Scarfski/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3.git synced 2026-08-29 14:38:27 +00:00
Code Issues Packages Projects Releases Wiki Activity

save files. misc

Browse Source
This commit is contained in:
jyc-n
2021-07-22 21:55:34 -04:00
parent c325da8b34
commit 87e20f450b
9 changed files with 98 additions and 70 deletions
Download Patch File Download Diff File Expand all files Collapse all files

98
examples/ReducedDeformableDemo/BasicTest.cpp
View File

@@ -50,22 +50,22 @@ class BasicTest : public CommonDeformableBodyBase
bool first_step;
// compute reduced degree of freedoms
void mapToReducedDofs(btSoftBody* psb)
void mapToReducedDofs(btReducedSoftBody* rsb)
{
btAssert(psb->m_reducedDofs.size() == m_nReduced);
btAssert(rsb->m_reducedDofs.size() == m_nReduced);
for (int j = 0; j < m_nReduced; ++j)
{
psb->m_reducedDofs[j] = 0;
rsb->m_reducedDofs[j] = 0;
for (int i = 0; i < m_nFull; ++i)
for (int k = 0; k < 3; ++k)
psb->m_reducedDofs[j] += psb->m_modes[j][3 * i + k] * (psb->m_nodes[i].m_x[k] - psb->m_x0[3 * i + k]);
rsb->m_reducedDofs[j] += rsb->m_modes[j][3 * i + k] * (rsb->m_nodes[i].m_x[k] - rsb->m_x0[3 * i + k]);
}
}
// compute full degree of freedoms
void mapToFullDofs(btSoftBody* psb)
void mapToFullDofs(btReducedSoftBody* rsb)
{
btAssert(psb->m_nodes.size() == m_nFull);
btAssert(rsb->m_nodes.size() == m_nFull);
btAlignedObjectArray<btVector3> delta_x;
delta_x.resize(m_nFull);
for (int i = 0; i < m_nFull; ++i)
@@ -75,20 +75,20 @@ class BasicTest : public CommonDeformableBodyBase
// compute displacement
delta_x[i][k] = 0;
for (int j = 0; j < m_nReduced; ++j)
delta_x[i][k] += psb->m_modes[j][3 * i + k] * psb->m_reducedDofs[j];
delta_x[i][k] += rsb->m_modes[j][3 * i + k] * rsb->m_reducedDofs[j];
// get new coordinates
psb->m_nodes[i].m_x[k] = psb->m_x0[3 * i + k] + delta_x[i][k];
rsb->m_nodes[i].m_x[k] = rsb->m_x0[3 * i + k] + delta_x[i][k];
}
}
}
// get deformed shape
void getDeformedShape(btSoftBody* psb, const int mode_n, const btScalar scale = 1)
void getDeformedShape(btReducedSoftBody* rsb, const int mode_n, const btScalar scale = 1)
{
for (int i = 0; i < psb->m_nodes.size(); ++i)
for (int i = 0; i < rsb->m_nodes.size(); ++i)
for (int k = 0; k < 3; ++k)
psb->m_nodes[i].m_x[k] += psb->m_modes[mode_n][3 * i + k] * scale;
rsb->m_nodes[i].m_x[k] += rsb->m_modes[mode_n][3 * i + k] * scale;
}
public:
@@ -133,22 +133,22 @@ public:
void stepSimulation(float deltaTime)
{
btSoftBody* psb = static_cast<btDeformableMultiBodyDynamicsWorld*>(m_dynamicsWorld)->getSoftBodyArray()[0];
btReducedSoftBody* rsb = static_cast<btDeformableMultiBodyDynamicsWorld*>(m_dynamicsWorld)->getSoftBodyArray()[0];
// TODO: remove this. very hacky way of adding initial deformation
if (first_step && !psb->m_bUpdateRtCst)
if (first_step && !rsb->m_bUpdateRtCst)
{
// getDeformedShape(psb, 0, 0.5);
// getDeformedShape(rsb, 0, 0.5);
first_step = false;
mapToReducedDofs(psb);
// std::cout << psb->m_reducedDofs[0] << "\n";
mapToReducedDofs(rsb);
// std::cout << rsb->m_reducedDofs[0] << "\n";
}
// compute reduced dofs
psb->m_reducedDofs.resize(m_nReduced);
psb->m_reducedVelocity.resize(m_nReduced);
rsb->m_reducedDofs.resize(m_nReduced);
rsb->m_reducedVelocity.resize(m_nReduced);
sim_time += deltaTime;
// std::cout << psb->m_eigenvalues[0] << "\t" << sim_time << "\t" << deltaTime << "\t" << sin(psb->m_eigenvalues[0] * sim_time) << "\n";
// std::cout << rsb->m_eigenvalues[0] << "\t" << sim_time << "\t" << deltaTime << "\t" << sin(rsb->m_eigenvalues[0] * sim_time) << "\n";
float internalTimeStep = 1. / 60.f;
m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep);
@@ -156,7 +156,7 @@ public:
// m_dynamicsWorld->stepSimulation(1, 1, internalTimeStep);
// map reduced dof back to full
mapToFullDofs(psb);
mapToFullDofs(rsb);
}
virtual void renderScene()
@@ -166,10 +166,10 @@ public:
for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
{
btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
btSoftBody* rsb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
{
btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
}
}
}
@@ -200,53 +200,53 @@ void BasicTest::initPhysics()
// create volumetric soft body
{
std::string filename("../../../examples/SoftDemo/mesh.vtk");
btReducedSoftBody* psb = btReducedSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), filename.c_str());
m_nFull = psb->m_nodes.size();
psb->m_reducedModel = true;
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), filename.c_str());
m_nFull = rsb->m_nodes.size();
rsb->m_reducedModel = true;
// read in eigenmodes, stiffness and mass matrices
std::string eigenvalues_file("../../../examples/SoftDemo/eigenvalues.bin");
btReducedSoftBodyHelpers::readBinary(psb->m_eigenvalues, m_startMode, m_nReduced, 3 * m_nFull, eigenvalues_file.c_str());
btReducedSoftBodyHelpers::readBinary(rsb->m_eigenvalues, m_startMode, m_nReduced, 3 * m_nFull, eigenvalues_file.c_str());
std::string Kr_file("../../../examples/SoftDemo/K_r_diag_mat.bin");
btReducedSoftBodyHelpers::readBinary(psb->m_Kr, m_startMode, m_nReduced, 3 * m_nFull, Kr_file.c_str());
btReducedSoftBodyHelpers::readBinary(rsb->m_Kr, m_startMode, m_nReduced, 3 * m_nFull, Kr_file.c_str());
std::string Mr_file("../../../examples/SoftDemo/M_r_diag_mat.bin");
btReducedSoftBodyHelpers::readBinary(psb->m_Mr, m_startMode, m_nReduced, 3 * m_nFull, Mr_file.c_str());
btReducedSoftBodyHelpers::readBinary(rsb->m_Mr, m_startMode, m_nReduced, 3 * m_nFull, Mr_file.c_str());
std::string modes_file("../../../examples/SoftDemo/modes.bin");
btReducedSoftBodyHelpers::readBinaryModes(psb->m_modes, m_startMode, m_nReduced, 3 * m_nFull, modes_file.c_str()); // default to 3D
btReducedSoftBodyHelpers::readBinaryModes(rsb->m_modes, m_startMode, m_nReduced, 3 * m_nFull, modes_file.c_str()); // default to 3D
// get rest position
psb->m_x0.resize(3 * psb->m_nodes.size());
for (int i = 0; i < psb->m_nodes.size(); ++i)
rsb->m_x0.resize(3 * rsb->m_nodes.size());
for (int i = 0; i < rsb->m_nodes.size(); ++i)
for (int k = 0; k < 3; ++k)
psb->m_x0[3 * i + k] = psb->m_nodes[i].m_x[k];
rsb->m_x0[3 * i + k] = rsb->m_nodes[i].m_x[k];
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);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->scale(btVector3(2, 2, 2));
rsb->translate(btVector3(0, 7, 0));
rsb->getCollisionShape()->setMargin(0.1);
rsb->setTotalMass(0.5);
rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
rsb->m_cfg.kCHR = 1; // collision hardness with rigid body
rsb->m_cfg.kDF = 0;
rsb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
rsb->m_sleepingThreshold = 0;
btSoftBodyHelpers::generateBoundaryFaces(rsb);
std::string M_file("../../../examples/SoftDemo/M_diag_mat.bin");
btAlignedObjectArray<btScalar> mass_array;
btReducedSoftBodyHelpers::readBinary(mass_array, 0, 3 * m_nFull, 3 * m_nFull, M_file.c_str());
// assign mass to nodes
for (int i = 0; i < psb->m_nodes.size(); ++i)
psb->m_nodes[i].m_im = mass_array[3 * i]; // here we use m_im as the actual mass not the mass inverse
for (int i = 0; i < rsb->m_nodes.size(); ++i)
rsb->m_nodes[i].m_im = mass_array[3 * i]; // here we use m_im as the actual mass not the mass inverse
psb->setVelocity(btVector3(0, -COLLIDING_VELOCITY, 0));
rsb->setVelocity(btVector3(0, -COLLIDING_VELOCITY, 0));
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
getDeformableDynamicsWorld()->addForce(rsb, gravity_force);
m_forces.push_back(gravity_force);
}
getDeformableDynamicsWorld()->setImplicit(false);