mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
335 lines
13 KiB
C++
335 lines
13 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2019 Google Inc. http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "DeformableRigid.h"
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///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
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#include "btBulletDynamicsCommon.h"
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#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
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#include "BulletSoftBody/btSoftBody.h"
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#include "BulletSoftBody/btSoftBodyHelpers.h"
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#include "BulletSoftBody/btDeformableBodySolver.h"
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#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
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#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
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#include <stdio.h> //printf debugging
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#include "../CommonInterfaces/CommonDeformableBodyBase.h"
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#include "../Utils/b3ResourcePath.h"
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///The DeformableRigid shows contact between deformable objects and rigid objects.
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class DeformableRigid : public CommonDeformableBodyBase
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{
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public:
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DeformableRigid(struct GUIHelperInterface* helper)
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:CommonDeformableBodyBase(helper)
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{
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}
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virtual ~DeformableRigid()
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{
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}
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void initPhysics();
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void exitPhysics();
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void resetCamera()
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{
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float dist = 20;
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float pitch = -45;
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float yaw = 100;
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float targetPos[3] = {0, -3, 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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void stepSimulation(float deltaTime)
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{
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//use a smaller internal timestep, there are stability issues
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float internalTimeStep = 1. / 240.f;
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m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
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//
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// btCollisionShape* boxShape = new btBoxShape(btVector3(1, 1, 1));
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// boxShape->setMargin(1e-3);
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// if (0)
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// {
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// btVector3 p(0.99,1.01,0.99);
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// for (int i = 0; i < 40; ++i)
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// {
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// p[1] -= 0.001;
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// btScalar margin(.000001);
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// btTransform trans;
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// trans.setIdentity();
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// btGjkEpaSolver2::sResults results;
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// const btConvexShape* csh = static_cast<const btConvexShape*>(boxShape);
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// btScalar d = btGjkEpaSolver2::SignedDistance(p, margin, csh, trans, results);
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// printf("d = %f\n", d);
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// printf("----\n");
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// }
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// }
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//
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// btVector3 p(.991,1.01,.99);
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// for (int i = 0; i < 40; ++i)
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// {
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// p[1] -= 0.001;
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// btScalar margin(.006);
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// btTransform trans;
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// trans.setIdentity();
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// btScalar dst;
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// btGjkEpaSolver2::sResults results;
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// btTransform point_transform;
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// point_transform.setIdentity();
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// point_transform.setOrigin(p);
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// btSphereShape sphere(margin);
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// btVector3 guess(0,0,0);
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// const btConvexShape* csh = static_cast<const btConvexShape*>(boxShape);
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// btGjkEpaSolver2::SignedDistance(&sphere, point_transform, csh, trans, guess, results);
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// dst = results.distance-csh->getMargin();
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// dst -= margin;
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// printf("d = %f\n", dst);
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// printf("----\n");
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// }
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}
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void Ctor_RbUpStack(int count)
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{
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float mass = .2;
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btCompoundShape* cylinderCompound = new btCompoundShape;
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btCollisionShape* cylinderShape = new btCylinderShapeX(btVector3(2, .5, .5));
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btCollisionShape* boxShape = new btBoxShape(btVector3(2, .5, .5));
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btTransform localTransform;
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localTransform.setIdentity();
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cylinderCompound->addChildShape(localTransform, boxShape);
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btQuaternion orn(SIMD_HALF_PI, 0, 0);
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localTransform.setRotation(orn);
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// localTransform.setOrigin(btVector3(1,1,1));
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cylinderCompound->addChildShape(localTransform, cylinderShape);
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btCollisionShape* shape[] = {
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new btBoxShape(btVector3(1, 1, 1)),
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new btSphereShape(0.75),
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cylinderCompound
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};
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// static const int nshapes = sizeof(shape) / sizeof(shape[0]);
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// for (int i = 0; i < count; ++i)
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// {
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// btTransform startTransform;
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// startTransform.setIdentity();
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// startTransform.setOrigin(btVector3(0, 2+ 2 * i, 0));
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// startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
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// createRigidBody(mass, startTransform, shape[i % nshapes]);
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// }
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(1, 1.5, 1));
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createRigidBody(mass, startTransform, shape[0]);
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startTransform.setOrigin(btVector3(1, 1.5, -1));
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createRigidBody(mass, startTransform, shape[0]);
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startTransform.setOrigin(btVector3(-1, 1.5, 1));
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createRigidBody(mass, startTransform, shape[0]);
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startTransform.setOrigin(btVector3(-1, 1.5, -1));
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createRigidBody(mass, startTransform, shape[0]);
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startTransform.setOrigin(btVector3(0, 3.5, 0));
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createRigidBody(mass, startTransform, shape[0]);
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}
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virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
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{
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///just make it a btSoftRigidDynamicsWorld please
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///or we will add type checking
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return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
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}
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virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
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{
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///just make it a btSoftRigidDynamicsWorld please
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///or we will add type checking
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return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
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}
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virtual void renderScene()
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{
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CommonDeformableBodyBase::renderScene();
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btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
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for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
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{
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btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
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//if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
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{
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btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
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btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags());
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}
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}
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}
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};
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void DeformableRigid::initPhysics()
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{
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m_guiHelper->setUpAxis(1);
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///collision configuration contains default setup for memory, collision setup
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m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
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///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_broadphase = new btDbvtBroadphase();
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btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
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///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
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btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
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sol->setDeformableSolver(deformableBodySolver);
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m_solver = sol;
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m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
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// deformableBodySolver->setWorld(getDeformableDynamicsWorld());
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// m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality
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btVector3 gravity = btVector3(0, -10, 0);
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m_dynamicsWorld->setGravity(gravity);
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getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
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getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
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getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset();
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// getDeformableDynamicsWorld()->before_solver_callbacks.push_back(dynamics);
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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{
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///create a ground
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(25.), btScalar(150.)));
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0, -42, 0));
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groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
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//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
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btScalar mass(0.);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0, 0, 0);
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if (isDynamic)
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groundShape->calculateLocalInertia(mass, localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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body->setFriction(1);
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//add the ground to the dynamics world
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m_dynamicsWorld->addRigidBody(body);
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}
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// create a piece of cloth
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if(1)
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{
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bool onGround = false;
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const btScalar s = 4;
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const btScalar h = 0;
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btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
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btVector3(+s, h, -s),
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btVector3(-s, h, +s),
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btVector3(+s, h, +s),
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// 3,3,
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20,20,
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1 + 2 + 4 + 8, true);
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// 0, true);
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if (onGround)
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psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s),
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btVector3(+s, 0, -s),
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btVector3(-s, 0, +s),
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btVector3(+s, 0, +s),
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// 20,20,
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2,2,
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0, true);
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psb->getCollisionShape()->setMargin(0.05);
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psb->generateBendingConstraints(2);
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psb->setTotalMass(1);
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psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
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psb->m_cfg.kCHR = 1; // collision hardness with rigid body
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psb->m_cfg.kDF = 2;
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psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
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psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
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getDeformableDynamicsWorld()->addSoftBody(psb);
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btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(15,0.5, true);
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getDeformableDynamicsWorld()->addForce(psb, mass_spring);
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m_forces.push_back(mass_spring);
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btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
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getDeformableDynamicsWorld()->addForce(psb, gravity_force);
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m_forces.push_back(gravity_force);
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// add a few rigid bodies
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}
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Ctor_RbUpStack(10);
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getDeformableDynamicsWorld()->setImplicit(false);
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getDeformableDynamicsWorld()->setLineSearch(false);
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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}
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void DeformableRigid::exitPhysics()
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{
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//cleanup in the reverse order of creation/initialization
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removePickingConstraint();
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//remove the rigidbodies from the dynamics world and delete them
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int i;
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for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
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{
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btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
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btRigidBody* body = btRigidBody::upcast(obj);
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if (body && body->getMotionState())
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{
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delete body->getMotionState();
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}
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m_dynamicsWorld->removeCollisionObject(obj);
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delete obj;
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}
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// delete forces
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for (int j = 0; j < m_forces.size(); j++)
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{
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btDeformableLagrangianForce* force = m_forces[j];
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delete force;
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}
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m_forces.clear();
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//delete collision shapes
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for (int j = 0; j < m_collisionShapes.size(); j++)
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{
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btCollisionShape* shape = m_collisionShapes[j];
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delete shape;
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}
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m_collisionShapes.clear();
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delete m_dynamicsWorld;
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delete m_solver;
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delete m_broadphase;
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delete m_dispatcher;
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delete m_collisionConfiguration;
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}
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class CommonExampleInterface* DeformableRigidCreateFunc(struct CommonExampleOptions& options)
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{
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return new DeformableRigid(options.m_guiHelper);
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}
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