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add demo for deformable contact

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This commit is contained in:
Xuchen Han 2019-09-16 16:04:59 -07:00
parent 1bfb226be8
commit a92a8f1135
5 changed files with 284 additions and 87 deletions
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257
examples/DeformableDemo/DeformableContact.cpp
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@ -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 <stdio.h> //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<btDeformableLagrangianForce*> 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"

26
examples/DeformableDemo/DeformableContact.h
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@ -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 <stdio.h>
class CommonExampleInterface* DeformableContactCreateFunc(struct CommonExampleOptions& options);
#endif /* DeformableContact_hpp */
#endif //_DEFORMABLE_CONTACT_H

84
examples/DeformableDemo/GraspDeformable.cpp
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@ -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);
}

2
examples/ExampleBrowser/CMakeLists.txt
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@ -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

2
examples/ExampleBrowser/ExampleEntries.cpp
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@ -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),