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implement mouse picking for deformable objects in PyBullet (the one using p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD), not position based dynamics version)

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This commit is contained in:
Erwin Coumans
2020-06-16 11:54:50 -07:00
parent a2cdadb9b4
commit a7b8b54c44
1 changed files with 96 additions and 2 deletions
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98
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1655,7 +1655,9 @@ struct PhysicsServerCommandProcessorInternalData
#ifndef SKIP_DEFORMABLE_BODY
btSoftBody* m_pickedSoftBody;
btDeformableMousePickingForce* m_mouseForce;
btScalar m_maxPickingForce;
btDeformableBodySolver* m_deformablebodySolver;
btAlignedObjectArray<btDeformableLagrangianForce*> m_lf;
#endif
@@ -1685,6 +1687,7 @@ struct PhysicsServerCommandProcessorInternalData
//data for picking objects
class btRigidBody* m_pickedBody;
int m_savedActivationState;
class btTypedConstraint* m_pickedConstraint;
class btMultiBodyPoint2Point* m_pickingMultiBodyPoint2Point;
@@ -1727,6 +1730,9 @@ struct PhysicsServerCommandProcessorInternalData
m_solver(0),
m_collisionConfiguration(0),
#ifndef SKIP_DEFORMABLE_BODY
m_pickedSoftBody(0),
m_mouseForce(0),
m_maxPickingForce(0.3),
m_deformablebodySolver(0),
#endif
m_dynamicsWorld(0),
@@ -13775,10 +13781,15 @@ void PhysicsServerCommandProcessor::physicsDebugDraw(int debugDrawFlags)
}
}
struct MyResultCallback : public btCollisionWorld::ClosestRayResultCallback
{
int m_faceId;
MyResultCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld)
: btCollisionWorld::ClosestRayResultCallback(rayFromWorld, rayToWorld)
: btCollisionWorld::ClosestRayResultCallback(rayFromWorld, rayToWorld),
m_faceId(-1)
{
}
@@ -13786,8 +13797,37 @@ struct MyResultCallback : public btCollisionWorld::ClosestRayResultCallback
{
return true;
}
virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult, bool normalInWorldSpace)
{
//caller already does the filter on the m_closestHitFraction
btAssert(rayResult.m_hitFraction <= m_closestHitFraction);
m_closestHitFraction = rayResult.m_hitFraction;
m_collisionObject = rayResult.m_collisionObject;
if (rayResult.m_localShapeInfo)
{
m_faceId = rayResult.m_localShapeInfo->m_triangleIndex;
}
else
{
m_faceId = -1;
}
if (normalInWorldSpace)
{
m_hitNormalWorld = rayResult.m_hitNormalLocal;
}
else
{
///need to transform normal into worldspace
m_hitNormalWorld = m_collisionObject->getWorldTransform().getBasis() * rayResult.m_hitNormalLocal;
}
m_hitPointWorld.setInterpolate3(m_rayFromWorld, m_rayToWorld, rayResult.m_hitFraction);
return rayResult.m_hitFraction;
}
};
bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
{
if (m_data->m_dynamicsWorld == 0)
@@ -13843,6 +13883,31 @@ bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, cons
world->addMultiBodyConstraint(p2p);
m_data->m_pickingMultiBodyPoint2Point = p2p;
}
else
{
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
//deformable/soft body?
btSoftBody* psb = (btSoftBody*)btSoftBody::upcast(rayCallback.m_collisionObject);
if (psb)
{
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
if (deformWorld)
{
int face_id = rayCallback.m_faceId;
if (face_id >= 0 && face_id < psb->m_faces.size())
{
m_data->m_pickedSoftBody = psb;
psb->setActivationState(DISABLE_DEACTIVATION);
const btSoftBody::Face& f = psb->m_faces[face_id];
btDeformableMousePickingForce* mouse_force = new btDeformableMousePickingForce(100, 0, f, pickPos, m_data->m_maxPickingForce);
m_data->m_mouseForce = mouse_force;
deformWorld->addForce(psb, mouse_force);
}
}
}
#endif
}
}
// pickObject(pickPos, rayCallback.m_collisionObject);
@@ -13886,6 +13951,21 @@ bool PhysicsServerCommandProcessor::movePickedBody(const btVector3& rayFromWorld
m_data->m_pickingMultiBodyPoint2Point->setPivotInB(newPivotB);
}
#ifndef SKIP_DEFORMABLE_BODY
if (m_data->m_pickedSoftBody)
{
if (m_data->m_pickedSoftBody && m_data->m_mouseForce)
{
btVector3 newPivot;
btVector3 dir = rayToWorld - rayFromWorld;
dir.normalize();
dir *= m_data->m_oldPickingDist;
newPivot = rayFromWorld + dir;
m_data->m_mouseForce->setMousePos(newPivot);
}
}
#endif
return false;
}
@@ -13907,6 +13987,20 @@ void PhysicsServerCommandProcessor::removePickingConstraint()
delete m_data->m_pickingMultiBodyPoint2Point;
m_data->m_pickingMultiBodyPoint2Point = 0;
}
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
//deformable/soft body?
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
if (deformWorld && m_data->m_mouseForce)
{
deformWorld->removeForce(m_data->m_pickedSoftBody, m_data->m_mouseForce);
delete m_data->m_mouseForce;
m_data->m_mouseForce = 0;
m_data->m_pickedSoftBody = 0;
}
#endif
}
void PhysicsServerCommandProcessor::enableCommandLogging(bool enable, const char* fileName)