mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
283 lines
11 KiB
C++
283 lines
11 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 "FrictionSlope.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/BulletReducedSoftBody/btReducedSoftBody.h"
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#include "BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodyHelpers.h"
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#include "BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodySolver.h"
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#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
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#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
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#include "../CommonInterfaces/CommonParameterInterface.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 BasicTest shows the contact between volumetric deformable objects and rigid objects.
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// static btScalar E = 50;
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// static btScalar nu = 0.3;
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static btScalar damping_alpha = 0.0;
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static btScalar damping_beta = 0.001;
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static btScalar COLLIDING_VELOCITY = 0;
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static int start_mode = 6;
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static int num_modes = 20;
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class FrictionSlope : public CommonDeformableBodyBase
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{
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public:
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FrictionSlope(struct GUIHelperInterface* helper)
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: CommonDeformableBodyBase(helper)
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{}
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virtual ~FrictionSlope()
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{
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}
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void initPhysics();
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void exitPhysics();
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// TODO: disable pick force, non-interactive for now.
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bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) {
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return false;
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}
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void resetCamera()
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{
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float dist = 20;
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float pitch = -20;
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float yaw = 90;
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float targetPos[3] = {0, 0, 0.5};
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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 Ctor_RbUpStack()
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{
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float mass = 1;
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btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 1));
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// btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.5, 0.5));
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// btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.25, 2));
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0,4,0));
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btRigidBody* rb1 = createRigidBody(mass, startTransform, shape);
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rb1->setLinearVelocity(btVector3(0, 0, 0));
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}
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void createGround()
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{
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btBoxShape* groundShape = createBoxShape(btVector3(btScalar(10), btScalar(2), btScalar(10)));
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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.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_PI / 6.0));
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groundTransform.setOrigin(btVector3(0, 0, 0));
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btScalar mass(1e6);
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btRigidBody* ground = createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0));
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// ground->setFriction(1);
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}
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void stepSimulation(float deltaTime)
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{
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float internalTimeStep = 1. / 60.f;
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m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep);
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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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btReducedSoftBody* rsb = static_cast<btReducedSoftBody*>(deformableWorld->getSoftBodyArray()[i]);
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{
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btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer());
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// btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), flag);
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btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
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// for (int p = 0; p < rsb->m_fixedNodes.size(); ++p)
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// {
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// deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_fixedNodes[p]].m_x, 0.2, btVector3(1, 0, 0));
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// }
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// for (int p = 0; p < rsb->m_nodeRigidContacts.size(); ++p)
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// {
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// deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_contactNodesList[p]].m_x, 0.2, btVector3(0, 1, 0));
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// }
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}
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}
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}
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};
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namespace FrictionSlopeHelper
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{
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void groundMotion(btScalar time, btDeformableMultiBodyDynamicsWorld* world)
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{
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btAlignedObjectArray<btRigidBody*>& rbs = world->getNonStaticRigidBodies();
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btRigidBody* ground = rbs[0];
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btAssert(ground->getMass() > 1e5);
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btScalar start_time = 2;
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btScalar end_time = 8;
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btScalar start_angle = 0;
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btScalar end_angle = SIMD_PI / 6;
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btScalar current_angle = 0;
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btScalar turn_speed = (end_angle - start_angle) / (end_time - start_time);
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if (time >= start_time)
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{
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current_angle = (time - start_time) * turn_speed;
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if (time > end_time)
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{
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current_angle = end_angle;
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turn_speed = 0;
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}
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}
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else
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{
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current_angle = start_angle;
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turn_speed = 0;
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}
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btTransform groundTransform;
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groundTransform.setIdentity();
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// groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
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groundTransform.setRotation(btQuaternion(btVector3(0, 0, 1), current_angle));
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ground->setCenterOfMassTransform(groundTransform);
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ground->setLinearVelocity(btVector3(0, 0, 0));
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ground->setAngularVelocity(btVector3(0, 0, 0));
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}
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};
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void FrictionSlope::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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btReducedSoftBodySolver* reducedSoftBodySolver = new btReducedSoftBodySolver();
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btVector3 gravity = btVector3(0, -10, 0);
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reducedSoftBodySolver->setGravity(gravity);
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btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
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sol->setDeformableSolver(reducedSoftBodySolver);
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m_solver = sol;
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m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver);
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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// create volumetric reduced deformable body
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{
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btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedBeam(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
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getDeformableDynamicsWorld()->addSoftBody(rsb);
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rsb->getCollisionShape()->setMargin(0.01);
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btTransform init_transform;
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init_transform.setIdentity();
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init_transform.setOrigin(btVector3(0, 4, 0));
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init_transform.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_PI / 2.0));
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rsb->transform(init_transform);
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rsb->setStiffnessScale(50);
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rsb->setDamping(damping_alpha, damping_beta);
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rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
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rsb->m_cfg.kCHR = 1; // collision hardness with rigid body
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rsb->m_cfg.kDF = 0;
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rsb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
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rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
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rsb->m_sleepingThreshold = 0;
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btSoftBodyHelpers::generateBoundaryFaces(rsb);
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}
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createGround();
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// add a few rigid bodies
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// Ctor_RbUpStack();
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getDeformableDynamicsWorld()->setImplicit(false);
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getDeformableDynamicsWorld()->setLineSearch(false);
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getDeformableDynamicsWorld()->setUseProjection(false);
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getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2;
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getDeformableDynamicsWorld()->getSolverInfo().m_friction = 1;
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getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
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getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
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getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false;
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getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
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getDeformableDynamicsWorld()->setSolverCallback(FrictionSlopeHelper::groundMotion);
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m_dynamicsWorld->setGravity(gravity);
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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}
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void FrictionSlope::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* FrictionSlopeCreateFunc(struct CommonExampleOptions& options)
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{
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return new FrictionSlope(options.m_guiHelper);
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}
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