mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
274 lines
10 KiB
C++
274 lines
10 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 "Collide.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 "../CommonInterfaces/CommonParameterInterface.h"
|
|
#include <stdio.h> //printf debugging
|
|
|
|
#include "../CommonInterfaces/CommonDeformableBodyBase.h"
|
|
#include "../Utils/b3ResourcePath.h"
|
|
|
|
///The Collide shows the contact between volumetric deformable objects and rigid objects.
|
|
static btScalar E = 50;
|
|
static btScalar nu = 0.3;
|
|
static btScalar damping_alpha = 0.1;
|
|
static btScalar damping_beta = 0.01;
|
|
static btScalar COLLIDING_VELOCITY = 15;
|
|
|
|
struct TetraCube
|
|
{
|
|
#include "../SoftDemo/cube.inl"
|
|
};
|
|
|
|
class Collide : public CommonDeformableBodyBase
|
|
{
|
|
btDeformableLinearElasticityForce* m_linearElasticity;
|
|
|
|
public:
|
|
Collide(struct GUIHelperInterface* helper)
|
|
: CommonDeformableBodyBase(helper)
|
|
{
|
|
m_linearElasticity = 0;
|
|
}
|
|
virtual ~Collide()
|
|
{
|
|
}
|
|
void initPhysics();
|
|
|
|
void exitPhysics();
|
|
|
|
void resetCamera()
|
|
{
|
|
float dist = 20;
|
|
float pitch = 0;
|
|
float yaw = 90;
|
|
float targetPos[3] = {0, 3, 0};
|
|
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
|
|
}
|
|
|
|
void Ctor_RbUpStack()
|
|
{
|
|
float mass = 0.5;
|
|
btCollisionShape* shape = new btBoxShape(btVector3(2, 2, 2));
|
|
btTransform startTransform;
|
|
startTransform.setIdentity();
|
|
startTransform.setOrigin(btVector3(0,-2,0));
|
|
btRigidBody* rb = createRigidBody(mass, startTransform, shape);
|
|
rb->setLinearVelocity(btVector3(0,+COLLIDING_VELOCITY, 0));
|
|
}
|
|
|
|
void stepSimulation(float deltaTime)
|
|
{
|
|
m_linearElasticity->setPoissonRatio(nu);
|
|
m_linearElasticity->setYoungsModulus(E);
|
|
m_linearElasticity->setDamping(damping_alpha, damping_beta);
|
|
float internalTimeStep = 1. / 60.f;
|
|
m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep);
|
|
}
|
|
|
|
virtual void renderScene()
|
|
{
|
|
CommonDeformableBodyBase::renderScene();
|
|
btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
|
|
|
|
for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
|
|
{
|
|
btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
|
|
{
|
|
btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
|
|
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
|
|
}
|
|
}
|
|
}
|
|
};
|
|
|
|
void Collide::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();
|
|
|
|
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
|
|
sol->setDeformableSolver(deformableBodySolver);
|
|
m_solver = sol;
|
|
|
|
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
|
|
btVector3 gravity = btVector3(0, 0, 0);
|
|
m_dynamicsWorld->setGravity(gravity);
|
|
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
|
|
|
// create volumetric soft body
|
|
{
|
|
btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
|
|
TetraCube::getElements(),
|
|
0,
|
|
TetraCube::getNodes(),
|
|
false, true, true);
|
|
getDeformableDynamicsWorld()->addSoftBody(psb);
|
|
psb->scale(btVector3(2, 2, 2));
|
|
psb->translate(btVector3(0, 7, 0));
|
|
psb->getCollisionShape()->setMargin(0.1);
|
|
psb->setTotalMass(0.5);
|
|
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
|
|
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
|
|
psb->m_cfg.kDF = 0;
|
|
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
|
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
|
|
psb->m_sleepingThreshold = 0;
|
|
btSoftBodyHelpers::generateBoundaryFaces(psb);
|
|
|
|
psb->setVelocity(btVector3(0, -COLLIDING_VELOCITY, 0));
|
|
|
|
btDeformableLinearElasticityForce* linearElasticity = new btDeformableLinearElasticityForce(100,100,0.01);
|
|
m_linearElasticity = linearElasticity;
|
|
getDeformableDynamicsWorld()->addForce(psb, linearElasticity);
|
|
m_forces.push_back(linearElasticity);
|
|
}
|
|
getDeformableDynamicsWorld()->setImplicit(true);
|
|
getDeformableDynamicsWorld()->setLineSearch(false);
|
|
getDeformableDynamicsWorld()->setUseProjection(true);
|
|
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.3;
|
|
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
|
|
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
|
|
getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = true;
|
|
getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
|
|
// add a few rigid bodies
|
|
Ctor_RbUpStack();
|
|
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
|
|
|
// {
|
|
// SliderParams slider("Young's Modulus", &E);
|
|
// slider.m_minVal = 0;
|
|
// slider.m_maxVal = 2000;
|
|
// if (m_guiHelper->getParameterInterface())
|
|
// m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
|
// }
|
|
// {
|
|
// SliderParams slider("Poisson Ratio", &nu);
|
|
// slider.m_minVal = 0.05;
|
|
// slider.m_maxVal = 0.49;
|
|
// if (m_guiHelper->getParameterInterface())
|
|
// m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
|
// }
|
|
// {
|
|
// SliderParams slider("Mass Damping", &damping_alpha);
|
|
// slider.m_minVal = 0.001;
|
|
// slider.m_maxVal = 0.01;
|
|
// if (m_guiHelper->getParameterInterface())
|
|
// m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
|
// }
|
|
// {
|
|
// SliderParams slider("Stiffness Damping", &damping_beta);
|
|
// slider.m_minVal = 0.001;
|
|
// slider.m_maxVal = 0.01;
|
|
// if (m_guiHelper->getParameterInterface())
|
|
// m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
|
// }
|
|
{
|
|
SliderParams slider("Young's Modulus", &E);
|
|
slider.m_minVal = 0;
|
|
slider.m_maxVal = 2000;
|
|
if (m_guiHelper->getParameterInterface())
|
|
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
|
}
|
|
{
|
|
SliderParams slider("Poisson Ratio", &nu);
|
|
slider.m_minVal = 0.05;
|
|
slider.m_maxVal = 0.49;
|
|
if (m_guiHelper->getParameterInterface())
|
|
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
|
}
|
|
{
|
|
SliderParams slider("Mass Damping", &damping_alpha);
|
|
slider.m_minVal = 0;
|
|
slider.m_maxVal = 1;
|
|
if (m_guiHelper->getParameterInterface())
|
|
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
|
}
|
|
{
|
|
SliderParams slider("Stiffness Damping", &damping_beta);
|
|
slider.m_minVal = 0;
|
|
slider.m_maxVal = 0.1;
|
|
if (m_guiHelper->getParameterInterface())
|
|
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
|
}
|
|
}
|
|
|
|
void Collide::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;
|
|
}
|
|
|
|
|
|
|
|
class CommonExampleInterface* CollideCreateFunc(struct CommonExampleOptions& options)
|
|
{
|
|
return new Collide(options.m_guiHelper);
|
|
}
|
|
|
|
|