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Merge pull request #4172 from fuchuyuan/contact

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Provide Deformable-Deformable contact for request contact info
This commit is contained in:
erwincoumans
2022-03-05 13:48:47 -08:00
committed by GitHub
parent 34a471586e 3fd61413df
commit e32c0674e7
6 changed files with 133 additions and 4 deletions
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120
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -8104,6 +8104,125 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
return hasStatus;
}
bool RequestFiltered(const struct SharedMemoryCommand& clientCmd, int& linkIndexA, int& linkIndexB, int& objectIndexA, int& objectIndexB, bool& swap){
if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter >= 0)
{
if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter == objectIndexA)
{
swap = false;
}
else if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter == objectIndexB)
{
swap = true;
}
else
{
return true;
}
}
if (swap)
{
std::swap(objectIndexA, objectIndexB);
std::swap(linkIndexA, linkIndexB);
}
//apply the second object filter, if the user provides it
if (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter >= 0)
{
if (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter != objectIndexB)
{
return true;
}
}
if (
(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER) &&
clientCmd.m_requestContactPointArguments.m_linkIndexAIndexFilter != linkIndexA)
{
return true;
}
if (
(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER) &&
clientCmd.m_requestContactPointArguments.m_linkIndexBIndexFilter != linkIndexB)
{
return true;
}
return false;
}
bool PhysicsServerCommandProcessor::processRequestDeformableDeformableContactpointHelper(const struct SharedMemoryCommand& clientCmd){
#ifndef SKIP_DEFORMABLE_BODY
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
if (!deformWorld)
{
return false;
}
const int max_contacts_per_object = 4;
for (int i = deformWorld->getSoftBodyArray().size() - 1; i >= 0; i--)
{
int num_contacts_reported = 0;
btSoftBody* psb = deformWorld->getSoftBodyArray()[i];
for (int c = 0; c < psb->m_faceNodeContacts.size(); c++)
{
const btSoftBody::DeformableFaceNodeContact* contact = &psb->m_faceNodeContacts[c];
//apply the filter, if the user provides it
int linkIndexA = -1;
int linkIndexB = -1;
int objectIndexA = psb->getUserIndex2();
int objectIndexB = -1;
const btSoftBody* bodyB = btSoftBody::upcast(contact->m_colObj);
if (bodyB)
{
objectIndexB = bodyB->getUserIndex2();
}
bool swap = false;
if(RequestFiltered(clientCmd, linkIndexA, linkIndexB, objectIndexA, objectIndexB, swap)==true){
continue;
}
if (++num_contacts_reported > max_contacts_per_object)
{
break;
}
//Convert contact info
b3ContactPointData pt;
btVector3 l = contact->m_node->m_x - BaryEval(contact->m_face->m_n[0]->m_x, contact->m_face->m_n[1]->m_x, contact->m_face->m_n[2]->m_x, contact->m_normal);
pt.m_contactDistance = -contact->m_margin + contact->m_normal.dot(l);
pt.m_bodyUniqueIdA = objectIndexA;
pt.m_bodyUniqueIdB = objectIndexB;
pt.m_contactFlags = 0;
pt.m_linkIndexA = linkIndexA;
pt.m_linkIndexB = linkIndexB;
for (int j = 0; j < 3; j++)
{
if (swap)
{
pt.m_contactNormalOnBInWS[j] = -contact->m_normal[j];
}
else
{
pt.m_contactNormalOnBInWS[j] = contact->m_normal[j];
}
pt.m_positionOnAInWS[j] = contact->m_node->m_x[j];
pt.m_positionOnBInWS[j] = contact->m_node->m_x[j];
pt.m_linearFrictionDirection1[j] = 0;
pt.m_linearFrictionDirection2[j] = 0;
}
pt.m_normalForce = 0;
pt.m_linearFrictionForce1 = 0;
pt.m_linearFrictionForce2 = 0;
m_data->m_cachedContactPoints.push_back(pt);
}
}
#endif
return true;
}
bool PhysicsServerCommandProcessor::processRequestDeformableContactpointHelper(const struct SharedMemoryCommand& clientCmd)
{
#ifndef SKIP_DEFORMABLE_BODY
@@ -8372,6 +8491,7 @@ bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand
#ifndef SKIP_DEFORMABLE_BODY
processRequestDeformableContactpointHelper(clientCmd);
processRequestDeformableDeformableContactpointHelper(clientCmd);
#endif
break;
}

1
examples/SharedMemory/PhysicsServerCommandProcessor.h
View File

@@ -46,6 +46,7 @@ protected:
bool processRequestActualStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestContactpointInformationCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestDeformableContactpointHelper(const struct SharedMemoryCommand& clientCmd);
bool processRequestDeformableDeformableContactpointHelper(const struct SharedMemoryCommand& clientCmd);
bool processRequestBodyInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processLoadSDFCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCreateMultiBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);

1
src/BulletSoftBody/btDeformableBodySolver.cpp
View File

@@ -412,6 +412,7 @@ void btDeformableBodySolver::predictMotion(btScalar solverdt)
psb->m_nodeRigidContacts.resize(0);
psb->m_faceRigidContacts.resize(0);
psb->m_faceNodeContacts.resize(0);
psb->m_faceNodeContactsCCD.resize(0);
// predict motion for collision detection
predictDeformableMotion(psb, solverdt);
}

5
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
View File

@@ -201,7 +201,7 @@ void btDeformableMultiBodyDynamicsWorld::performGeometricCollisions(btScalar tim
if (psb->isActive())
{
// clear contact points in the previous iteration
psb->m_faceNodeContacts.clear();
psb->m_faceNodeContactsCCD.clear();
// update m_q and normals for CCD calculation
for (int j = 0; j < psb->m_nodes.size(); ++j)
@@ -237,7 +237,8 @@ void btDeformableMultiBodyDynamicsWorld::performGeometricCollisions(btScalar tim
btSoftBody* psb = m_softBodies[i];
if (psb->isActive())
{
penetration_count += psb->m_faceNodeContacts.size();
penetration_count += psb->m_faceNodeContactsCCD.size();
;
}
}
if (penetration_count == 0)

2
src/BulletSoftBody/btSoftBody.h
View File

@@ -407,6 +407,7 @@ public:
btScalar m_friction; // Friction
btScalar m_imf; // inverse mass of the face at contact point
btScalar m_c0; // scale of the impulse matrix;
const btCollisionObject* m_colObj; // Collision object to collide with.
};
/* SContact */
@@ -824,6 +825,7 @@ public:
btAlignedObjectArray<DeformableNodeRigidContact> m_nodeRigidContacts;
btAlignedObjectArray<DeformableFaceNodeContact> m_faceNodeContacts;
btAlignedObjectArray<DeformableFaceRigidContact> m_faceRigidContacts;
btAlignedObjectArray<DeformableFaceNodeContact> m_faceNodeContactsCCD;
tSContactArray m_scontacts; // Soft contacts
tJointArray m_joints; // Joints
tMaterialArray m_materials; // Materials

8
src/BulletSoftBody/btSoftBodyInternals.h
View File

@@ -1960,6 +1960,7 @@ struct btSoftColliders
c.m_weights = btVector3(0, 0, 0);
c.m_imf = 0;
c.m_c0 = 0;
c.m_colObj = psb[1];
psb[0]->m_faceNodeContacts.push_back(c);
}
}
@@ -2035,6 +2036,7 @@ struct btSoftColliders
c.m_weights = btVector3(0, 0, 0);
c.m_imf = 0;
c.m_c0 = 0;
c.m_colObj = psb[1];
psb[0]->m_faceNodeContacts.push_back(c);
}
}
@@ -2066,7 +2068,8 @@ struct btSoftColliders
c.m_margin = mrg;
c.m_imf = 0;
c.m_c0 = 0;
psb[0]->m_faceNodeContacts.push_back(c);
c.m_colObj = psb[1];
psb[0]->m_faceNodeContactsCCD.push_back(c);
}
}
void Process(const btDbvntNode* lface1,
@@ -2130,7 +2133,8 @@ struct btSoftColliders
c.m_margin = mrg;
c.m_imf = 0;
c.m_c0 = 0;
psb[0]->m_faceNodeContacts.push_back(c);
c.m_colObj = psb[1];
psb[0]->m_faceNodeContactsCCD.push_back(c);
}
}
}