mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
174 lines
4.6 KiB
C++
174 lines
4.6 KiB
C++
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#include "MultiBodySoftContact.h"
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#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
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#include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
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#include "../CommonInterfaces/CommonMultiBodyBase.h"
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#include "../Utils/b3ResourcePath.h"
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//static btScalar radius(0.2);
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struct MultiBodySoftContact : public CommonMultiBodyBase
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{
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btMultiBody* m_multiBody;
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btAlignedObjectArray<btMultiBodyJointFeedback*> m_jointFeedbacks;
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bool m_once;
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public:
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MultiBodySoftContact(struct GUIHelperInterface* helper);
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virtual ~MultiBodySoftContact();
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virtual void initPhysics();
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virtual void stepSimulation(float deltaTime);
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virtual void resetCamera()
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{
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float dist = 5;
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float pitch = -21;
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float yaw = 270;
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float targetPos[3]={0,0,0};
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m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
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}
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};
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MultiBodySoftContact::MultiBodySoftContact(struct GUIHelperInterface* helper)
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:CommonMultiBodyBase(helper),
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m_once(true)
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{
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}
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MultiBodySoftContact::~MultiBodySoftContact()
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{
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}
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void MultiBodySoftContact::initPhysics()
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{
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int upAxis = 2;
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m_guiHelper->setUpAxis(upAxis);
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btVector4 colors[4] =
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{
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btVector4(1,0,0,1),
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btVector4(0,1,0,1),
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btVector4(0,1,1,1),
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btVector4(1,1,0,1),
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};
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int curColor = 0;
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this->createEmptyDynamicsWorld();
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m_dynamicsWorld->setGravity(btVector3(0,0,-10));
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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m_dynamicsWorld->getDebugDrawer()->setDebugMode(
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//btIDebugDraw::DBG_DrawConstraints
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+btIDebugDraw::DBG_DrawWireframe
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+btIDebugDraw::DBG_DrawContactPoints
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+btIDebugDraw::DBG_DrawAabb
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);//+btIDebugDraw::DBG_DrawConstraintLimits);
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//create a static ground object
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if (1)
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{
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btVector3 groundHalfExtents(50,50,50);
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btBoxShape* box = new btBoxShape(groundHalfExtents);
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box->initializePolyhedralFeatures();
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m_guiHelper->createCollisionShapeGraphicsObject(box);
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btTransform start; start.setIdentity();
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btVector3 groundOrigin(0,0,-50.5);
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start.setOrigin(groundOrigin);
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// start.setRotation(groundOrn);
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btRigidBody* body = createRigidBody(0,start,box);
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//setContactStiffnessAndDamping will enable compliant rigid body contact
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body->setContactStiffnessAndDamping(300,10);
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btVector4 color = colors[curColor];
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curColor++;
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curColor&=3;
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m_guiHelper->createRigidBodyGraphicsObject(body,color);
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}
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{
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btCollisionShape* childShape = new btSphereShape(btScalar(0.5));
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m_guiHelper->createCollisionShapeGraphicsObject(childShape);
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btScalar mass = 1;
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btVector3 baseInertiaDiag;
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bool isFixed = (mass == 0);
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childShape->calculateLocalInertia(mass,baseInertiaDiag);
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btMultiBody *pMultiBody = new btMultiBody(0, 1, baseInertiaDiag, false, false);
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btTransform startTrans;
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startTrans.setIdentity();
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startTrans.setOrigin(btVector3(0,0,3));
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pMultiBody->setBaseWorldTransform(startTrans);
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btMultiBodyLinkCollider* col= new btMultiBodyLinkCollider(pMultiBody, -1);
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col->setCollisionShape(childShape);
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pMultiBody->setBaseCollider(col);
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bool isDynamic = (mass > 0 && !isFixed);
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int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
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int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
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m_dynamicsWorld->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);
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pMultiBody->finalizeMultiDof();
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m_dynamicsWorld->addMultiBody(pMultiBody);
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btAlignedObjectArray<btQuaternion> scratch_q;
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btAlignedObjectArray<btVector3> scratch_m;
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pMultiBody->forwardKinematics(scratch_q,scratch_m);
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btAlignedObjectArray<btQuaternion> world_to_local;
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btAlignedObjectArray<btVector3> local_origin;
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pMultiBody->updateCollisionObjectWorldTransforms(world_to_local,local_origin);
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}
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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}
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void MultiBodySoftContact::stepSimulation(float deltaTime)
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{
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if (0)//m_once)
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{
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m_once=false;
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m_multiBody->addJointTorque(0, 10.0);
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btScalar torque = m_multiBody->getJointTorque(0);
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b3Printf("t = %f,%f,%f\n",torque,torque,torque);//[0],torque[1],torque[2]);
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}
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m_dynamicsWorld->stepSimulation(deltaTime);
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}
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class CommonExampleInterface* MultiBodySoftContactCreateFunc(struct CommonExampleOptions& options)
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{
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return new MultiBodySoftContact(options.m_guiHelper);
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}
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