mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
388 lines
14 KiB
C++
388 lines
14 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 "Pinch.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/CommonRigidBodyBase.h"
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#include "../Utils/b3ResourcePath.h"
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///The Pinch shows the frictional contact between kinematic rigid objects with deformable objects
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struct TetraCube
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{
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#include "../SoftDemo/cube.inl"
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};
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class Pinch : public CommonRigidBodyBase
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{
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btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
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public:
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Pinch(struct GUIHelperInterface* helper)
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: CommonRigidBodyBase(helper)
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{
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}
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virtual ~Pinch()
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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 = 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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}
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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[] = {
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new btBoxShape(btVector3(3, 3, 0.5)),
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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(10, 0, 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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}
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virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
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{
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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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return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
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}
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virtual void renderScene()
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{
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CommonRigidBodyBase::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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{
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btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
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btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
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}
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}
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}
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};
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void dynamics(btScalar time, btDeformableMultiBodyDynamicsWorld* world)
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{
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btAlignedObjectArray<btRigidBody*>& rbs = world->getNonStaticRigidBodies();
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if (rbs.size()<2)
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return;
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btRigidBody* rb0 = rbs[0];
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btScalar pressTime = 0.9;
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btScalar liftTime = 2.5;
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btScalar shiftTime = 3.5;
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btScalar holdTime = 4.5*1000;
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btScalar dropTime = 5.3*1000;
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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(0.5,3,4);
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btVector3 initialTranslationRight = btVector3(0.5,3,-4);
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btVector3 pinchVelocityLeft = btVector3(0,0,-2);
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btVector3 pinchVelocityRight = btVector3(0,0,2);
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btVector3 liftVelocity = btVector3(0,5,0);
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btVector3 shiftVelocity = btVector3(0,0,5);
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btVector3 holdVelocity = btVector3(0,0,0);
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btVector3 openVelocityLeft = btVector3(0,0,4);
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btVector3 openVelocityRight = btVector3(0,0,-4);
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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 if (time < liftTime)
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{
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velocity = liftVelocity;
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translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (time - pressTime);
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}
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else if (time < shiftTime)
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{
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velocity = shiftVelocity;
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translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime);
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}
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else if (time < holdTime)
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{
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velocity = btVector3(0,0,0);
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translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime);
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}
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else if (time < dropTime)
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{
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velocity = openVelocityLeft;
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translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (time - holdTime);
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}
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else
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{
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velocity = holdVelocity;
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translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (dropTime - holdTime);
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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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btRigidBody* rb1 = rbs[1];
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if (time < pressTime)
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{
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velocity = pinchVelocityRight;
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translation = initialTranslationRight + pinchVelocityRight * time;
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}
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else if (time < liftTime)
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{
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velocity = liftVelocity;
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translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (time - pressTime);
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}
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else if (time < shiftTime)
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{
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velocity = shiftVelocity;
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translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime);
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}
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else if (time < holdTime)
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{
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velocity = btVector3(0,0,0);
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translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime);
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}
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else if (time < dropTime)
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{
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velocity = openVelocityRight;
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translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (time - holdTime);
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}
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else
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{
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velocity = holdVelocity;
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translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (dropTime - holdTime);
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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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rb1->setCenterOfMassTransform(rbTransform);
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rb1->setAngularVelocity(btVector3(0,0,0));
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rb1->setLinearVelocity(velocity);
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rb0->setFriction(20);
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rb1->setFriction(20);
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}
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void Pinch::initPhysics()
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{
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m_guiHelper->setUpAxis(1);
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m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
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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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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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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()->setSolverCallback(dynamics);
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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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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// create a soft block
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{
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btScalar verts[24] = {0.f, 0.f, 0.f,
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1.f, 0.f, 0.f,
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0.f, 1.f, 0.f,
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0.f, 0.f, 1.f,
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1.f, 1.f, 0.f,
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0.f, 1.f, 1.f,
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1.f, 0.f, 1.f,
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1.f, 1.f, 1.f
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};
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int triangles[60] = {0, 6, 3,
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0,1,6,
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7,5,3,
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7,3,6,
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4,7,6,
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4,6,1,
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7,2,5,
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7,4,2,
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0,3,2,
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2,3,5,
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0,2,4,
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0,4,1,
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0,6,5,
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0,6,4,
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3,4,2,
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3,4,7,
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2,7,3,
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2,7,1,
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4,5,0,
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4,5,6,
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};
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// btSoftBody* psb = btSoftBodyHelpers::CreateFromTriMesh(getDeformableDynamicsWorld()->getWorldInfo(), &verts[0], &triangles[0], 20);
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////
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btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
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TetraCube::getElements(),
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0,
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TetraCube::getNodes(),
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false, true, true);
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psb->scale(btVector3(2, 2, 2));
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psb->translate(btVector3(0, 4, 0));
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psb->getCollisionShape()->setMargin(0.1);
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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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getDeformableDynamicsWorld()->addSoftBody(psb);
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btSoftBodyHelpers::generateBoundaryFaces(psb);
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btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(1,0.05);
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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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btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(.2,1);
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getDeformableDynamicsWorld()->addForce(psb, neohookean);
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m_forces.push_back(neohookean);
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// add a grippers
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createGrip();
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}
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getDeformableDynamicsWorld()->setImplicit(false);
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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}
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void Pinch::exitPhysics()
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{
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//cleanup in the reverse order of creation/initialization
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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* PinchCreateFunc(struct CommonExampleOptions& options)
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{
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return new Pinch(options.m_guiHelper);
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}
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