mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 13:20:07 +00:00
252 lines
10 KiB
C++
252 lines
10 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 "ClothFriction.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/CommonDeformableBodyBase.h"
|
|
#include "../Utils/b3ResourcePath.h"
|
|
|
|
///The ClothFriction shows the use of deformable friction.
|
|
class ClothFriction : public CommonDeformableBodyBase
|
|
{
|
|
btDeformableBodySolver* m_deformableBodySolver;
|
|
public:
|
|
ClothFriction(struct GUIHelperInterface* helper)
|
|
: CommonDeformableBodyBase(helper),
|
|
m_deformableBodySolver(0)
|
|
{
|
|
}
|
|
virtual ~ClothFriction()
|
|
{
|
|
|
|
}
|
|
void initPhysics();
|
|
|
|
void exitPhysics();
|
|
|
|
void resetCamera()
|
|
{
|
|
float dist = 12;
|
|
float pitch = -50;
|
|
float yaw = 120;
|
|
float targetPos[3] = {0, -3, 0};
|
|
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
|
|
}
|
|
|
|
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++)
|
|
{
|
|
btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
|
|
{
|
|
//btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
|
|
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags());
|
|
}
|
|
}
|
|
|
|
}
|
|
};
|
|
|
|
void ClothFriction::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();
|
|
m_deformableBodySolver = new btDeformableBodySolver();
|
|
|
|
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
|
|
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
|
|
sol->setDeformableSolver(m_deformableBodySolver);
|
|
m_solver = sol;
|
|
|
|
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, m_deformableBodySolver);
|
|
btVector3 gravity = btVector3(0, -10, 0);
|
|
m_dynamicsWorld->setGravity(gravity);
|
|
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
|
|
getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
|
|
getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset();
|
|
|
|
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, -32, 0));
|
|
groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.1));
|
|
//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(3);
|
|
|
|
//add the ground to the dynamics world
|
|
m_dynamicsWorld->addRigidBody(body);
|
|
}
|
|
|
|
// create a piece of cloth
|
|
{
|
|
btScalar s = 4;
|
|
btScalar h = 0;
|
|
|
|
btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
|
|
btVector3(+s, h, -s),
|
|
btVector3(-s, h, +s),
|
|
btVector3(+s, h, +s),
|
|
10,10,
|
|
0, true);
|
|
|
|
psb->getCollisionShape()->setMargin(0.06);
|
|
psb->generateBendingConstraints(2);
|
|
psb->setTotalMass(1);
|
|
psb->setSpringStiffness(100);
|
|
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
|
|
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
|
|
psb->m_cfg.kDF = 3;
|
|
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
|
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
|
|
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
|
|
getDeformableDynamicsWorld()->addSoftBody(psb);
|
|
|
|
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(10,1, true);
|
|
getDeformableDynamicsWorld()->addForce(psb, mass_spring);
|
|
m_forces.push_back(mass_spring);
|
|
|
|
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
|
|
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
|
|
m_forces.push_back(gravity_force);
|
|
|
|
|
|
h = .5;
|
|
s = 2;
|
|
btSoftBody* psb2 = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
|
|
btVector3(+s, h, -s),
|
|
btVector3(-s, h, +s),
|
|
btVector3(+s, h, +s),
|
|
5,5,
|
|
0, true);
|
|
psb2->getCollisionShape()->setMargin(0.06);
|
|
psb2->generateBendingConstraints(2);
|
|
psb2->setTotalMass(1);
|
|
psb2->setSpringStiffness(100);
|
|
psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects
|
|
psb2->m_cfg.kCHR = 1; // collision hardness with rigid body
|
|
psb2->m_cfg.kDF = 1;
|
|
psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
|
psb2->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
|
|
psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
|
|
psb->translate(btVector3(0,0,0));
|
|
getDeformableDynamicsWorld()->addSoftBody(psb2);
|
|
|
|
btDeformableMassSpringForce* mass_spring2 = new btDeformableMassSpringForce(10,.1, true);
|
|
getDeformableDynamicsWorld()->addForce(psb2, mass_spring2);
|
|
m_forces.push_back(mass_spring2);
|
|
|
|
btDeformableGravityForce* gravity_force2 = new btDeformableGravityForce(gravity);
|
|
getDeformableDynamicsWorld()->addForce(psb2, gravity_force2);
|
|
m_forces.push_back(gravity_force2);
|
|
}
|
|
getDeformableDynamicsWorld()->setImplicit(false);
|
|
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
|
}
|
|
|
|
void ClothFriction::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_deformableBodySolver;
|
|
|
|
delete m_broadphase;
|
|
|
|
delete m_dispatcher;
|
|
|
|
delete m_collisionConfiguration;
|
|
}
|
|
|
|
class CommonExampleInterface* ClothFrictionCreateFunc(struct CommonExampleOptions& options)
|
|
{
|
|
return new ClothFriction(options.m_guiHelper);
|
|
}
|
|
|
|
|