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287 lines
11 KiB
C++
287 lines
11 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2019 Google Inc. http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "BasicTest.h"
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///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
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#include "btBulletDynamicsCommon.h"
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#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
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#include "BulletSoftBody/btSoftBody.h"
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#include "BulletSoftBody/btSoftBodyHelpers.h"
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#include "BulletSoftBody/btDeformableBodySolver.h"
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#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
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#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
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#include "../CommonInterfaces/CommonParameterInterface.h"
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#include <stdio.h> //printf debugging
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#include "../CommonInterfaces/CommonDeformableBodyBase.h"
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#include "../Utils/b3ResourcePath.h"
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///The BasicTest shows the contact between volumetric deformable objects and rigid objects.
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static btScalar E = 50;
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static btScalar nu = 0.3;
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// static btScalar damping_alpha = 0.1;
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// static btScalar damping_beta = 0.01;
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static btScalar damping_alpha = 0.0;
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static btScalar damping_beta = 0.0;
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static btScalar COLLIDING_VELOCITY = 0;
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class BasicTest : public CommonDeformableBodyBase
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{
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// btDeformableLinearElasticityForce* m_linearElasticity;
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btDeformableMassSpringForce* m_massSpring;
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btAlignedObjectArray<btScalar> m_eigenvalues, m_Kr, m_Mr;
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btAlignedObjectArray<btAlignedObjectArray<btScalar> > m_modes; // each inner array is a mode, outer array size = n_modes
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unsigned int m_numModes;
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bool first_step;
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public:
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BasicTest(struct GUIHelperInterface* helper)
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: CommonDeformableBodyBase(helper), m_numModes(0)
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{
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// m_linearElasticity = 0;
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m_massSpring = 0;
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first_step = true;
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}
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virtual ~BasicTest()
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{
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}
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void initPhysics();
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void exitPhysics();
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// TODO: disable pick force, non-interactive for now.
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bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) {
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return false;
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}
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void resetCamera()
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{
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float dist = 20;
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float pitch = 0;
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float yaw = 90;
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float targetPos[3] = {0, 3, 0};
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m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
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}
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void Ctor_RbUpStack()
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{
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float mass = 0.5;
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btCollisionShape* shape = new btBoxShape(btVector3(2, 2, 2));
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0,-2,0));
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btRigidBody* rb = createRigidBody(mass, startTransform, shape);
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rb->setLinearVelocity(btVector3(0,+COLLIDING_VELOCITY, 0));
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}
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void stepSimulation(float deltaTime)
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{
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// TODO: remove this. very hacky way of adding initial deformation
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btSoftBody* psb = static_cast<btDeformableMultiBodyDynamicsWorld*>(m_dynamicsWorld)->getSoftBodyArray()[0];
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if (first_step && !psb->m_bUpdateRtCst) {
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// save rest length
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btAlignedObjectArray<btScalar> rest_length;
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// assign initial displacement (perturb each nodes by mode 1)
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for (int i = 0; i < psb->m_nodes.size(); ++i)
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{
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for (int k = 0; k < 3; ++k)
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{
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psb->m_nodes[i].m_x[k] += m_modes[0][3 * i + k];
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}
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}
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first_step = false;
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}
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float internalTimeStep = 1. / 60.f;
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m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep);
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}
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virtual void renderScene()
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{
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CommonDeformableBodyBase::renderScene();
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btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
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for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
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{
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btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
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{
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btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
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btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
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}
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}
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}
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};
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void BasicTest::initPhysics()
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{
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m_guiHelper->setUpAxis(1);
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///collision configuration contains default setup for memory, collision setup
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m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
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///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_broadphase = new btDbvtBroadphase();
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btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
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btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
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sol->setDeformableSolver(deformableBodySolver);
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m_solver = sol;
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m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
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btVector3 gravity = btVector3(0, 0, 0);
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m_dynamicsWorld->setGravity(gravity);
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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// create volumetric soft body
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{
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std::string filename("../../../examples/SoftDemo/mesh.vtk");
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btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), filename.c_str());
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// read in eigenmodes, stiffness and mass matrices
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unsigned int buffer_n_modes = 0;
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std::string eigenvalues_file("../../../examples/SoftDemo/eigenvalues.bin");
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btSoftBodyHelpers::readBinary(m_eigenvalues, buffer_n_modes, eigenvalues_file.c_str());
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m_numModes = buffer_n_modes;
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std::string Kr_file("../../../examples/SoftDemo/K_r_diag_mat.bin");
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btSoftBodyHelpers::readBinary(m_Kr, buffer_n_modes, Kr_file.c_str());
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std::string Mr_file("../../../examples/SoftDemo/M_r_diag_mat.bin");
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btSoftBodyHelpers::readBinary(m_Mr, buffer_n_modes, Mr_file.c_str());
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std::string modes_file("../../../examples/SoftDemo/modes.bin");
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btSoftBodyHelpers::readBinaryMat(m_modes, 3 * psb->m_nodes.size(), buffer_n_modes, modes_file.c_str()); // default to 3D
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getDeformableDynamicsWorld()->addSoftBody(psb);
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psb->scale(btVector3(2, 2, 2));
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psb->translate(btVector3(0, 7, 0));
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psb->getCollisionShape()->setMargin(0.1);
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psb->setTotalMass(0.5);
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psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
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psb->m_cfg.kCHR = 1; // collision hardness with rigid body
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psb->m_cfg.kDF = 0;
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psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
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psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
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psb->m_sleepingThreshold = 0;
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btSoftBodyHelpers::generateBoundaryFaces(psb);
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psb->setVelocity(btVector3(0, -COLLIDING_VELOCITY, 0));
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// btDeformableLinearElasticityForce* linearElasticity = new btDeformableLinearElasticityForce(100,100,0.01);
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// m_linearElasticity = linearElasticity;
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m_massSpring = new btDeformableMassSpringForce(10.0, 0.0); //TODO: this stiffness needs to match the modes
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getDeformableDynamicsWorld()->addForce(psb, m_massSpring);
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m_forces.push_back(m_massSpring);
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}
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getDeformableDynamicsWorld()->setReducedModelFlag(true);
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getDeformableDynamicsWorld()->setImplicit(false);
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getDeformableDynamicsWorld()->setLineSearch(false);
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getDeformableDynamicsWorld()->setUseProjection(true);
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getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.3;
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getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
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getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
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getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = true;
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getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
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// add a few rigid bodies
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// Ctor_RbUpStack(); // TODO: no rigid body for now
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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// {
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// SliderParams slider("Young's Modulus", &E);
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// slider.m_minVal = 0;
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// slider.m_maxVal = 2000;
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// if (m_guiHelper->getParameterInterface())
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// m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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// }
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// {
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// SliderParams slider("Poisson Ratio", &nu);
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// slider.m_minVal = 0.05;
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// slider.m_maxVal = 0.49;
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// if (m_guiHelper->getParameterInterface())
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// m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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// }
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// {
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// SliderParams slider("Mass Damping", &damping_alpha);
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// slider.m_minVal = 0;
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// slider.m_maxVal = 1;
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// if (m_guiHelper->getParameterInterface())
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// m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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// }
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// {
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// SliderParams slider("Stiffness Damping", &damping_beta);
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// slider.m_minVal = 0;
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// slider.m_maxVal = 0.1;
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// if (m_guiHelper->getParameterInterface())
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// m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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// }
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}
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void BasicTest::exitPhysics()
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{
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//cleanup in the reverse order of creation/initialization
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removePickingConstraint();
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//remove the rigidbodies from the dynamics world and delete them
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int i;
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for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
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{
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btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
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btRigidBody* body = btRigidBody::upcast(obj);
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if (body && body->getMotionState())
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{
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delete body->getMotionState();
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}
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m_dynamicsWorld->removeCollisionObject(obj);
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delete obj;
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}
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// delete forces
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for (int j = 0; j < m_forces.size(); j++)
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{
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btDeformableLagrangianForce* force = m_forces[j];
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delete force;
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}
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m_forces.clear();
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//delete collision shapes
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for (int j = 0; j < m_collisionShapes.size(); j++)
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{
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btCollisionShape* shape = m_collisionShapes[j];
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delete shape;
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}
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m_collisionShapes.clear();
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delete m_dynamicsWorld;
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delete m_solver;
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delete m_broadphase;
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delete m_dispatcher;
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delete m_collisionConfiguration;
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}
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class CommonExampleInterface* ReducedBasicTestCreateFunc(struct CommonExampleOptions& options)
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{
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return new BasicTest(options.m_guiHelper);
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}
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