mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
382 lines
16 KiB
C++
382 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 "MultibodyClothAnchor.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 MultibodyClothAnchor shows contact between deformable objects and rigid objects.
|
|
class MultibodyClothAnchor : public CommonDeformableBodyBase
|
|
{
|
|
public:
|
|
MultibodyClothAnchor(struct GUIHelperInterface* helper)
|
|
: CommonDeformableBodyBase(helper)
|
|
{
|
|
}
|
|
virtual ~MultibodyClothAnchor()
|
|
{
|
|
}
|
|
void initPhysics();
|
|
|
|
void exitPhysics();
|
|
|
|
void resetCamera()
|
|
{
|
|
float dist = 20;
|
|
float pitch = -45;
|
|
float yaw = 100;
|
|
float targetPos[3] = {0, -3, 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);
|
|
}
|
|
|
|
virtual void renderScene()
|
|
{
|
|
CommonDeformableBodyBase::renderScene();
|
|
btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
|
|
|
|
for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
|
|
{
|
|
btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
|
|
//if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
|
|
{
|
|
btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
|
|
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags());
|
|
}
|
|
}
|
|
}
|
|
|
|
btMultiBody* createMultiBody(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical = false, bool floating = false);
|
|
|
|
void addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents);
|
|
};
|
|
|
|
void MultibodyClothAnchor::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();
|
|
btDeformableBodySolver* 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(deformableBodySolver);
|
|
m_solver = sol;
|
|
|
|
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
|
|
// deformableBodySolver->setWorld(getDeformableDynamicsWorld());
|
|
// m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality
|
|
btVector3 gravity = btVector3(0, -20, 0);
|
|
m_dynamicsWorld->setGravity(gravity);
|
|
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
|
|
|
|
// getDeformableDynamicsWorld()->before_solver_callbacks.push_back(dynamics);
|
|
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, -35, 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(1);
|
|
|
|
//add the ground to the dynamics world
|
|
m_dynamicsWorld->addRigidBody(body,1,1+2);
|
|
}
|
|
|
|
// create a piece of cloth
|
|
{
|
|
const btScalar s = 4;
|
|
const btScalar h = 6;
|
|
const int r = 9;
|
|
btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
|
|
btVector3(+s, h, -s),
|
|
btVector3(-s, h, +s),
|
|
btVector3(+s, h, +s), r, r, 4 + 8, true);
|
|
psb->getCollisionShape()->setMargin(0.01);
|
|
psb->generateBendingConstraints(2);
|
|
psb->setTotalMass(1);
|
|
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
|
|
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
|
|
psb->m_cfg.kDF = 2;
|
|
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
|
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
|
|
getDeformableDynamicsWorld()->addSoftBody(psb);
|
|
|
|
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(30,1, 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);
|
|
|
|
bool damping = true;
|
|
bool gyro = false;
|
|
int numLinks = 5;
|
|
bool spherical = false; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
|
|
bool canSleep = false;
|
|
bool selfCollide = true;
|
|
btVector3 linkHalfExtents(1.5, .5, .5);
|
|
btVector3 baseHalfExtents(1.5, .5, .5);
|
|
|
|
btMultiBody* mbC = createMultiBody(getDeformableDynamicsWorld(), numLinks, btVector3(s+3.5f, h, -s-0.6f), linkHalfExtents, baseHalfExtents, spherical, true);
|
|
|
|
mbC->setCanSleep(canSleep);
|
|
mbC->setHasSelfCollision(selfCollide);
|
|
mbC->setUseGyroTerm(gyro);
|
|
//
|
|
if (!damping)
|
|
{
|
|
mbC->setLinearDamping(0.0f);
|
|
mbC->setAngularDamping(0.0f);
|
|
}
|
|
else
|
|
{
|
|
mbC->setLinearDamping(0.04f);
|
|
mbC->setAngularDamping(0.04f);
|
|
}
|
|
|
|
if (numLinks > 0)
|
|
{
|
|
btScalar q0 = 0.f * SIMD_PI / 180.f;
|
|
if (!spherical)
|
|
{
|
|
mbC->setJointPosMultiDof(0, &q0);
|
|
}
|
|
else
|
|
{
|
|
btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);
|
|
quat0.normalize();
|
|
mbC->setJointPosMultiDof(0, quat0);
|
|
}
|
|
}
|
|
///
|
|
addColliders(mbC, getDeformableDynamicsWorld(), baseHalfExtents, linkHalfExtents);
|
|
|
|
// quick hack: advance time to populate the variables in multibody
|
|
m_dynamicsWorld->stepSimulation(SIMD_EPSILON, 0);
|
|
btAlignedObjectArray<btQuaternion> scratch_q;
|
|
btAlignedObjectArray<btVector3> scratch_m;
|
|
mbC->forwardKinematics(scratch_q, scratch_m);
|
|
psb->appendDeformableAnchor(0, mbC->getLink(3).m_collider);
|
|
psb->appendDeformableAnchor(r - 1, mbC->getLink(0).m_collider);
|
|
}
|
|
getDeformableDynamicsWorld()->setImplicit(false);
|
|
getDeformableDynamicsWorld()->setLineSearch(false);
|
|
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
|
}
|
|
|
|
void MultibodyClothAnchor::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;
|
|
}
|
|
|
|
btMultiBody* MultibodyClothAnchor::createMultiBody(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool floating)
|
|
{
|
|
//init the base
|
|
btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
|
|
float baseMass = 1.f;
|
|
|
|
if (baseMass)
|
|
{
|
|
btCollisionShape* pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
|
|
pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag);
|
|
delete pTempBox;
|
|
}
|
|
|
|
bool canSleep = false;
|
|
|
|
btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
|
|
|
|
btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
|
|
pMultiBody->setBasePos(basePosition);
|
|
pMultiBody->setWorldToBaseRot(baseOriQuat);
|
|
btVector3 vel(0, 0, 0);
|
|
|
|
//init the links
|
|
btVector3 hingeJointAxis(0, 1, 0);
|
|
float linkMass = 1.f;
|
|
btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
|
|
|
|
btCollisionShape* pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));
|
|
pTempBox->calculateLocalInertia(linkMass, linkInertiaDiag);
|
|
delete pTempBox;
|
|
|
|
//y-axis assumed up
|
|
btVector3 parentComToCurrentCom(-linkHalfExtents[0] * 2.f, 0, 0); //par body's COM to cur body's COM offset
|
|
btVector3 currentPivotToCurrentCom(-linkHalfExtents[0], 0, 0); //cur body's COM to cur body's PIV offset
|
|
btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
|
|
|
|
//////
|
|
btScalar q0 = 0.f * SIMD_PI / 180.f;
|
|
btQuaternion quat0(btVector3(0, 1, 0).normalized(), q0);
|
|
quat0.normalize();
|
|
/////
|
|
|
|
for (int i = 0; i < numLinks; ++i)
|
|
{
|
|
if (!spherical)
|
|
pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, true);
|
|
else
|
|
pMultiBody->setupSpherical(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), parentComToCurrentPivot, currentPivotToCurrentCom, true);
|
|
}
|
|
|
|
pMultiBody->finalizeMultiDof();
|
|
|
|
///
|
|
pWorld->addMultiBody(pMultiBody);
|
|
///
|
|
return pMultiBody;
|
|
}
|
|
|
|
void MultibodyClothAnchor::addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents)
|
|
{
|
|
btAlignedObjectArray<btQuaternion> world_to_local;
|
|
world_to_local.resize(pMultiBody->getNumLinks() + 1);
|
|
|
|
btAlignedObjectArray<btVector3> local_origin;
|
|
local_origin.resize(pMultiBody->getNumLinks() + 1);
|
|
world_to_local[0] = pMultiBody->getWorldToBaseRot();
|
|
local_origin[0] = pMultiBody->getBasePos();
|
|
|
|
{
|
|
btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()};
|
|
|
|
btCollisionShape* box = new btBoxShape(baseHalfExtents);
|
|
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
|
|
col->setCollisionShape(box);
|
|
|
|
btTransform tr;
|
|
tr.setIdentity();
|
|
tr.setOrigin(local_origin[0]);
|
|
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
|
|
col->setWorldTransform(tr);
|
|
pWorld->addCollisionObject(col, 2, 1+2);
|
|
col->setFriction(1);
|
|
pMultiBody->setBaseCollider(col);
|
|
}
|
|
|
|
for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
|
|
{
|
|
const int parent = pMultiBody->getParent(i);
|
|
world_to_local[i + 1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent + 1];
|
|
local_origin[i + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[i + 1].inverse(), pMultiBody->getRVector(i)));
|
|
}
|
|
|
|
for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
|
|
{
|
|
btVector3 posr = local_origin[i + 1];
|
|
|
|
btScalar quat[4] = {-world_to_local[i + 1].x(), -world_to_local[i + 1].y(), -world_to_local[i + 1].z(), world_to_local[i + 1].w()};
|
|
|
|
btCollisionShape* box = new btBoxShape(linkHalfExtents);
|
|
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
|
|
|
|
col->setCollisionShape(box);
|
|
btTransform tr;
|
|
tr.setIdentity();
|
|
tr.setOrigin(posr);
|
|
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
|
|
col->setWorldTransform(tr);
|
|
col->setFriction(1);
|
|
pWorld->addCollisionObject(col, 2, 1+2);
|
|
pMultiBody->getLink(i).m_collider = col;
|
|
}
|
|
}
|
|
|
|
class CommonExampleInterface* MultibodyClothAnchorCreateFunc(struct CommonExampleOptions& options)
|
|
{
|
|
return new MultibodyClothAnchor(options.m_guiHelper);
|
|
}
|
|
|
|
|