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add new ReducedSoftBody class. move read files functions to btReducedSoftBodyHelpers

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This commit is contained in:
jyc-n
2021-07-22 11:43:26 -04:00
parent 45c3db58ff
commit c325da8b34
9 changed files with 298 additions and 104 deletions
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examples/ReducedDeformableDemo/BasicTest.cpp
+8 -8
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@@ -15,8 +15,8 @@
///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/BulletReducedSoftBody/btReducedSoftBody.h"
#include "BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodyHelpers.h"
#include "BulletSoftBody/btDeformableBodySolver.h"
#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
@@ -200,22 +200,22 @@ void BasicTest::initPhysics()
// create volumetric soft body
{
std::string filename("../../../examples/SoftDemo/mesh.vtk");
btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), filename.c_str());
btReducedSoftBody* psb = btReducedSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), filename.c_str());
m_nFull = psb->m_nodes.size();
psb->m_reducedModel = true;
// read in eigenmodes, stiffness and mass matrices
std::string eigenvalues_file("../../../examples/SoftDemo/eigenvalues.bin");
btSoftBodyHelpers::readBinary(psb->m_eigenvalues, m_startMode, m_nReduced, 3 * m_nFull, eigenvalues_file.c_str());
btReducedSoftBodyHelpers::readBinary(psb->m_eigenvalues, m_startMode, m_nReduced, 3 * m_nFull, eigenvalues_file.c_str());
std::string Kr_file("../../../examples/SoftDemo/K_r_diag_mat.bin");
btSoftBodyHelpers::readBinary(psb->m_Kr, m_startMode, m_nReduced, 3 * m_nFull, Kr_file.c_str());
btReducedSoftBodyHelpers::readBinary(psb->m_Kr, m_startMode, m_nReduced, 3 * m_nFull, Kr_file.c_str());
std::string Mr_file("../../../examples/SoftDemo/M_r_diag_mat.bin");
btSoftBodyHelpers::readBinary(psb->m_Mr, m_startMode, m_nReduced, 3 * m_nFull, Mr_file.c_str());
btReducedSoftBodyHelpers::readBinary(psb->m_Mr, m_startMode, m_nReduced, 3 * m_nFull, Mr_file.c_str());
std::string modes_file("../../../examples/SoftDemo/modes.bin");
btSoftBodyHelpers::readBinaryModes(psb->m_modes, m_startMode, m_nReduced, 3 * m_nFull, modes_file.c_str()); // default to 3D
btReducedSoftBodyHelpers::readBinaryModes(psb->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());
@@ -238,7 +238,7 @@ void BasicTest::initPhysics()
std::string M_file("../../../examples/SoftDemo/M_diag_mat.bin");
btAlignedObjectArray<btScalar> mass_array;
btSoftBodyHelpers::readBinary(mass_array, 0, 3 * m_nFull, 3 * m_nFull, M_file.c_str());
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