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Code Issues Releases Wiki Activity

contact with moving rigid body is working. There is a sign error when calculating the deltaVelocity of the solverBody

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This commit is contained in:
jingyuc 2021-09-03 17:32:26 -04:00
parent f2e114fc81
commit df07b42318
3 changed files with 86 additions and 9 deletions
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89
examples/ReducedDeformableDemo/FreeFall.cpp
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@ -56,6 +56,10 @@ public:
void resetCamera()
{
// float dist = 10;
// float pitch = -20;
// float yaw = 90;
// float targetPos[3] = {0, 0, 0.5};
float dist = 20;
float pitch = -30;
float yaw = 125;
@ -66,14 +70,16 @@ public:
void Ctor_RbUpStack()
{
float mass = 10;
btCollisionShape* shape = new btBoxShape(btVector3(3, 3, 3));
// btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.5, 0.5));
btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 1));
btTransform startTransform;
startTransform.setIdentity();
// startTransform.setOrigin(btVector3(0, 12, 0));
// btRigidBody* rb0 = createRigidBody(mass, startTransform, shape);
// rb0->setLinearVelocity(btVector3(0, 0, 0));
startTransform.setOrigin(btVector3(0,6,0));
startTransform.setOrigin(btVector3(0,10,0));
// startTransform.setOrigin(btVector3(0,4,2.8));
// startTransform.setRotation(btQuaternion(btVector3(1, 0, 1), SIMD_PI / 4.0));
btRigidBody* rb1 = createRigidBody(mass, startTransform, shape);
rb1->setLinearVelocity(btVector3(0, 0, 0));
@ -147,12 +153,11 @@ void FreeFall::initPhysics()
m_solver = sol;
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver);
m_dynamicsWorld->setGravity(gravity);
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
// create volumetric reduced deformable body
{
std::string filepath("../../../examples/SoftDemo/");
std::string filepath("../../../examples/SoftDemo/beam/");
std::string filename = filepath + "mesh.vtk";
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), filename.c_str());
@ -161,8 +166,14 @@ void FreeFall::initPhysics()
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.1);
// rsb->scale(btVector3(1, 1, 1));
rsb->translate(btVector3(0, 2.5, 0)); //TODO: add back translate and scale
btTransform init_transform;
init_transform.setIdentity();
init_transform.setOrigin(btVector3(0, 4, 0));
// init_transform.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_PI / 4.0));
// init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0));
rsb->transform(init_transform);
// rsb->setTotalMass(0.5);
rsb->setStiffnessScale(10);
rsb->setDamping(damping_alpha, damping_beta);
@ -196,6 +207,7 @@ void FreeFall::initPhysics()
btTransform groundTransform;
groundTransform.setIdentity();
// groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
// groundTransform.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_PI / 6.0));
groundTransform.setOrigin(btVector3(0, 0, 0));
// groundTransform.setOrigin(btVector3(0, 0, 6));
// groundTransform.setOrigin(btVector3(0, -50, 0));
@ -204,6 +216,70 @@ void FreeFall::initPhysics()
createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0));
}
}
// {
// // btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
// btBoxShape* groundShape = createBoxShape(btVector3(btScalar(2), btScalar(0.5), btScalar(1)));
// m_collisionShapes.push_back(groundShape);
// btTransform groundTransform;
// groundTransform.setIdentity();
// // groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
// groundTransform.setOrigin(btVector3(0, 2, 3.1));
// // groundTransform.setOrigin(btVector3(0, 0, 6));
// // groundTransform.setOrigin(btVector3(0, -50, 0));
// {
// btScalar mass(0.);
// createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0));
// }
// }
// {
// // btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
// btBoxShape* groundShape = createBoxShape(btVector3(btScalar(2), btScalar(0.5), btScalar(1)));
// m_collisionShapes.push_back(groundShape);
// btTransform groundTransform;
// groundTransform.setIdentity();
// // groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
// groundTransform.setOrigin(btVector3(0, 2, -3.1));
// // groundTransform.setOrigin(btVector3(0, 0, 6));
// // groundTransform.setOrigin(btVector3(0, -50, 0));
// {
// btScalar mass(0.);
// createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0));
// }
// }
// {
// // btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
// btBoxShape* groundShape = createBoxShape(btVector3(btScalar(1), btScalar(0.5), btScalar(2)));
// m_collisionShapes.push_back(groundShape);
// btTransform groundTransform;
// groundTransform.setIdentity();
// // groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
// groundTransform.setOrigin(btVector3(2, 2, 0));
// // groundTransform.setOrigin(btVector3(0, 0, 6));
// // groundTransform.setOrigin(btVector3(0, -50, 0));
// {
// btScalar mass(0.);
// createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0));
// }
// }
// {
// // btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
// btBoxShape* groundShape = createBoxShape(btVector3(btScalar(1), btScalar(0.5), btScalar(2)));
// m_collisionShapes.push_back(groundShape);
// btTransform groundTransform;
// groundTransform.setIdentity();
// // groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
// groundTransform.setOrigin(btVector3(-2, 2, 0));
// // groundTransform.setOrigin(btVector3(0, 0, 6));
// // groundTransform.setOrigin(btVector3(0, -50, 0));
// {
// btScalar mass(0.);
// createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0));
// }
// }
getDeformableDynamicsWorld()->setImplicit(false);
getDeformableDynamicsWorld()->setLineSearch(false);
@ -216,6 +292,7 @@ void FreeFall::initPhysics()
// add a few rigid bodies
Ctor_RbUpStack();
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
m_dynamicsWorld->setGravity(gravity);
// {
// SliderParams slider("Young's Modulus", &E);

4
src/BulletSoftBody/BulletReducedSoftBody/btReducedDeformableContactConstraint.cpp
View File

@ -70,7 +70,7 @@ void btReducedDeformableRigidContactConstraint::setSolverBody(btSolverBody& solv
{
m_solverBody = &solver_body;
m_linearComponentNormal = -m_contactNormalA * m_solverBody->internalGetInvMass();
btVector3 torqueAxis = m_relPosA.cross(m_contactNormalA);
btVector3 torqueAxis = -m_relPosA.cross(m_contactNormalA);
m_angularComponentNormal = m_solverBody->m_originalBody->getInvInertiaTensorWorld() * torqueAxis;
}
@ -342,7 +342,7 @@ btVector3 btReducedDeformableNodeRigidContactConstraint::getDeltaVa() const
btVector3 deltaVa(0, 0, 0);
if (!m_collideStatic)
{
deltaVa = m_solverBody->internalGetDeltaLinearVelocity() + m_relPosA.cross(m_solverBody->internalGetDeltaAngularVelocity());
deltaVa = m_solverBody->internalGetDeltaLinearVelocity() + m_solverBody->internalGetDeltaAngularVelocity().cross(m_relPosA);
}
return deltaVa;
}

2
src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.cpp
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@ -8,7 +8,7 @@
btReducedSoftBody::btReducedSoftBody(btSoftBodyWorldInfo* worldInfo, int node_count, const btVector3* x, const btScalar* m)
: btSoftBody(worldInfo, node_count, x, m)
{
m_rigidOnly = true; //! only use rigid frame to debug
m_rigidOnly = false; //! only use rigid frame to debug
// reduced deformable
m_reducedModel = true;