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Code Issues Releases Wiki Activity

delete lagrangian force when deleting dynamics world from command processor

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This commit is contained in:
Xuchen Han 2019-10-07 19:30:45 -07:00
parent 58a67f82fb
commit c808bb78c7
1 changed files with 32 additions and 14 deletions
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46
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -105,7 +105,7 @@
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#endif
#define SKIP_DEFORMABLE_BODY 1
//#define SKIP_DEFORMABLE_BODY 1
int gInternalSimFlags = 0;
bool gResetSimulation = 0;
@ -1631,6 +1631,7 @@ struct PhysicsServerCommandProcessorInternalData
#ifndef SKIP_DEFORMABLE_BODY
btDeformableMultiBodyDynamicsWorld* m_dynamicsWorld;
btDeformableBodySolver* m_deformablebodySolver;
btAlignedObjectArray<btDeformableLagrangianForce*> m_lf;
#else
btSoftMultiBodyDynamicsWorld* m_dynamicsWorld;
btSoftBodySolver* m_softbodySolver;
@ -2790,6 +2791,13 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
m_data->m_dynamicsWorld->removeMultiBody(mb);
delete mb;
}
#ifndef SKIP_DEFORMABLE
for (int j = 0; j < m_data->m_lf.size(); j++)
{
btDeformableLagrangianForce* force = m_data->m_lf[j];
delete force;
}
#endif
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
for (i = m_data->m_dynamicsWorld->getSoftBodyArray().size() - 1; i >= 0; i--)
{
@ -8066,7 +8074,9 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
{
spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness;
spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness;
m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false));
btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false);
m_data->m_dynamicsWorld->addForce(psb, springForce);
m_data->m_lf.push_back(springForce);
}
#endif
}
@ -8077,24 +8087,30 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
btScalar corotated_mu, corotated_lambda;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE)
{
corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu;
corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda;
m_data->m_dynamicsWorld->addForce(psb, new btDeformableCorotatedForce(corotated_mu, corotated_lambda));
corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu;
corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda;
btDeformableLagrangianForce* corotatedForce = new btDeformableCorotatedForce(corotated_mu, corotated_lambda);
m_data->m_dynamicsWorld->addForce(psb, corotatedForce);
m_data->m_lf.push_back(corotatedForce);
}
btScalar neohookean_mu, neohookean_lambda, neohookean_damping;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE)
{
neohookean_mu = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanMu;
neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda;
neohookean_damping = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanDamping;
m_data->m_dynamicsWorld->addForce(psb, new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda, neohookean_damping));
neohookean_mu = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanMu;
neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda;
neohookean_damping = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanDamping;
btDeformableLagrangianForce* neohookeanForce = new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda, neohookean_damping);
m_data->m_dynamicsWorld->addForce(psb, neohookeanForce);
m_data->m_lf.push_back(neohookeanForce);
}
btScalar spring_elastic_stiffness, spring_damping_stiffness;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE)
{
spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness;
spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness;
m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true));
spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness;
spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness;
btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true);
m_data->m_dynamicsWorld->addForce(psb, springForce);
m_data->m_lf.push_back(springForce);
}
#endif
}
@ -8113,7 +8129,9 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
psb->m_renderNodes.resize(0);
}
btVector3 gravity = m_data->m_dynamicsWorld->getGravity();
m_data->m_dynamicsWorld->addForce(psb, new btDeformableGravityForce(gravity));
btDeformableLagrangianForce* gravityForce = new btDeformableGravityForce(gravity);
m_data->m_dynamicsWorld->addForce(psb, gravityForce);
m_data->m_lf.push_back(gravityForce);
btScalar collision_hardness = 1;
psb->m_cfg.kKHR = collision_hardness;
psb->m_cfg.kCHR = collision_hardness;
@ -8143,7 +8161,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
// collion between deformable and deformable and self-collision
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
psb->setCollisionFlags(0);
psb->setTotalMass(mass);
psb->setTotalMass(mass);
bool use_self_collision = false;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_SELF_COLLISION)
{