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Code Issues Releases Wiki Activity

implement request deformable contact info

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This commit is contained in:
Chuyuan Fu 2021-08-18 18:48:35 -07:00
parent 0e124cb2f1
commit e16c9bb1cc
4 changed files with 134 additions and 7 deletions
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127
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@ -8023,6 +8023,129 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
return hasStatus;
}
bool PhysicsServerCommandProcessor::processRequestDeformableContactpointHelper(const struct SharedMemoryCommand& clientCmd)
{
#ifndef SKIP_DEFORMABLE_BODY
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
if (!deformWorld)
{
return false;
}
int numSoftbodyContact = 0;
for (int i = deformWorld->getSoftBodyArray().size() - 1; i >= 0; i--)
{
numSoftbodyContact += deformWorld->getSoftBodyArray()[i]->m_faceRigidContacts.size();
}
int num_contact_points = m_data->m_cachedContactPoints.size();
m_data->m_cachedContactPoints.reserve(num_contact_points + numSoftbodyContact);
for (int i = deformWorld->getSoftBodyArray().size() - 1; i >= 0; i--)
{
btSoftBody* psb = deformWorld->getSoftBodyArray()[i];
for (int c = 0; c < psb->m_faceRigidContacts.size(); c++)
{
const btSoftBody::DeformableFaceRigidContact* contact = &psb->m_faceRigidContacts[i];
//convert rigidbody contact
int linkIndexA = -1;
int linkIndexB = -1;
int objectIndexA = psb->getUserIndex2();
int objectIndexB = -1;
const btRigidBody* bodyB = btRigidBody::upcast(contact->m_cti.m_colObj);
if (bodyB)
{
objectIndexB = bodyB->getUserIndex2();
}
const btMultiBodyLinkCollider* mblB = btMultiBodyLinkCollider::upcast(contact->m_cti.m_colObj);
if (mblB && mblB->m_multiBody)
{
linkIndexB = mblB->m_link;
objectIndexB = mblB->m_multiBody->getUserIndex2();
}
//apply the filter, if the user provides it
bool swap = false;
if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter >= 0)
{
if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter == objectIndexA)
{
swap = false;
}
else if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter == objectIndexB)
{
swap = true;
}
else
{
continue;
}
}
if (swap)
{
std::swap(objectIndexA, objectIndexB);
std::swap(linkIndexA, linkIndexB);
}
//apply the second object filter, if the user provides it
if (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter >= 0)
{
if (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter != objectIndexB)
{
continue;
}
}
if (
(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER) &&
clientCmd.m_requestContactPointArguments.m_linkIndexAIndexFilter != linkIndexA)
{
continue;
}
if (
(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER) &&
clientCmd.m_requestContactPointArguments.m_linkIndexBIndexFilter != linkIndexB)
{
continue;
}
b3ContactPointData pt;
pt.m_bodyUniqueIdA = objectIndexA;
pt.m_bodyUniqueIdB = objectIndexB;
pt.m_contactDistance = contact->m_cti.m_offset;
pt.m_contactFlags = 0;
pt.m_linkIndexA = linkIndexA;
pt.m_linkIndexB = linkIndexB;
for (int j = 0; j < 3; j++)
{
if (swap)
{
pt.m_contactNormalOnBInWS[j] = -contact->m_cti.m_normal[j];
pt.m_positionOnAInWS[j] = contact->m_cti.m_normal[j];
pt.m_positionOnBInWS[j] = -contact->m_cti.m_normal[j];
}
else
{
pt.m_contactNormalOnBInWS[j] = contact->m_cti.m_normal[j];
pt.m_positionOnAInWS[j] = -contact->m_cti.m_normal[j];
pt.m_positionOnBInWS[j] = contact->m_cti.m_normal[j];
}
}
pt.m_normalForce = 1;
pt.m_linearFrictionForce1 = 0;
pt.m_linearFrictionForce2 = 0;
for (int j = 0; j < 3; j++)
{
pt.m_linearFrictionDirection1[j] = 0;
pt.m_linearFrictionDirection2[j] = 0;
}
m_data->m_cachedContactPoints.push_back(pt);
}
}
#endif
return true;
}
bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
bool hasStatus = true;
@ -8165,6 +8288,10 @@ bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand
m_data->m_cachedContactPoints.push_back(pt);
}
}
#ifndef SKIP_DEFORMABLE_BODY
processRequestDeformableContactpointHelper(clientCmd);
#endif
break;
}

1
examples/SharedMemory/PhysicsServerCommandProcessor.h
View File

@ -44,6 +44,7 @@ protected:
bool processSendDesiredStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestActualStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestContactpointInformationCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestDeformableContactpointHelper(const struct SharedMemoryCommand& clientCmd);
bool processRequestBodyInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processLoadSDFCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCreateMultiBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);

7
src/BulletSoftBody/btDeformableBodySolver.cpp
View File

@ -405,13 +405,12 @@ void btDeformableBodySolver::predictMotion(btScalar solverdt)
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
/* Clear contacts */
if (psb->isActive())
{
/* Clear contacts when softbody is active*/
psb->m_nodeRigidContacts.resize(0);
psb->m_faceRigidContacts.resize(0);
psb->m_faceNodeContacts.resize(0);
if (psb->isActive())
{
// predict motion for collision detection
predictDeformableMotion(psb, solverdt);
}

4
src/BulletSoftBody/btSoftBody.cpp
View File

@ -4095,7 +4095,7 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap
case fCollision::SDF_RD:
{
btRigidBody* prb1 = (btRigidBody*)btRigidBody::upcast(pcoWrap->getCollisionObject());
if (pcoWrap->getCollisionObject()->isActive() || this->isActive())
if (this->isActive())
{
const btTransform wtr = pcoWrap->getWorldTransform();
const btScalar timemargin = 0;
@ -4246,7 +4246,7 @@ void btSoftBody::geometricCollisionHandler(btSoftBody* psb)
btSoftColliders::CollideCCD docollide;
/* common */
docollide.mrg = SAFE_EPSILON; // for rounding error instead of actual margin
docollide.dt = psb->m_sst.sdt;
docollide.dt = psb->m_sst.sd;
/* psb0 nodes vs psb1 faces */
if (psb->m_tetras.size() > 0)
docollide.useFaceNormal = true;