mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-18 21:10:05 +00:00
350 lines
14 KiB
C++
350 lines
14 KiB
C++
/*
|
|
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 "ReducedBenchmark.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"
|
|
|
|
static btScalar damping_alpha = 0.0;
|
|
static btScalar damping_beta = 0.0001;
|
|
static btScalar COLLIDING_VELOCITY = 0;
|
|
static int num_modes = 20;
|
|
static bool run_reduced = true;
|
|
|
|
class ReducedBenchmark : public CommonDeformableBodyBase
|
|
{
|
|
btVector3 m_gravity;
|
|
public:
|
|
ReducedBenchmark(struct GUIHelperInterface* helper)
|
|
: CommonDeformableBodyBase(helper)
|
|
{
|
|
}
|
|
virtual ~ReducedBenchmark()
|
|
{
|
|
}
|
|
void initPhysics();
|
|
|
|
void exitPhysics();
|
|
|
|
// TODO: disable pick force, non-interactive for now.
|
|
bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) {
|
|
return false;
|
|
}
|
|
|
|
void resetCamera()
|
|
{
|
|
// float dist = 6;
|
|
// float pitch = -10;
|
|
// float yaw = 90;
|
|
// float targetPos[3] = {0, 2, 0};
|
|
float dist = 10;
|
|
float pitch = -30;
|
|
float yaw = 125;
|
|
float targetPos[3] = {0, 2, 0};
|
|
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
|
|
}
|
|
|
|
void Ctor_RbUpStack(const btVector3& origin)
|
|
{
|
|
float mass = 10;
|
|
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(origin);
|
|
// startTransform.setRotation(btQuaternion(btVector3(1, 0, 1), SIMD_PI / 4.0));
|
|
btRigidBody* rb1 = createRigidBody(mass, startTransform, shape);
|
|
rb1->setActivationState(DISABLE_DEACTIVATION);
|
|
// rb1->setLinearVelocity(btVector3(0, 0, 4));
|
|
}
|
|
|
|
void createDeform(const btVector3& origin, const btQuaternion& rotation)
|
|
{
|
|
|
|
if (run_reduced)
|
|
{
|
|
std::string file_path("../../../data/reduced_torus/");
|
|
std::string vtk_file("torus_mesh.vtk");
|
|
btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedDeformableObject(
|
|
getDeformableDynamicsWorld()->getWorldInfo(),
|
|
file_path,
|
|
vtk_file,
|
|
num_modes,
|
|
false);
|
|
|
|
getDeformableDynamicsWorld()->addSoftBody(rsb);
|
|
rsb->getCollisionShape()->setMargin(0.01);
|
|
// rsb->scale(btVector3(1, 1, 0.5));
|
|
|
|
rsb->setTotalMass(10);
|
|
|
|
btTransform init_transform;
|
|
init_transform.setIdentity();
|
|
init_transform.setOrigin(origin);
|
|
init_transform.setRotation(rotation);
|
|
rsb->transformTo(init_transform);
|
|
|
|
rsb->setStiffnessScale(5);
|
|
rsb->setDamping(damping_alpha, damping_beta);
|
|
// rsb->scale(btVector3(0.5, 0.5, 0.5));
|
|
|
|
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);
|
|
|
|
std::cout << "Running reduced deformable\n";
|
|
}
|
|
else // create full deformable cube
|
|
{
|
|
std::string filepath("../../../data/reduced_torus/");
|
|
std::string filename = filepath + "torus_mesh.vtk";
|
|
btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), filename.c_str());
|
|
|
|
btTransform init_transform;
|
|
init_transform.setIdentity();
|
|
init_transform.setOrigin(origin);
|
|
init_transform.setRotation(rotation);
|
|
psb->transform(init_transform);
|
|
psb->getCollisionShape()->setMargin(0.015);
|
|
psb->setTotalMass(10);
|
|
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
|
|
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
|
|
psb->m_cfg.kDF = .5;
|
|
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
|
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
|
|
getDeformableDynamicsWorld()->addSoftBody(psb);
|
|
btSoftBodyHelpers::generateBoundaryFaces(psb);
|
|
|
|
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(m_gravity);
|
|
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
|
|
m_forces.push_back(gravity_force);
|
|
|
|
btScalar E = 10000;
|
|
btScalar nu = 0.3;
|
|
btScalar lambda = E * nu / ((1 + nu) * (1 - 2 * nu));
|
|
btScalar mu = E / (2 * (1 + nu));
|
|
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(lambda, mu, 0.01);
|
|
// neohookean->setPoissonRatio(0.3);
|
|
// neohookean->setYoungsModulus(25);
|
|
neohookean->setDamping(0.01);
|
|
psb->m_cfg.drag = 0.001;
|
|
getDeformableDynamicsWorld()->addForce(psb, neohookean);
|
|
m_forces.push_back(neohookean);
|
|
|
|
std::cout << "Running full deformable\n";
|
|
}
|
|
|
|
// btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedTorus(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
|
|
|
|
// getDeformableDynamicsWorld()->addSoftBody(rsb);
|
|
// rsb->getCollisionShape()->setMargin(0.01);
|
|
// // rsb->scale(btVector3(1, 1, 0.5));
|
|
|
|
// rsb->setTotalMass(10);
|
|
|
|
// btTransform init_transform;
|
|
// init_transform.setIdentity();
|
|
// init_transform.setOrigin(origin);
|
|
// init_transform.setRotation(rotation);
|
|
// rsb->transformTo(init_transform);
|
|
|
|
// rsb->setStiffnessScale(5);
|
|
// rsb->setDamping(damping_alpha, damping_beta);
|
|
// // rsb->scale(btVector3(0.5, 0.5, 0.5));
|
|
|
|
// 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);
|
|
}
|
|
|
|
void stepSimulation(float deltaTime)
|
|
{
|
|
float internalTimeStep = 1. / 240.f;
|
|
m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
|
|
}
|
|
|
|
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());
|
|
}
|
|
}
|
|
}
|
|
};
|
|
|
|
void ReducedBenchmark::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();
|
|
|
|
if (run_reduced)
|
|
{
|
|
btReducedDeformableBodySolver* solver = new btReducedDeformableBodySolver();
|
|
|
|
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
|
|
sol->setDeformableSolver(solver);
|
|
m_solver = sol;
|
|
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, solver);
|
|
}
|
|
else
|
|
{
|
|
btDeformableBodySolver* solver = new btDeformableBodySolver();
|
|
|
|
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
|
|
sol->setDeformableSolver(solver);
|
|
m_solver = sol;
|
|
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, solver);
|
|
}
|
|
|
|
// m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, solver);
|
|
btVector3 gravity = btVector3(0, -10, 0);
|
|
m_gravity = gravity;
|
|
m_dynamicsWorld->setGravity(gravity);
|
|
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
|
|
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
|
|
|
// 3x3 torus
|
|
createDeform(btVector3(4, 4, -4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
|
|
createDeform(btVector3(4, 4, 0), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
|
|
createDeform(btVector3(4, 4, 4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
|
|
createDeform(btVector3(0, 4, -4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
|
|
createDeform(btVector3(0, 4, 0), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
|
|
createDeform(btVector3(0, 4, 4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
|
|
createDeform(btVector3(-4, 4, -4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
|
|
createDeform(btVector3(-4, 4, 0), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
|
|
createDeform(btVector3(-4, 4, 4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
|
|
|
|
// create a static rigid box as the ground
|
|
{
|
|
// btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
|
|
btBoxShape* groundShape = createBoxShape(btVector3(btScalar(20), btScalar(2), btScalar(20)));
|
|
m_collisionShapes.push_back(groundShape);
|
|
|
|
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));
|
|
{
|
|
btScalar mass(0.);
|
|
createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0));
|
|
}
|
|
}
|
|
|
|
getDeformableDynamicsWorld()->setImplicit(false);
|
|
getDeformableDynamicsWorld()->setLineSearch(false);
|
|
getDeformableDynamicsWorld()->setUseProjection(false);
|
|
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2;
|
|
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0.2;
|
|
getDeformableDynamicsWorld()->getSolverInfo().m_friction = 0.5;
|
|
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
|
|
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
|
|
getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false;
|
|
getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
|
|
|
|
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
|
m_dynamicsWorld->setGravity(gravity);
|
|
}
|
|
|
|
void ReducedBenchmark::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* ReducedBenchmarkCreateFunc(struct CommonExampleOptions& options)
|
|
{
|
|
return new ReducedBenchmark(options.m_guiHelper);
|
|
}
|
|
|
|
|