mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
328 lines
12 KiB
C++
328 lines
12 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 "ReducedPress.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 damping_alpha = 0.0;
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static btScalar damping_beta = 0.0;
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static int num_modes = 20;
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class ReducedPress : public CommonDeformableBodyBase
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{
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public:
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ReducedPress(struct GUIHelperInterface* helper)
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: CommonDeformableBodyBase(helper)
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{
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}
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virtual ~ReducedPress()
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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 = 5;
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float pitch = -10;
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float yaw = 90;
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// float dist = 25;
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// float pitch = -30;
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// float yaw = 100;
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float targetPos[3] = {0, 0, 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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// float internalTimeStep = 1. / 60.f;
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// m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep);
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}
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void createGrip()
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{
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int count = 2;
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float mass = 1e6;
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btCollisionShape* shape = new btBoxShape(btVector3(1, 0.25, 1));
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{
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0,2,0));
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// startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
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createRigidBody(mass, startTransform, shape);
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}
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// {
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// btTransform startTransform;
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// startTransform.setIdentity();
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// startTransform.setOrigin(btVector3(0,1,-2));
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// startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
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// createRigidBody(mass, startTransform, shape);
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// }
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}
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void Ctor_RbUpStack()
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{
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float mass = 8;
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btCollisionShape* shape = new btBoxShape(btVector3(0.25, 2, 0.5));
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0,9.5,0));
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btRigidBody* rb1 = createRigidBody(mass, startTransform, shape);
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rb1->setLinearVelocity(btVector3(0, 0, 0));
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rb1->setFriction(0.7);
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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(), deformableWorld->getDrawFlags());
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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, 0.1, btVector3(0, 1, 0));
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}
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}
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}
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static void GripperDynamics(btScalar time, btDeformableMultiBodyDynamicsWorld* world);
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};
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void ReducedPress::GripperDynamics(btScalar time, btDeformableMultiBodyDynamicsWorld* world)
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{
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btAlignedObjectArray<btRigidBody*>& rbs = world->getNonStaticRigidBodies();
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if (rbs.size()>1)
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return;
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btRigidBody* rb0 = rbs[0];
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btScalar pressTime = 0.75;
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btTransform rbTransform;
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rbTransform.setIdentity();
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btVector3 translation;
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btVector3 velocity;
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btVector3 initialTranslationLeft = btVector3(0,2,0); // inner face has z=2
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btVector3 pinchVelocityLeft = btVector3(0,-1,0);
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if (time < pressTime)
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{
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velocity = pinchVelocityLeft;
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translation = initialTranslationLeft + pinchVelocityLeft * time;
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}
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else
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{
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velocity = btVector3(0, 0, 0);
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translation = initialTranslationLeft + pinchVelocityLeft * pressTime;
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}
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rbTransform.setOrigin(translation);
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// rbTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
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rb0->setCenterOfMassTransform(rbTransform);
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rb0->setAngularVelocity(btVector3(0,0,0));
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rb0->setLinearVelocity(velocity);
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rb0->setFriction(20);
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}
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void ReducedPress::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, 0, 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_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()->setSolverCallback(GripperDynamics);
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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::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
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getDeformableDynamicsWorld()->addSoftBody(rsb);
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rsb->getCollisionShape()->setMargin(0.015);
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btTransform init_transform;
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init_transform.setIdentity();
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init_transform.setOrigin(btVector3(0, 1, 0));
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// init_transform.setRotation(btQuaternion(0, SIMD_PI / 2.0, SIMD_PI / 2.0));
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// init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0));
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rsb->transform(init_transform);
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rsb->setStiffnessScale(100);
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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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// rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
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}
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getDeformableDynamicsWorld()->setImplicit(false);
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getDeformableDynamicsWorld()->setLineSearch(false);
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getDeformableDynamicsWorld()->setUseProjection(true);
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getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2;
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getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 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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// grippers
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createGrip();
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// rigid block
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// Ctor_RbUpStack();
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// {
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// float mass = 10;
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// btCollisionShape* shape = new btBoxShape(btVector3(0.25, 2, 0.5));
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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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//create a ground
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{
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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, -25, 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(0.5);
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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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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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}
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void ReducedPress::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* ReducedPressCreateFunc(struct CommonExampleOptions& options)
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{
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return new ReducedPress(options.m_guiHelper);
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}
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