mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 22:00:05 +00:00
410 lines
16 KiB
C++
410 lines
16 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 "PinchFriction.h"
|
|
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
|
|
#include "btBulletDynamicsCommon.h"
|
|
#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
|
|
#include "BulletSoftBody/btSoftBody.h"
|
|
#include "BulletSoftBody/btSoftBodyHelpers.h"
|
|
#include "BulletSoftBody/btDeformableBodySolver.h"
|
|
#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
|
|
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
|
|
#include <stdio.h> //printf debugging
|
|
|
|
#include "../CommonInterfaces/CommonRigidBodyBase.h"
|
|
#include "../Utils/b3ResourcePath.h"
|
|
|
|
///The PinchFriction shows the frictional contacts among volumetric deformable objects
|
|
|
|
struct TetraCube
|
|
{
|
|
#include "../SoftDemo/cube.inl"
|
|
};
|
|
|
|
class PinchFriction : public CommonRigidBodyBase
|
|
{
|
|
btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
|
|
public:
|
|
PinchFriction(struct GUIHelperInterface* helper)
|
|
: CommonRigidBodyBase(helper)
|
|
{
|
|
}
|
|
virtual ~PinchFriction()
|
|
{
|
|
}
|
|
void initPhysics();
|
|
|
|
void exitPhysics();
|
|
|
|
void resetCamera()
|
|
{
|
|
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);
|
|
}
|
|
|
|
void createGrip()
|
|
{
|
|
int count = 2;
|
|
float mass = 1e6;
|
|
btCollisionShape* shape[] = {
|
|
new btBoxShape(btVector3(3, 3, 0.5)),
|
|
};
|
|
static const int nshapes = sizeof(shape) / sizeof(shape[0]);
|
|
for (int i = 0; i < count; ++i)
|
|
{
|
|
btTransform startTransform;
|
|
startTransform.setIdentity();
|
|
startTransform.setOrigin(btVector3(10, 0, 0));
|
|
startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
|
|
createRigidBody(mass, startTransform, shape[i % nshapes]);
|
|
}
|
|
}
|
|
|
|
virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
|
|
{
|
|
return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
|
|
}
|
|
|
|
virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
|
|
{
|
|
return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
|
|
}
|
|
|
|
virtual void renderScene()
|
|
{
|
|
CommonRigidBodyBase::renderScene();
|
|
// btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
|
|
//
|
|
// for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
|
|
// {
|
|
// btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
|
|
// {
|
|
// btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
|
|
// btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
|
|
// }
|
|
// }
|
|
}
|
|
};
|
|
|
|
void dynamics2(btScalar time, btDeformableMultiBodyDynamicsWorld* world)
|
|
{
|
|
btAlignedObjectArray<btRigidBody*>& rbs = world->getNonStaticRigidBodies();
|
|
if (rbs.size()<2)
|
|
return;
|
|
btRigidBody* rb0 = rbs[0];
|
|
btScalar pressTime = 0.9;
|
|
btScalar liftTime = 10;
|
|
btScalar shiftTime = 3.5;
|
|
btScalar holdTime = 4.5*1000;
|
|
btScalar dropTime = 5.3*1000;
|
|
btTransform rbTransform;
|
|
rbTransform.setIdentity();
|
|
btVector3 translation;
|
|
btVector3 velocity;
|
|
|
|
btVector3 initialTranslationLeft = btVector3(0.5,3,4);
|
|
btVector3 initialTranslationRight = btVector3(0.5,3,-4);
|
|
btVector3 PinchFrictionVelocityLeft = btVector3(0,0,-1);
|
|
btVector3 PinchFrictionVelocityRight = btVector3(0,0,1);
|
|
btVector3 liftVelocity = btVector3(0,1,0);
|
|
btVector3 shiftVelocity = btVector3(0,0,0);
|
|
btVector3 holdVelocity = btVector3(0,0,0);
|
|
btVector3 openVelocityLeft = btVector3(0,0,4);
|
|
btVector3 openVelocityRight = btVector3(0,0,-4);
|
|
|
|
if (time < pressTime)
|
|
{
|
|
velocity = PinchFrictionVelocityLeft;
|
|
translation = initialTranslationLeft + PinchFrictionVelocityLeft * time;
|
|
}
|
|
else if (time < liftTime)
|
|
{
|
|
velocity = liftVelocity;
|
|
translation = initialTranslationLeft + PinchFrictionVelocityLeft * pressTime + liftVelocity * (time - pressTime);
|
|
|
|
}
|
|
else if (time < shiftTime)
|
|
{
|
|
velocity = shiftVelocity;
|
|
translation = initialTranslationLeft + PinchFrictionVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime);
|
|
}
|
|
else if (time < holdTime)
|
|
{
|
|
velocity = btVector3(0,0,0);
|
|
translation = initialTranslationLeft + PinchFrictionVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime);
|
|
}
|
|
else if (time < dropTime)
|
|
{
|
|
velocity = openVelocityLeft;
|
|
translation = initialTranslationLeft + PinchFrictionVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (time - holdTime);
|
|
}
|
|
else
|
|
{
|
|
velocity = holdVelocity;
|
|
translation = initialTranslationLeft + PinchFrictionVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (dropTime - holdTime);
|
|
}
|
|
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);
|
|
|
|
btRigidBody* rb1 = rbs[1];
|
|
if (time < pressTime)
|
|
{
|
|
velocity = PinchFrictionVelocityRight;
|
|
translation = initialTranslationRight + PinchFrictionVelocityRight * time;
|
|
}
|
|
else if (time < liftTime)
|
|
{
|
|
velocity = liftVelocity;
|
|
translation = initialTranslationRight + PinchFrictionVelocityRight * pressTime + liftVelocity * (time - pressTime);
|
|
|
|
}
|
|
else if (time < shiftTime)
|
|
{
|
|
velocity = shiftVelocity;
|
|
translation = initialTranslationRight + PinchFrictionVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime);
|
|
}
|
|
else if (time < holdTime)
|
|
{
|
|
velocity = btVector3(0,0,0);
|
|
translation = initialTranslationRight + PinchFrictionVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime);
|
|
}
|
|
else if (time < dropTime)
|
|
{
|
|
velocity = openVelocityRight;
|
|
translation = initialTranslationRight + PinchFrictionVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (time - holdTime);
|
|
}
|
|
else
|
|
{
|
|
velocity = holdVelocity;
|
|
translation = initialTranslationRight + PinchFrictionVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (dropTime - holdTime);
|
|
}
|
|
rbTransform.setOrigin(translation);
|
|
rbTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
|
|
rb1->setCenterOfMassTransform(rbTransform);
|
|
rb1->setAngularVelocity(btVector3(0,0,0));
|
|
rb1->setLinearVelocity(velocity);
|
|
|
|
rb0->setFriction(200);
|
|
rb1->setFriction(200);
|
|
}
|
|
|
|
void PinchFriction::initPhysics()
|
|
{
|
|
m_guiHelper->setUpAxis(1);
|
|
|
|
m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
|
|
|
|
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
|
|
|
m_broadphase = new btDbvtBroadphase();
|
|
btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
|
|
|
|
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
|
|
sol->setDeformableSolver(deformableBodySolver);
|
|
m_solver = sol;
|
|
|
|
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
|
|
btVector3 gravity = btVector3(0, -10, 0);
|
|
m_dynamicsWorld->setGravity(gravity);
|
|
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
|
|
|
|
getDeformableDynamicsWorld()->setSolverCallback(dynamics2);
|
|
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
|
|
|
//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);
|
|
|
|
//add the ground to the dynamics world
|
|
m_dynamicsWorld->addRigidBody(body);
|
|
}
|
|
|
|
// create a soft block
|
|
{
|
|
btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
|
|
TetraCube::getElements(),
|
|
0,
|
|
TetraCube::getNodes(),
|
|
false, true, true);
|
|
|
|
psb->scale(btVector3(2, 2, 1));
|
|
psb->translate(btVector3(0, 2.1, 2.2));
|
|
psb->getCollisionShape()->setMargin(0.1);
|
|
psb->setTotalMass(.6);
|
|
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
|
|
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
|
|
psb->m_cfg.kDF = 20;
|
|
btSoftBodyHelpers::generateBoundaryFaces(psb);
|
|
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
|
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
|
|
getDeformableDynamicsWorld()->addSoftBody(psb);
|
|
|
|
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
|
|
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
|
|
m_forces.push_back(gravity_force);
|
|
|
|
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(4,8,.1);
|
|
getDeformableDynamicsWorld()->addForce(psb, neohookean);
|
|
m_forces.push_back(neohookean);
|
|
}
|
|
|
|
// create a second soft block
|
|
{
|
|
btSoftBody* psb2 = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
|
|
TetraCube::getElements(),
|
|
0,
|
|
TetraCube::getNodes(),
|
|
false, true, true);
|
|
|
|
psb2->scale(btVector3(2, 2, 1));
|
|
psb2->translate(btVector3(0, 2.1, -2.2));
|
|
psb2->getCollisionShape()->setMargin(0.1);
|
|
psb2->setTotalMass(.6);
|
|
psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects
|
|
psb2->m_cfg.kCHR = 1; // collision hardness with rigid body
|
|
psb2->m_cfg.kDF = 20;
|
|
psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
|
psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
|
|
btSoftBodyHelpers::generateBoundaryFaces(psb2);
|
|
getDeformableDynamicsWorld()->addSoftBody(psb2);
|
|
|
|
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
|
|
getDeformableDynamicsWorld()->addForce(psb2, gravity_force);
|
|
m_forces.push_back(gravity_force);
|
|
|
|
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(4,8,.1);
|
|
getDeformableDynamicsWorld()->addForce(psb2, neohookean);
|
|
m_forces.push_back(neohookean);
|
|
}
|
|
|
|
// create a third soft block
|
|
{
|
|
btSoftBody* psb3 = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
|
|
TetraCube::getElements(),
|
|
0,
|
|
TetraCube::getNodes(),
|
|
false, true, true);
|
|
|
|
psb3->scale(btVector3(2, 2, 1));
|
|
psb3->translate(btVector3(0, 2.1, 0));
|
|
psb3->getCollisionShape()->setMargin(0.1);
|
|
psb3->setTotalMass(.6);
|
|
psb3->m_cfg.kKHR = 1; // collision hardness with kinematic objects
|
|
psb3->m_cfg.kCHR = 1; // collision hardness with rigid body
|
|
psb3->m_cfg.kDF = 20;
|
|
psb3->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
|
psb3->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
|
|
btSoftBodyHelpers::generateBoundaryFaces(psb3);
|
|
getDeformableDynamicsWorld()->addSoftBody(psb3);
|
|
|
|
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
|
|
getDeformableDynamicsWorld()->addForce(psb3, gravity_force);
|
|
m_forces.push_back(gravity_force);
|
|
|
|
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(4,8,.1);
|
|
getDeformableDynamicsWorld()->addForce(psb3, neohookean);
|
|
m_forces.push_back(neohookean);
|
|
}
|
|
|
|
// add a pair of grippers
|
|
createGrip();
|
|
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
|
}
|
|
|
|
void PinchFriction::exitPhysics()
|
|
{
|
|
//cleanup in the reverse order of creation/initialization
|
|
|
|
//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* PinchFrictionCreateFunc(struct CommonExampleOptions& options)
|
|
{
|
|
return new PinchFriction(options.m_guiHelper);
|
|
}
|
|
|
|
|