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Merge remote-tracking branch 'origin/master'

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Xuchen Han 2019-11-25 15:29:25 -08:00
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15
README.md
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@ -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:

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data/cloth.obj Normal file
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@ -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
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@ -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
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f 19//1 9//1 20//1
f 16//1 7//1 21//1
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32
examples/SharedMemory/PhysicsClientC_API.cpp
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@ -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;
}
@ -3266,6 +3266,30 @@ 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;

4
examples/SharedMemory/PhysicsClientC_API.h
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@ -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);
@ -644,6 +644,8 @@ 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);

251
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -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
@ -1636,18 +1636,14 @@ struct PhysicsServerCommandProcessorInternalData
btDefaultCollisionConfiguration* m_collisionConfiguration;
//#ifndef SKIP_DEFORMABLE_BODY
#ifndef SKIP_DEFORMABLE_BODY
btDeformableBodySolver* m_deformablebodySolver;
btAlignedObjectArray<btDeformableLagrangianForce*> 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;
@ -1713,6 +1709,9 @@ struct PhysicsServerCommandProcessorInternalData
m_dispatcher(0),
m_solver(0),
m_collisionConfiguration(0),
#ifndef SKIP_DEFORMABLE_BODY
m_deformablebodySolver(0),
#endif
m_dynamicsWorld(0),
m_deformablebodySolver(0),
m_constraintSolverType(-1),
@ -2652,23 +2651,25 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld(int flags)
bv->setVelocityPrediction(0);
m_data->m_broadphase = bv;
}
if (flags & RESET_USE_DEFORMABLE_WORLD)
if (flags & RESET_USE_DEFORMABLE_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_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)))
if ((0==m_data->m_dynamicsWorld) && (0==(flags&RESET_USE_DISCRETE_DYNAMICS_WORLD)))
{
m_data->m_solver = new btMultiBodyConstraintSolver;
#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);
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
}
@ -5127,24 +5128,24 @@ 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;
@ -8070,7 +8071,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
{
collisionMargin = clientCmd.m_loadSoftBodyArguments.m_collisionMargin;
}
{
btSoftBody* psb = NULL;
@ -8084,13 +8085,22 @@ 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<tinyobj::shape_t> shapes;
tinyobj::attrib_t attribute;
@ -8149,7 +8159,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
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)
{
@ -8186,37 +8196,55 @@ 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 (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);
}
}
// load render mesh
if (out_found_sim_filename != out_found_filename)
{
// load render mesh
{
tinyobj::attrib_t attribute;
std::vector<tinyobj::shape_t> shapes;
std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), pathPrefix, m_data->m_pluginManager.getFileIOInterface());
if (!foundRenderMesh)
{
psb->m_renderNodes.resize(0);
}
// This value should really be a exposed parameter
psb->setCollisionQuadrature(5);
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;v<vertexCount;v++)
{
btSoftBody::Node n;
n.m_x = btVector3(attribute.vertices[3*v],attribute.vertices[3*v+1],attribute.vertices[3*v+2]);
psb->m_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);
}
btVector3 gravity = m_data->m_dynamicsWorld->getGravity();
btDeformableLagrangianForce* gravityForce = new btDeformableGravityForce(gravity);
deformWorld->addForce(psb, gravityForce);
@ -8563,10 +8591,21 @@ 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;
@ -9441,6 +9480,7 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_SPARSE_SDF)
{
#ifndef SKIP_DEFORMABLE_BODY
{
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
if (deformWorld)
@ -9449,6 +9489,8 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
deformWorld ->getWorldInfo().m_sparsesdf.Reset();
}
}
#endif
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
{
btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld();
if (softWorld)
@ -9457,6 +9499,7 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
softWorld->getWorldInfo().m_sparsesdf.Reset();
}
}
#endif
}
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD)
@ -10647,6 +10690,84 @@ 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;

5
examples/SharedMemory/SharedMemoryCommands.h
View File

@ -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
@ -802,6 +802,7 @@ 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

29
examples/pybullet/examples/deformable_anchor.py Normal file
View File

@ -0,0 +1,29 @@
import pybullet as p
from time import sleep
physicsClient = p.connect(p.GUI)
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("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.setGravity(0,0,gravZ)
sleep(1./240.)

2
examples/pybullet/examples/deformable_ball.py
View File

@ -24,4 +24,4 @@ while p.isConnected():
sleep(1./240.)
#p.resetSimulation()
#p.stopStateLogging(logId)
#p.stopStateLogging(logId)

28
examples/pybullet/examples/test_inertia.py Normal file
View File

@ -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.)

58
examples/pybullet/pybullet.c
View File

@ -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."},

10
src/BulletSoftBody/btSoftBody.cpp
View File

@ -2567,7 +2567,8 @@ 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;
@ -3377,7 +3378,10 @@ 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];
}
}
}
}
@ -3966,7 +3970,7 @@ 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;

38
src/BulletSoftBody/btSoftBodyHelpers.cpp
View File

@ -1500,44 +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
void btSoftBodyHelpers::interpolateBarycentricWeights(btSoftBody* psb)

2
src/BulletSoftBody/btSoftBodyHelpers.h
View File

@ -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);

64
src/BulletSoftBody/btSparseSDF.h
View File

@ -20,27 +20,38 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
// Modified Paul Hsieh hash
template <const int DWORDLEN>
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 <const int CELLSIZE>
@ -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;
}
}
@ -260,7 +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
@ -340,16 +354,16 @@ struct btSparseSdf
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<sizeof(btS) / 4>(ptr);
unsigned int result = HsiehHash(ptr, sizeof(btS) );
return result;
}