psb->m_nodes[i].m_x[d];
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}
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fs << "\n";
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}
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for (int i = 0; i < psb->m_faces.size(); ++i)
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{
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fs << "f";
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for (int n = 0; n < 3; n++)
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{
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fs << " " << psb->m_faces[i].m_n[n]->index + 1;
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}
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fs << "\n";
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}
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fs.close();
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}
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void btSoftBodyHelpers::getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, const btVector3& p, btVector4& bary)
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{
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btVector3 vap = p - a;
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btVector3 vbp = p - b;
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btVector3 vab = b - a;
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btVector3 vac = c - a;
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btVector3 vad = d - a;
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btVector3 vbc = c - b;
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btVector3 vbd = d - b;
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btScalar va6 = (vbp.cross(vbd)).dot(vbc);
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btScalar vb6 = (vap.cross(vac)).dot(vad);
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btScalar vc6 = (vap.cross(vad)).dot(vab);
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btScalar vd6 = (vap.cross(vab)).dot(vac);
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btScalar v6 = btScalar(1) / (vab.cross(vac).dot(vad));
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bary = btVector4(va6*v6, vb6*v6, vc6*v6, vd6*v6);
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}
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void btSoftBodyHelpers::readRenderMeshFromObj(const char* file, btSoftBody* psb)
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{
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std::ifstream fs;
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fs.open(file);
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std::string line;
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btVector3 pos;
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while (std::getline(fs, line))
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{
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std::stringstream ss(line);
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if (line[0] == 'v')
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{
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ss.ignore();
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for (size_t i = 0; i < 3; i++)
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ss >> pos[i];
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btSoftBody::Node n;
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n.m_x = pos;
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psb->m_renderNodes.push_back(n);
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}
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else if (line[0] == 'f')
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{
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ss.ignore();
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int id0, id1, id2;
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ss >> id0;
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ss >> id1;
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ss >> id2;
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btSoftBody::Face f;
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f.m_n[0] = &psb->m_renderNodes[id0-1];
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f.m_n[1] = &psb->m_renderNodes[id1-1];
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f.m_n[2] = &psb->m_renderNodes[id2-1];
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psb->m_renderFaces.push_back(f);
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}
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}
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fs.close();
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}
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void btSoftBodyHelpers::interpolateBarycentricWeights(btSoftBody* psb)
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{
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psb->m_renderNodesInterpolationWeights.resize(psb->m_renderNodes.size());
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psb->m_renderNodesParents.resize(psb->m_renderNodes.size());
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for (int i = 0; i < psb->m_renderNodes.size(); ++i)
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{
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const btVector3& p = psb->m_renderNodes[i].m_x;
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btVector4 bary;
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for (int j = 0; j < psb->m_tetras.size(); ++j)
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{
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const btSoftBody::Tetra& t = psb->m_tetras[j];
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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);
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if (bary[0]>=0 && bary[1]>=0 && bary[2]>=0 && bary[3]>=0)
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{
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btAlignedObjectArray<const btSoftBody::Node*> parents;
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parents.push_back(t.m_n[0]);
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parents.push_back(t.m_n[1]);
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parents.push_back(t.m_n[2]);
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parents.push_back(t.m_n[3]);
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psb->m_renderNodesParents[i] = parents;
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break;
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}
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}
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psb->m_renderNodesInterpolationWeights[i] = bary;
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}
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}
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@ -144,8 +144,13 @@ struct btSoftBodyHelpers
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bool bfacesfromtetras);
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static btSoftBody* CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file);
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static void writeObj(const char* file, const btSoftBody* psb);
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static void getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, const btVector3& p, btVector4& bary);
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static void readRenderMeshFromObj(const char* file, btSoftBody* psb);
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static void interpolateBarycentricWeights(btSoftBody* psb);
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/// Sort the list of links to move link calculations that are dependent upon earlier
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/// ones as far as possible away from the calculation of those values
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/// This tends to make adjacent loop iterations not dependent upon one another,
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