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Code Issues Releases Wiki Activity

clean up: remove unused example, rename the benchmark example

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This commit is contained in:
jingyuc 2022-01-30 22:33:24 -08:00
parent 11b79c3838
commit f8abdd1fe1
6 changed files with 16 additions and 366 deletions
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6
examples/ExampleBrowser/CMakeLists.txt
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@ -402,10 +402,8 @@ SET(BulletExampleBrowser_SRCS
../ReducedDeformableDemo/ReducedCollide.h
../ReducedDeformableDemo/ReducedGrasp.cpp
../ReducedDeformableDemo/ReducedGrasp.h
../ReducedDeformableDemo/ReducedGraspBenchmark.cpp
../ReducedDeformableDemo/ReducedGraspBenchmark.h
../ReducedDeformableDemo/ReducedPress.cpp
../ReducedDeformableDemo/ReducedPress.h
../ReducedDeformableDemo/ReducedBenchmark.cpp
../ReducedDeformableDemo/ReducedBenchmark.h
../ReducedDeformableDemo/ReducedMotorGrasp.cpp
../ReducedDeformableDemo/ReducedMotorGrasp.h
../Constraints/TestHingeTorque.cpp

6
examples/ExampleBrowser/ExampleEntries.cpp
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@ -79,9 +79,8 @@
#include "../ReducedDeformableDemo/FrictionSlope.h"
#include "../ReducedDeformableDemo/ReducedCollide.h"
#include "../ReducedDeformableDemo/ReducedGrasp.h"
#include "../ReducedDeformableDemo/ReducedPress.h"
#include "../ReducedDeformableDemo/ReducedMotorGrasp.h"
#include "../ReducedDeformableDemo/ReducedGraspBenchmark.h"
#include "../ReducedDeformableDemo/ReducedBenchmark.h"
#include "../InverseKinematics/InverseKinematicsExample.h"
#ifdef B3_ENABLE_TINY_AUDIO
@ -232,10 +231,9 @@ static ExampleEntry gDefaultExamples[] =
ExampleEntry(1, "Reduced Free Fall", "Free fall ground contact test for the reduced deformable model", ReducedFreeFallCreateFunc),
ExampleEntry(1, "Reduced Collision Test", "Collision between a reduced block and the a rigid block", ReducedCollideCreateFunc),
ExampleEntry(1, "Reduced Grasp", "Grasp a reduced deformable block", ReducedGraspCreateFunc),
ExampleEntry(1, "Reduced Press", "Press a reduced deformable block against the ground", ReducedPressCreateFunc),
ExampleEntry(1, "Reduced Motor Grasp", "Grasp a reduced deformable block with motor", ReducedMotorGraspCreateFunc),
ExampleEntry(1, "Reduced Friction Slope", "Grasp a reduced deformable block", FrictionSlopeCreateFunc),
ExampleEntry(1, "Reduced Benchmark", "Grasp a reduced deformable block", ReducedGraspBenchmarkCreateFunc),
ExampleEntry(1, "Reduced Benchmark", "Reduced deformable performance benchmark example", ReducedBenchmarkCreateFunc),
// ExampleEntry(1, "Simple Reduced Deformable Test", "Simple dynamics test for the reduced deformable objects", ReducedBasicTestCreateFunc),
#ifdef INCLUDE_CLOTH_DEMOS

16
examples/ReducedDeformableDemo/ReducedGraspBenchmark.cpp → examples/ReducedDeformableDemo/ReducedBenchmark.cpp
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@ -11,7 +11,7 @@
3. This notice may not be removed or altered from any source distribution.
*/
#include "ReducedGraspBenchmark.h"
#include "ReducedBenchmark.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
@ -32,15 +32,15 @@ static btScalar COLLIDING_VELOCITY = 0;
static int num_modes = 20;
static bool run_reduced = true;
class ReducedGraspBenchmark : public CommonDeformableBodyBase
class ReducedBenchmark : public CommonDeformableBodyBase
{
btVector3 m_gravity;
public:
ReducedGraspBenchmark(struct GUIHelperInterface* helper)
ReducedBenchmark(struct GUIHelperInterface* helper)
: CommonDeformableBodyBase(helper)
{
}
virtual ~ReducedGraspBenchmark()
virtual ~ReducedBenchmark()
{
}
void initPhysics();
@ -205,7 +205,7 @@ public:
}
};
void ReducedGraspBenchmark::initPhysics()
void ReducedBenchmark::initPhysics()
{
m_guiHelper->setUpAxis(1);
@ -288,7 +288,7 @@ void ReducedGraspBenchmark::initPhysics()
m_dynamicsWorld->setGravity(gravity);
}
void ReducedGraspBenchmark::exitPhysics()
void ReducedBenchmark::exitPhysics()
{
//cleanup in the reverse order of creation/initialization
removePickingConstraint();
@ -334,9 +334,9 @@ void ReducedGraspBenchmark::exitPhysics()
class CommonExampleInterface* ReducedGraspBenchmarkCreateFunc(struct CommonExampleOptions& options)
class CommonExampleInterface* ReducedBenchmarkCreateFunc(struct CommonExampleOptions& options)
{
return new ReducedGraspBenchmark(options.m_guiHelper);
return new ReducedBenchmark(options.m_guiHelper);
}

8
examples/ReducedDeformableDemo/ReducedPress.h → examples/ReducedDeformableDemo/ReducedBenchmark.h
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@ -11,9 +11,9 @@
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef _REDUCED_PRESS_H
#define _REDUCED_PRESS_H
#ifndef _REDUCED_BENCHMARK_H
#define _REDUCED_BENCHMARK_H
class CommonExampleInterface* ReducedPressCreateFunc(struct CommonExampleOptions& options);
class CommonExampleInterface* ReducedBenchmarkCreateFunc(struct CommonExampleOptions& options);
#endif //_REDUCED_PRESS_H
#endif //_REDUCED_BENCHMARK_H

19
examples/ReducedDeformableDemo/ReducedGraspBenchmark.h
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@ -1,19 +0,0 @@
/*
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 _REDUCED_GRASP_BENCHMARK_H
#define _REDUCED_GRASP_BENCHMARK_H
class CommonExampleInterface* ReducedGraspBenchmarkCreateFunc(struct CommonExampleOptions& options);
#endif //_REDUCED_GRASP_BENCHMARK_H

327
examples/ReducedDeformableDemo/ReducedPress.cpp
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@ -1,327 +0,0 @@
/*
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 "ReducedPress.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h"
#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h"
#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h"
#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
#include <stdio.h> //printf debugging
#include "../CommonInterfaces/CommonDeformableBodyBase.h"
#include "../Utils/b3ResourcePath.h"
///The BasicTest shows the contact between volumetric deformable objects and rigid objects.
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.0;
static int num_modes = 20;
class ReducedPress : public CommonDeformableBodyBase
{
public:
ReducedPress(struct GUIHelperInterface* helper)
: CommonDeformableBodyBase(helper)
{
}
virtual ~ReducedPress()
{
}
void initPhysics();
void exitPhysics();
void resetCamera()
{
float dist = 5;
float pitch = -10;
float yaw = 90;
// float dist = 25;
// float pitch = -30;
// float yaw = 100;
float targetPos[3] = {0, 0, 0};
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
}
void stepSimulation(float deltaTime)
{
//use a smaller internal timestep, there are stability issues
float internalTimeStep = 1. / 240.f;
m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
// float internalTimeStep = 1. / 60.f;
// m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep);
}
void createGrip()
{
int count = 2;
float mass = 1e6;
btCollisionShape* shape = new btBoxShape(btVector3(1, 0.25, 1));
{
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,2,0));
// startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
createRigidBody(mass, startTransform, shape);
}
// {
// btTransform startTransform;
// startTransform.setIdentity();
// startTransform.setOrigin(btVector3(0,1,-2));
// startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
// createRigidBody(mass, startTransform, shape);
// }
}
void Ctor_RbUpStack()
{
float mass = 8;
btCollisionShape* shape = new btBoxShape(btVector3(0.25, 2, 0.5));
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,9.5,0));
btRigidBody* rb1 = createRigidBody(mass, startTransform, shape);
rb1->setLinearVelocity(btVector3(0, 0, 0));
rb1->setFriction(0.7);
}
virtual void renderScene()
{
CommonDeformableBodyBase::renderScene();
btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
{
btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(deformableWorld->getSoftBodyArray()[i]);
{
btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
}
for (int p = 0; p < rsb->m_nodeRigidContacts.size(); ++p)
{
deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_contactNodesList[p]].m_x, 0.1, btVector3(0, 1, 0));
}
}
}
static void GripperDynamics(btScalar time, btDeformableMultiBodyDynamicsWorld* world);
};
void ReducedPress::GripperDynamics(btScalar time, btDeformableMultiBodyDynamicsWorld* world)
{
btAlignedObjectArray<btRigidBody*>& rbs = world->getNonStaticRigidBodies();
if (rbs.size()>1)
return;
btRigidBody* rb0 = rbs[0];
btScalar pressTime = 0.75;
btTransform rbTransform;
rbTransform.setIdentity();
btVector3 translation;
btVector3 velocity;
btVector3 initialTranslationLeft = btVector3(0,2,0); // inner face has z=2
btVector3 pinchVelocityLeft = btVector3(0,-1,0);
if (time < pressTime)
{
velocity = pinchVelocityLeft;
translation = initialTranslationLeft + pinchVelocityLeft * time;
}
else
{
velocity = btVector3(0, 0, 0);
translation = initialTranslationLeft + pinchVelocityLeft * pressTime;
}
rbTransform.setOrigin(translation);
// rbTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
rb0->setCenterOfMassTransform(rbTransform);
rb0->setAngularVelocity(btVector3(0,0,0));
rb0->setLinearVelocity(velocity);
rb0->setFriction(20);
}
void ReducedPress::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();
btReducedDeformableBodySolver* reducedSoftBodySolver = new btReducedDeformableBodySolver();
btVector3 gravity = btVector3(0, 0, 0);
reducedSoftBodySolver->setGravity(gravity);
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
sol->setDeformableSolver(reducedSoftBodySolver);
m_solver = sol;
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver);
m_dynamicsWorld->setGravity(gravity);
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
getDeformableDynamicsWorld()->setSolverCallback(GripperDynamics);
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
// create volumetric reduced deformable body
{
btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.015);
btTransform init_transform;
init_transform.setIdentity();
init_transform.setOrigin(btVector3(0, 1, 0));
// init_transform.setRotation(btQuaternion(0, SIMD_PI / 2.0, SIMD_PI / 2.0));
// init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0));
rsb->transform(init_transform);
rsb->setStiffnessScale(100);
rsb->setDamping(damping_alpha, damping_beta);
rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
rsb->m_cfg.kCHR = 1; // collision hardness with rigid body
rsb->m_cfg.kDF = 0;
rsb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
rsb->m_sleepingThreshold = 0;
btSoftBodyHelpers::generateBoundaryFaces(rsb);
// rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
}
getDeformableDynamicsWorld()->setImplicit(false);
getDeformableDynamicsWorld()->setLineSearch(false);
getDeformableDynamicsWorld()->setUseProjection(true);
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0.2;
getDeformableDynamicsWorld()->getSolverInfo().m_friction = 1;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false;
getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
// grippers
createGrip();
// rigid block
// Ctor_RbUpStack();
// {
// float mass = 10;
// btCollisionShape* shape = new btBoxShape(btVector3(0.25, 2, 0.5));
// btTransform startTransform;
// startTransform.setIdentity();
// startTransform.setOrigin(btVector3(0,4,0));
// btRigidBody* rb1 = createRigidBody(mass, startTransform, shape);
// rb1->setLinearVelocity(btVector3(0, 0, 0));
// }
//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, -25, 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(0.5);
//add the ground to the dynamics world
m_dynamicsWorld->addRigidBody(body);
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}
void ReducedPress::exitPhysics()
{
//cleanup in the reverse order of creation/initialization
removePickingConstraint();
//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* ReducedPressCreateFunc(struct CommonExampleOptions& options)
{
return new ReducedPress(options.m_guiHelper);
}