diff options
| author | erwincoumans <erwin.coumans@gmail.com> | 2022-03-07 15:38:32 -0800 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2022-03-07 15:38:32 -0800 |
| commit | 3df6e1a72173340833e1e6ddd8b5cf1dc400e651 (patch) | |
| tree | 1a17b7d5c292dfff62b5dee6e1056af7c6312fc4 | |
| parent | a8e1ce8273e102d3222954b151fe4067658df7d6 (diff) | |
| download | bullet3-revert-4069-master.tar.gz | |
Revert "Reduced Deformable Model"revert-4069-master
77 files changed, 114 insertions, 30447 deletions
diff --git a/.gitignore b/.gitignore index baee1828b..636ce8302 100644 --- a/.gitignore +++ b/.gitignore @@ -36,7 +36,3 @@ CTestTestFile.cmake # vim temp files *.swp - -.vscode/ -.idea/ -cmake-build-debug/ diff --git a/data/reduced_beam/K_r_diag_mat.bin b/data/reduced_beam/K_r_diag_mat.bin Binary files differdeleted file mode 100644 index fab13e564..000000000 --- a/data/reduced_beam/K_r_diag_mat.bin +++ /dev/null diff --git a/data/reduced_beam/M_diag_mat.bin b/data/reduced_beam/M_diag_mat.bin Binary files differdeleted file mode 100644 index 9e505c373..000000000 --- a/data/reduced_beam/M_diag_mat.bin +++ /dev/null diff --git a/data/reduced_beam/M_r_diag_mat.bin b/data/reduced_beam/M_r_diag_mat.bin Binary files differdeleted file mode 100644 index bb80034a4..000000000 --- a/data/reduced_beam/M_r_diag_mat.bin +++ /dev/null diff --git a/data/reduced_beam/beam_mesh.vtk b/data/reduced_beam/beam_mesh.vtk deleted file mode 100644 index cbab3e1a2..000000000 --- a/data/reduced_beam/beam_mesh.vtk +++ /dev/null @@ -1,83 +0,0 @@ -#vtk DataFile Version 2.0 -I don't think this matters -ASCII -DATASET UNSTRUCTURED_GRID -POINTS 28 double --0.5000000000000000 -0.2500000000000000 -2.0000000000000000 --0.5000000000000000 0.2500000000000000 -2.0000000000000000 -0.5000000000000000 -0.2500000000000000 -2.0000000000000000 -0.5000000000000000 0.2500000000000000 -2.0000000000000000 --0.5000000000000000 -0.2500000000000000 2.0000000000000000 --0.5000000000000000 0.2500000000000000 2.0000000000000000 -0.5000000000000000 -0.2500000000000000 2.0000000000000000 -0.5000000000000000 0.2500000000000000 2.0000000000000000 --0.5000000000000000 -0.2500000000000000 1.0000000000000000 --0.5000000000000000 -0.2500000000000000 0.0000000000000000 --0.5000000000000000 -0.2500000000000000 -1.0000000000000000 -0.5000000000000000 -0.2500000000000000 -1.0000000000000000 -0.5000000000000000 -0.2500000000000000 0.0000000000000000 -0.5000000000000000 -0.2500000000000000 1.0000000000000000 --0.5000000000000000 0.2500000000000000 1.0000000000000000 --0.5000000000000000 0.2500000000000000 0.0000000000000000 --0.5000000000000000 0.2500000000000000 -1.0000000000000000 -0.5000000000000000 0.2500000000000000 1.0000000000000000 -0.5000000000000000 0.2500000000000000 0.0000000000000000 -0.5000000000000000 0.2500000000000000 -1.0000000000000000 -0.0000000000000000 -0.2500000000000000 -1.5000000000000000 -0.0000000000000000 -0.2500000000000000 -0.5000000000000000 -0.0000000000000000 -0.2500000000000000 0.5000000000000000 -0.0000000000000000 -0.2500000000000000 1.5000000000000000 -0.0000000000000000 0.2500000000000000 1.5000000000000000 -0.0000000000000000 0.2500000000000000 0.5000000000000000 -0.0000000000000000 0.2500000000000000 -0.5000000000000000 -0.0000000000000000 0.2500000000000000 -1.5000000000000000 -CELLS 48 192 -4 22 12 17 13 -4 20 26 21 11 -4 23 8 5 24 -4 11 27 26 19 -4 27 11 26 20 -4 17 22 24 25 -4 7 23 13 6 -4 22 17 24 13 -4 9 25 21 15 -4 24 22 8 14 -4 24 8 22 23 -4 25 9 21 22 -4 23 7 13 24 -4 15 10 16 26 -4 14 25 9 15 -4 25 14 9 22 -4 24 23 22 13 -4 15 10 21 9 -4 15 21 10 26 -4 24 25 22 14 -4 2 11 27 20 -4 7 5 23 6 -4 11 21 12 26 -4 20 1 0 16 -4 18 25 12 17 -4 18 12 25 26 -4 5 7 23 24 -4 26 21 25 15 -4 20 16 27 1 -4 21 25 22 12 -4 20 16 10 26 -4 20 27 16 26 -4 20 10 16 0 -4 11 12 19 26 -4 14 22 8 9 -4 8 23 5 4 -4 24 14 8 5 -4 11 2 27 3 -4 2 27 1 20 -4 12 18 19 26 -4 27 2 1 3 -4 24 13 17 7 -4 20 2 0 1 -4 5 23 6 4 -4 20 10 21 26 -4 12 22 17 25 -4 3 27 11 19 -4 21 26 25 12 -CELL_TYPES 10 diff --git a/data/reduced_beam/beam_mesh_origin.vtk b/data/reduced_beam/beam_mesh_origin.vtk deleted file mode 100644 index 95d579d95..000000000 --- a/data/reduced_beam/beam_mesh_origin.vtk +++ /dev/null @@ -1,83 +0,0 @@ -#vtk DataFile Version 2.0 -I don't think this matters -ASCII -DATASET UNSTRUCTURED_GRID -POINTS 28 double -0.0000000000000000 0.0000000000000000 0.0000000000000000 -0.0000000000000000 0.5000000000000000 0.0000000000000000 -1.0000000000000000 0.0000000000000000 0.0000000000000000 -1.0000000000000000 0.5000000000000000 0.0000000000000000 -0.0000000000000000 0.0000000000000000 4.0000000000000000 -0.0000000000000000 0.5000000000000000 4.0000000000000000 -1.0000000000000000 0.0000000000000000 4.0000000000000000 -1.0000000000000000 0.5000000000000000 4.0000000000000000 -0.0000000000000000 0.0000000000000000 3.0000000000000000 -0.0000000000000000 0.0000000000000000 2.0000000000000000 -0.0000000000000000 0.0000000000000000 1.0000000000000000 -1.0000000000000000 0.0000000000000000 1.0000000000000000 -1.0000000000000000 0.0000000000000000 2.0000000000000000 -1.0000000000000000 0.0000000000000000 3.0000000000000000 -0.0000000000000000 0.5000000000000000 3.0000000000000000 -0.0000000000000000 0.5000000000000000 2.0000000000000000 -0.0000000000000000 0.5000000000000000 1.0000000000000000 -1.0000000000000000 0.5000000000000000 3.0000000000000000 -1.0000000000000000 0.5000000000000000 2.0000000000000000 -1.0000000000000000 0.5000000000000000 1.0000000000000000 -0.5000000000000000 0.0000000000000000 0.5000000000000000 -0.5000000000000000 0.0000000000000000 1.5000000000000000 -0.5000000000000000 0.0000000000000000 2.5000000000000000 -0.5000000000000000 0.0000000000000000 3.5000000000000000 -0.5000000000000000 0.5000000000000000 3.5000000000000000 -0.5000000000000000 0.5000000000000000 2.5000000000000000 -0.5000000000000000 0.5000000000000000 1.5000000000000000 -0.5000000000000000 0.5000000000000000 0.5000000000000000 -CELLS 48 192 -4 22 12 17 13 -4 20 26 21 11 -4 23 8 5 24 -4 11 27 26 19 -4 27 11 26 20 -4 17 22 24 25 -4 7 23 13 6 -4 22 17 24 13 -4 9 25 21 15 -4 24 22 8 14 -4 24 8 22 23 -4 25 9 21 22 -4 23 7 13 24 -4 15 10 16 26 -4 14 25 9 15 -4 25 14 9 22 -4 24 23 22 13 -4 15 10 21 9 -4 15 21 10 26 -4 24 25 22 14 -4 2 11 27 20 -4 7 5 23 6 -4 11 21 12 26 -4 20 1 0 16 -4 18 25 12 17 -4 18 12 25 26 -4 5 7 23 24 -4 26 21 25 15 -4 20 16 27 1 -4 21 25 22 12 -4 20 16 10 26 -4 20 27 16 26 -4 20 10 16 0 -4 11 12 19 26 -4 14 22 8 9 -4 8 23 5 4 -4 24 14 8 5 -4 11 2 27 3 -4 2 27 1 20 -4 12 18 19 26 -4 27 2 1 3 -4 24 13 17 7 -4 20 2 0 1 -4 5 23 6 4 -4 20 10 21 26 -4 12 22 17 25 -4 3 27 11 19 -4 21 26 25 12 -CELL_TYPES 10 diff --git a/data/reduced_beam/eigenvalues.bin b/data/reduced_beam/eigenvalues.bin Binary files differdeleted file mode 100644 index 81e43677a..000000000 --- a/data/reduced_beam/eigenvalues.bin +++ /dev/null diff --git a/data/reduced_beam/modes.bin b/data/reduced_beam/modes.bin Binary files differdeleted file mode 100644 index 6e8239b83..000000000 --- a/data/reduced_beam/modes.bin +++ /dev/null diff --git a/data/reduced_beam/reduced_beam.urdf b/data/reduced_beam/reduced_beam.urdf deleted file mode 100644 index 88381795e..000000000 --- a/data/reduced_beam/reduced_beam.urdf +++ /dev/null @@ -1,14 +0,0 @@ -<?xml version="1.0"?> -<robot name="reduced_cube"> - <reduced_deformable name="reduced_beam"> - <num_modes value="20"/> - <mass value="1"/> - <stiffness_scale value="100"/> - <collision_margin value="0.01"/> - <erp value= "0.2"/> - <cfm value= "0.2"/> - <friction value= "0.5"/> - <damping_coefficient value="0.0"/> - <visual filename="beam_mesh_origin.vtk"/> - </reduced_deformable> -</robot> diff --git a/data/reduced_cube/K_r_diag_mat.bin b/data/reduced_cube/K_r_diag_mat.bin Binary files differdeleted file mode 100644 index 3894184a9..000000000 --- a/data/reduced_cube/K_r_diag_mat.bin +++ /dev/null diff --git a/data/reduced_cube/M_diag_mat.bin b/data/reduced_cube/M_diag_mat.bin Binary files differdeleted file mode 100644 index fb6c5ce37..000000000 --- a/data/reduced_cube/M_diag_mat.bin +++ /dev/null diff --git a/data/reduced_cube/M_r_diag_mat.bin b/data/reduced_cube/M_r_diag_mat.bin Binary files differdeleted file mode 100644 index 62f64ba7b..000000000 --- a/data/reduced_cube/M_r_diag_mat.bin +++ /dev/null diff --git a/data/reduced_cube/cube_mesh.vtk b/data/reduced_cube/cube_mesh.vtk deleted file mode 100644 index ccec00b32..000000000 --- a/data/reduced_cube/cube_mesh.vtk +++ /dev/null @@ -1,1134 +0,0 @@ -#vtk DataFile Version 2.0 -I don't think this matters -ASCII -DATASET UNSTRUCTURED_GRID -POINTS 252 double --0.5000000000000000 -0.5000000000000000 0.5000000000000000 --0.5000000000000000 0.5000000000000000 0.5000000000000000 --0.5000000000000000 -0.5000000000000000 -0.5000000000000000 --0.5000000000000000 0.5000000000000000 -0.5000000000000000 -0.5000000000000000 -0.5000000000000000 0.5000000000000000 -0.5000000000000000 0.5000000000000000 0.5000000000000000 -0.5000000000000000 -0.5000000000000000 -0.5000000000000000 -0.5000000000000000 0.5000000000000000 -0.5000000000000000 --0.5000000000000000 -0.5000000000000000 -0.3000000000000000 --0.5000000000000000 -0.5000000000000000 -0.1000000000000000 --0.5000000000000000 -0.5000000000000000 0.1000000000000000 --0.5000000000000000 -0.5000000000000000 0.3000000000000000 --0.5000000000000000 -0.3000000000000000 0.5000000000000000 --0.5000000000000000 -0.1000000000000000 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-4 28 29 166 91 -4 239 160 146 226 -4 28 6 89 165 -4 244 169 167 54 -4 135 137 50 148 -CELL_TYPES 10 diff --git a/data/reduced_cube/deform_cube.urdf b/data/reduced_cube/deform_cube.urdf deleted file mode 100644 index 3faef357a..000000000 --- a/data/reduced_cube/deform_cube.urdf +++ /dev/null @@ -1,14 +0,0 @@ -<?xml version="1.0"?> -<robot name="cube"> - <deformable name="cube"> - <inertial> - <mass value="10" /> - <inertia ixx="0.0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" /> - </inertial> - <collision_margin value="0.006"/> - <repulsion_stiffness value="800.0"/> - <friction value= "0.5"/> - <neohookean mu= "180" lambda= "600" damping= "0.01" /> - <visual filename="cube_mesh.vtk"/> - </deformable> -</robot>
\ No newline at end of file diff --git a/data/reduced_cube/eigenvalues.bin b/data/reduced_cube/eigenvalues.bin Binary files differdeleted file mode 100644 index 5c378ccde..000000000 --- a/data/reduced_cube/eigenvalues.bin +++ /dev/null diff --git a/data/reduced_cube/modes.bin b/data/reduced_cube/modes.bin Binary files differdeleted file mode 100644 index d8fd6cea8..000000000 --- a/data/reduced_cube/modes.bin +++ /dev/null diff --git a/data/reduced_cube/reduced_cube.urdf b/data/reduced_cube/reduced_cube.urdf deleted file mode 100644 index 552cbd4a5..000000000 --- a/data/reduced_cube/reduced_cube.urdf +++ /dev/null @@ -1,14 +0,0 @@ -<?xml version="1.0"?> -<robot name="reduced_cube"> - <reduced_deformable name="reduced_cube"> - <num_modes value="20"/> - <mass value="10"/> - <stiffness_scale value="100"/> - <collision_margin value="0.01"/> - <erp value= "0.2"/> - <cfm value= "0.2"/> - <friction value= "0.5"/> - <damping_coefficient value="0.0"/> - <visual filename="cube_mesh.vtk"/> - </reduced_deformable> -</robot> diff --git a/data/reduced_torus/K_r_diag_mat.bin b/data/reduced_torus/K_r_diag_mat.bin Binary files differdeleted file mode 100644 index baa768f51..000000000 --- a/data/reduced_torus/K_r_diag_mat.bin +++ /dev/null diff --git a/data/reduced_torus/M_diag_mat.bin b/data/reduced_torus/M_diag_mat.bin Binary files differdeleted file mode 100644 index e35822c49..000000000 --- a/data/reduced_torus/M_diag_mat.bin +++ /dev/null diff --git a/data/reduced_torus/M_r_diag_mat.bin b/data/reduced_torus/M_r_diag_mat.bin Binary files differdeleted file mode 100644 index ddf8e5003..000000000 --- a/data/reduced_torus/M_r_diag_mat.bin +++ /dev/null diff --git a/data/reduced_torus/eigenvalues.bin b/data/reduced_torus/eigenvalues.bin Binary files differdeleted file mode 100644 index 208f1cf3e..000000000 --- a/data/reduced_torus/eigenvalues.bin +++ /dev/null diff --git a/data/reduced_torus/modes.bin b/data/reduced_torus/modes.bin Binary files differdeleted file mode 100644 index ae8b826db..000000000 --- a/data/reduced_torus/modes.bin +++ /dev/null diff --git a/data/reduced_torus/reduced_torus.urdf b/data/reduced_torus/reduced_torus.urdf deleted file mode 100644 index 16b23470a..000000000 --- a/data/reduced_torus/reduced_torus.urdf +++ /dev/null @@ -1,15 +0,0 @@ -<?xml version="1.0"?> -<robot name="reduced_cube"> - <reduced_deformable name="reduced_cube"> - <num_modes value="20"/> - <mass value="10"/> - <stiffness_scale value="10"/> - <collision_margin value="0.01"/> - <erp value= "0.2"/> - <cfm value= "0.2"/> - <friction value= "0.5"/> - <damping_coefficient value="0.00001"/> - <visual filename="torus_textured.obj"/> - <collision filename="torus_mesh.vtk"/> - </reduced_deformable> -</robot> diff --git a/data/reduced_torus/torus_mesh.vtk b/data/reduced_torus/torus_mesh.vtk deleted file mode 100644 index a06ef2061..000000000 --- a/data/reduced_torus/torus_mesh.vtk +++ /dev/null @@ -1,9917 +0,0 @@ -# vtk DataFile Version 2.0 -torus_, Created by Gmsh -ASCII -DATASET UNSTRUCTURED_GRID -POINTS 1036 double --0.75 -2.18556941e-08 1.13246855e-07 --0.71031338 -0.135160238 1.07254337e-07 --0.710313141 0.135160565 1.07254301e-07 --0.692909718 -2.18556941e-08 -0.287012398 --0.692909598 -2.18556941e-08 0.287012607 --0.65624404 -0.135160238 -0.271825016 --0.6562439799999999 -0.135160238 0.271825194 --0.656243861 0.135160565 -0.271824926 --0.656243742 0.135160565 0.271825105 --0.603853762 -0.227407992 9.11793805e-08 --0.603853405 0.227408156 9.11793308e-08 --0.558141589621361 -0.2272469457790709 -0.2307452454467901 --0.557888091 -0.227407992 0.231084868 --0.557887852 0.227408156 -0.23108457 --0.557887793 0.227408156 0.231084719 --0.530330241 -2.18556941e-08 -0.530329943 --0.50226754 -0.135160238 -0.5022673010000001 --0.50226742 -0.135160238 0.50226742 --0.50226742 0.135160565 -0.502267122 --0.502267241 0.135160565 0.502267241 --0.464421362 -0.247455373 7.01256795e-08 --0.464420974 0.247455314 7.01256155e-08 --0.42906943 -0.247455373 -0.177726254 --0.4296712671318722 -0.247455373 0.1747004492923097 --0.429069072 0.247455314 -0.17772612 --0.429069012 0.247455314 0.177726239 --0.426989228 -0.227407992 -0.426988989 --0.426989079 -0.227407992 0.426989079 --0.426988959 0.227408156 -0.426988721 --0.42698884 0.227408156 0.42698884 --0.336284906 -0.18893747 5.07776079e-08 --0.336284608 0.188937217 5.07775653e-08 --0.328395605 -0.247455373 -0.328395396 --0.328395486 -0.247455373 0.328395486 --0.328395337 0.247455314 -0.328395128 --0.328395218 0.247455314 0.328395218 --0.310686767 -0.18893747 -0.128690585 --0.310686737 -0.18893747 0.128690675 --0.310686499 0.188937217 -0.128690481 --0.310686469 0.188937217 0.128690571 --0.287012696 -2.18556941e-08 -0.692909598 --0.287012637 -2.18556941e-08 0.692909598 --0.271825254 -0.135160238 -0.6562439799999999 --0.271825224 -0.135160238 0.6562439799999999 --0.271825165 0.135160565 -0.656243742 --0.271825135 0.135160565 0.656243742 --0.260126799 -0.07043330370000001 3.92780564e-08 --0.26012671 0.07043293120000001 3.92780422e-08 --0.240325853 -0.07043330370000001 -0.09954615679999999 --0.240325823 -0.07043330370000001 0.0995462313 --0.240325764 0.07043293120000001 -0.099546127 --0.240325734 0.07043293120000001 0.0995461941 --0.237789407 -0.18893747 -0.237789273 --0.237789333 -0.18893747 0.237789333 --0.237789199 0.188937217 -0.237789065 --0.237789124 0.188937217 0.237789124 --0.231084913 -0.227407992 -0.557888091 --0.231084883 -0.227407992 0.557888091 --0.231084779 0.227408156 -0.557887793 --0.231084749 0.227408156 0.557887793 --0.18393749 -0.07043330370000001 -0.183937371 --0.183937415 -0.07043330370000001 0.183937415 --0.183937415 0.07043293120000001 -0.183937311 --0.1826027894390168 0.07043797995747503 0.1848329123509294 --0.177726433 -0.247455373 -0.42906937 --0.177726403 -0.247455373 0.42906937 --0.177726284 0.247455314 -0.429069012 --0.177726254 0.247455314 0.429069012 --0.128690705 -0.18893747 -0.310686737 --0.12869069 -0.18893747 0.310686737 --0.1286906 0.188937217 -0.310686469 --0.128690571 0.188937217 0.310686469 --0.0995462537 -0.07043330370000001 -0.240325823 --0.09954623880000001 -0.07043330370000001 0.240325823 --0.0995462164 0.07043293120000001 -0.240325734 --0.0995462015 0.07043293120000001 0.240325734 --3.27835394e-08 -2.18556941e-08 0.75 --3.10487849e-08 -0.135160238 0.71031338 --0.002247339125087955 0.135160565 0.7098661234313948 --2.6395286e-08 -0.227407992 0.603853762 --2.639527e-08 0.227408156 0.603853405 -0.005294134150853763 -0.247455373 0.4633682886880875 --2.03004848e-08 0.247455314 0.464420974 --1.46994799e-08 -0.18893747 0.336284906 --1.46994674e-08 0.188937217 0.336284608 --1.13705036e-08 -0.07043330370000001 0.260126799 --1.13704992e-08 0.07043293120000001 0.26012671 -3.10198112e-09 -0.07043330370000001 -0.260126799 -3.10198001e-09 0.07043293120000001 -0.26012671 -4.01015754e-09 -0.18893747 -0.336284906 -4.01015399e-09 0.188937217 -0.336284608 -5.53816948e-09 -0.247455373 -0.464421362 -5.53816459e-09 0.247455314 -0.464420974 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-0.227407992 0.557888091 -0.231084928 -0.227407992 -0.557888091 -0.237789124 0.188937217 0.237789124 -0.237789199 0.188937217 -0.237789035 -0.237789333 -0.18893747 0.237789333 -0.237789407 -0.18893747 -0.237789258 -0.240325734 0.07043293120000001 0.0995461866 -0.240325794 0.07043293120000001 -0.09954606739999999 -0.2405965857521089 -0.07043330370000001 0.09818501000602463 -0.240325883 -0.07043330370000001 -0.0995460972 -0.26012671 0.07043293120000001 1.69520092e-07 -0.260126799 -0.07043330370000001 1.69520149e-07 -0.271825075 0.135160565 0.656243742 -0.271825165 -0.135160238 0.6562439799999999 -0.271825194 0.135160565 -0.6562436820000001 -0.271825284 -0.135160238 -0.65624392 -0.287012577 -2.18556941e-08 0.692909598 -0.287012696 -2.18556941e-08 -0.692909598 -0.310686469 0.188937217 0.128690556 -0.310686529 0.188937217 -0.128690392 -0.310686737 -0.18893747 0.128690675 -0.310686827 -0.18893747 -0.128690511 -0.328395218 0.247455314 0.328395218 -0.328395337 0.247455314 -0.328395098 -0.328395486 -0.247455373 0.328395486 -0.328395605 -0.247455373 -0.328395367 -0.336284608 0.188937217 2.19150877e-07 -0.336284906 -0.18893747 2.19151062e-07 -0.42698884 0.227408156 0.42698884 -0.426988959 0.227408156 -0.426988691 -0.426989079 -0.227407992 0.426989079 -0.426989228 -0.227407992 -0.42698893 -0.429069012 0.247455314 0.177726224 -0.429069132 0.247455314 -0.177726001 -0.4285832038493428 -0.2473905309719522 0.1782033175787506 -0.429069489 -0.247455373 -0.17772615 -0.464420974 0.247455314 3.02655138e-07 -0.464421362 -0.247455373 3.02655394e-07 -0.502267241 0.135160565 0.502267241 -0.50226742 -0.135160238 0.50226742 -0.50226742 0.135160565 -0.502267063 -0.50226754 -0.135160238 -0.502267241 -0.530330062 -2.18556941e-08 0.530330062 -0.530330241 -2.18556941e-08 -0.5303298829999999 -0.557887793 0.227408156 0.231084704 -0.557887912 0.227408156 -0.231084421 -0.557888091 -0.227407992 0.231084839 -0.557888269 -0.227407992 -0.231084555 -0.603853405 0.227408156 3.9352085e-07 -0.603853762 -0.227407992 3.93521077e-07 -0.656243742 0.135160565 0.271825075 -0.65624392 0.135160565 -0.271824747 -0.6562439799999999 -0.135160238 0.271825165 -0.656244159 -0.135160238 -0.271824837 -0.692909598 -2.18556941e-08 0.287012577 -0.692909837 -2.18556941e-08 -0.287012219 -0.710313141 0.135160565 4.62898811e-07 -0.71031338 -0.135160238 4.62898981e-07 -0.75 -2.18556941e-08 4.88762055e-07 -0.2148047599579061 0.05862636186789426 0.502491616306411 -0.08708371449759361 -0.07904678396405236 0.4544761890310727 --0.146602316861926 -0.009632696391538147 -0.315119087525655 -0.1692244930490057 0.1812843605 0.623422415988969 -0.2079651687174781 0.1331645320914401 -0.5836410988931576 -0.1536632925775345 0.1239510807482383 0.4572738201945878 --0.5671834958762344 -0.01939125278810325 -0.1175294783630399 -0.5569435355 0.06758027157215296 0.45546928025 -0.45546936975 -0.06758012992784704 0.5569436249999999 --0.6446421632553362 -0.05976163801653798 -0.1092778761071423 --0.6214703736046712 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386/392/149 -f 451/463/195 351/351/195 387/393/195 -f 457/469/224 493/508/224 427/436/224 -f 476/490/224 493/508/224 457/469/224 -f 427/436/224 493/508/224 469/483/224 -f 476/490/228 475/489/228 493/508/228 -f 496/511/242 489/504/242 468/482/242 -f 489/504/243 478/492/243 468/482/243 -f 394/400/197 428/438/197 392/398/197 diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt index 6271ca915..ff4cf51e1 100644 --- a/examples/ExampleBrowser/CMakeLists.txt +++ b/examples/ExampleBrowser/CMakeLists.txt @@ -390,24 +390,6 @@ SET(BulletExampleBrowser_SRCS ../MultiBody/MultiDofDemo.h ../RigidBody/RigidBodySoftContact.cpp ../RigidBody/KinematicRigidBodyExample.cpp - ../ReducedDeformableDemo/ConservationTest.cpp - ../ReducedDeformableDemo/ConservationTest.h - ../ReducedDeformableDemo/Springboard.cpp - ../ReducedDeformableDemo/Springboard.h - ../ReducedDeformableDemo/ModeVisualizer.cpp - ../ReducedDeformableDemo/ModeVisualizer.h - ../ReducedDeformableDemo/FreeFall.cpp - ../ReducedDeformableDemo/FreeFall.h - ../ReducedDeformableDemo/FrictionSlope.cpp - ../ReducedDeformableDemo/FrictionSlope.h - ../ReducedDeformableDemo/ReducedCollide.cpp - ../ReducedDeformableDemo/ReducedCollide.h - ../ReducedDeformableDemo/ReducedGrasp.cpp - ../ReducedDeformableDemo/ReducedGrasp.h - ../ReducedDeformableDemo/ReducedBenchmark.cpp - ../ReducedDeformableDemo/ReducedBenchmark.h - ../ReducedDeformableDemo/ReducedMotorGrasp.cpp - ../ReducedDeformableDemo/ReducedMotorGrasp.h ../Constraints/TestHingeTorque.cpp ../Constraints/TestHingeTorque.h ../Constraints/ConstraintDemo.cpp diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index 715a4396d..6d147f0d8 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -73,15 +73,6 @@ #include "../RoboticsLearning/R2D2GraspExample.h" #include "../RoboticsLearning/KukaGraspExample.h" #include "../RoboticsLearning/GripperGraspExample.h" -#include "../ReducedDeformableDemo/ConservationTest.h" -#include "../ReducedDeformableDemo/ModeVisualizer.h" -#include "../ReducedDeformableDemo/Springboard.h" -#include "../ReducedDeformableDemo/FreeFall.h" -#include "../ReducedDeformableDemo/FrictionSlope.h" -#include "../ReducedDeformableDemo/ReducedCollide.h" -#include "../ReducedDeformableDemo/ReducedGrasp.h" -#include "../ReducedDeformableDemo/ReducedMotorGrasp.h" -#include "../ReducedDeformableDemo/ReducedBenchmark.h" #include "../InverseKinematics/InverseKinematicsExample.h" #ifdef B3_ENABLE_TINY_AUDIO @@ -225,18 +216,6 @@ static ExampleEntry gDefaultExamples[] = ExampleEntry(1, "Multibody Cloth Anchor", "Deformable Multibody Anchor test", MultibodyClothAnchorCreateFunc), ExampleEntry(1, "Deformable-MultiBody Contact", "MultiBody and Deformable contact", DeformableMultibodyCreateFunc), // ExampleEntry(1, "MultiBody Baseline", "MultiBody Baseline", MultiBodyBaselineCreateFunc), - - ExampleEntry(0, "Reduced Deformabe Body"), - ExampleEntry(1, "Mode Visualizer", "Visualizer the modes for reduced deformable objects", ReducedModeVisualizerCreateFunc), - ExampleEntry(1, "Reduced Conservation Test", "Momentum conservation test for the reduced deformable objects", ReducedConservationTestCreateFunc), - ExampleEntry(1, "Reduced Springboard", "Moving rigid object colliding with a fixed reduced deformable objects", ReducedSpringboardCreateFunc), - ExampleEntry(1, "Reduced Free Fall", "Free fall ground contact test for the reduced deformable model", ReducedFreeFallCreateFunc), - ExampleEntry(1, "Reduced Collision Test", "Collision between a reduced block and the a rigid block", ReducedCollideCreateFunc), - ExampleEntry(1, "Reduced Grasp", "Grasp a reduced deformable block", ReducedGraspCreateFunc), - ExampleEntry(1, "Reduced Motor Grasp", "Grasp a reduced deformable block with motor", ReducedMotorGraspCreateFunc), - ExampleEntry(1, "Reduced Friction Slope", "Grasp a reduced deformable block", FrictionSlopeCreateFunc), - ExampleEntry(1, "Reduced Benchmark", "Reduced deformable performance benchmark example", ReducedBenchmarkCreateFunc), - // ExampleEntry(1, "Simple Reduced Deformable Test", "Simple dynamics test for the reduced deformable objects", ReducedBasicTestCreateFunc), #ifdef INCLUDE_CLOTH_DEMOS ExampleEntry(0, "Soft Body"), diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp index e24437d7d..cb7607b1a 100644 --- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp +++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp @@ -1541,8 +1541,3 @@ const struct UrdfDeformable& BulletURDFImporter::getDeformableModel() const { return m_data->m_urdfParser.getDeformable(); } - -const struct UrdfReducedDeformable& BulletURDFImporter::getReducedDeformableModel() const -{ - return m_data->m_urdfParser.getReducedDeformable(); -} diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h index 5fe7f8c5f..66bb908de 100644 --- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h +++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h @@ -93,7 +93,6 @@ public: virtual void setEnableTinyRenderer(bool enable); void convertURDFToVisualShapeInternal(const struct UrdfVisual* visual, const char* urdfPathPrefix, const class btTransform& visualTransform, btAlignedObjectArray<struct GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<struct BulletURDFTexture>& texturesOut, struct b3ImportMeshData& meshData) const; const struct UrdfDeformable& getDeformableModel() const; - const struct UrdfReducedDeformable& getReducedDeformableModel() const; }; #endif //BULLET_URDF_IMPORTER_H diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp index aea391592..96f7538a2 100644 --- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp +++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp @@ -1282,171 +1282,6 @@ bool UrdfParser::parseDeformable(UrdfModel& model, tinyxml2::XMLElement* config, return true; } -bool UrdfParser::parseReducedDeformable(UrdfModel& model, tinyxml2::XMLElement* config, ErrorLogger* logger) -{ - UrdfReducedDeformable& reduced_deformable = model.m_reducedDeformable; - const char* name = config->Attribute("name"); - if (!name) - { - logger->reportError("Reduced deformable with no name"); - return false; - } - reduced_deformable.m_name = name; - - { - XMLElement* numModes_xml = config->FirstChildElement("num_modes"); - if (numModes_xml) - { - if (!numModes_xml->Attribute("value")) - { - logger->reportError("numModes_xml element must have value attribute"); - return false; - } - reduced_deformable.m_numModes = urdfLexicalCast<double>(numModes_xml->Attribute("value")); - } - } - - { - XMLElement* mass_xml = config->FirstChildElement("mass"); - if (mass_xml) - { - if (!mass_xml->Attribute("value")) - { - logger->reportError("mass_xml element must have value attribute"); - return false; - } - reduced_deformable.m_mass = urdfLexicalCast<double>(mass_xml->Attribute("value")); - } - } - - { - XMLElement* stiffnessScale_xml = config->FirstChildElement("stiffness_scale"); - if (stiffnessScale_xml) - { - if (!stiffnessScale_xml->Attribute("value")) - { - logger->reportError("stiffnessScale_xml element must have value attribute"); - return false; - } - reduced_deformable.m_stiffnessScale = urdfLexicalCast<double>(stiffnessScale_xml->Attribute("value")); - } - } - - { - XMLElement* collisionMargin_xml = config->FirstChildElement("collision_margin"); - if (collisionMargin_xml) - { - if (!collisionMargin_xml->Attribute("value")) - { - logger->reportError("collision_margin element must have value attribute"); - return false; - } - reduced_deformable.m_collisionMargin = urdfLexicalCast<double>(collisionMargin_xml->Attribute("value")); - } - } - - { - XMLElement* erp_xml = config->FirstChildElement("erp"); - if (erp_xml) - { - if (!erp_xml->Attribute("value")) - { - logger->reportError("friction element must have value attribute"); - return false; - } - reduced_deformable.m_erp = urdfLexicalCast<double>(erp_xml->Attribute("value")); - } - } - - { - XMLElement* cfm_xml = config->FirstChildElement("cfm"); - if (cfm_xml) - { - if (!cfm_xml->Attribute("value")) - { - logger->reportError("cfm element must have value attribute"); - return false; - } - reduced_deformable.m_cfm = urdfLexicalCast<double>(cfm_xml->Attribute("value")); - } - } - - { - XMLElement* damping_xml = config->FirstChildElement("damping_coefficient"); - if (damping_xml) - { - if (!damping_xml->Attribute("value")) - { - logger->reportError("damping_coefficient element must have value attribute"); - return false; - } - reduced_deformable.m_damping = urdfLexicalCast<double>(damping_xml->Attribute("value")); - } - } - - { - XMLElement* friction_xml = config->FirstChildElement("friction"); - if (friction_xml) - { - if (!friction_xml->Attribute("value")) - { - logger->reportError("friction element must have value attribute"); - return false; - } - reduced_deformable.m_friction = urdfLexicalCast<double>(friction_xml->Attribute("value")); - } - } - - XMLElement* vis_xml = config->FirstChildElement("visual"); - if (!vis_xml) - { - logger->reportError("expected an visual element"); - return false; - } - if (!vis_xml->Attribute("filename")) - { - logger->reportError("expected a filename for visual geometry"); - return false; - } - std::string fn = vis_xml->Attribute("filename"); - reduced_deformable.m_visualFileName = fn; - - int out_type(0); - bool success = UrdfFindMeshFile(m_fileIO, - model.m_sourceFile, fn, sourceFileLocation(vis_xml), - &reduced_deformable.m_visualFileName, &out_type); - - if (!success) - { - // warning already printed - return false; - } - - // collision mesh is optional - XMLElement* col_xml = config->FirstChildElement("collision"); - if (col_xml) - { - if (!col_xml->Attribute("filename")) - { - logger->reportError("expected a filename for collision geoemtry"); - return false; - } - fn = col_xml->Attribute("filename"); - success = UrdfFindMeshFile(m_fileIO, - model.m_sourceFile, fn, sourceFileLocation(col_xml), - &reduced_deformable.m_simFileName, &out_type); - - if (!success) - { - // warning already printed - return false; - } - } - - ParseUserData(config, reduced_deformable.m_userData, logger); - return true; -} - bool UrdfParser::parseJointLimits(UrdfJoint& joint, XMLElement* config, ErrorLogger* logger) { joint.m_lowerLimit = 0.f; @@ -2291,16 +2126,9 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF // logger->printMessage(msg); - - XMLElement* reduced_deformable_xml = robot_xml->FirstChildElement("reduced_deformable"); - if (reduced_deformable_xml) { - return parseReducedDeformable(m_urdf2Model, reduced_deformable_xml, logger); - } - XMLElement* deformable_xml = robot_xml->FirstChildElement("deformable"); - if (deformable_xml) { + if(deformable_xml) return parseDeformable(m_urdf2Model, deformable_xml, logger); - } for (XMLElement* link_xml = robot_xml->FirstChildElement("link"); link_xml; link_xml = link_xml->NextSiblingElement("link")) { diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.h b/examples/Importers/ImportURDFDemo/UrdfParser.h index 8256099a5..b234fa66b 100644 --- a/examples/Importers/ImportURDFDemo/UrdfParser.h +++ b/examples/Importers/ImportURDFDemo/UrdfParser.h @@ -247,37 +247,6 @@ struct UrdfDeformable } }; -struct UrdfReducedDeformable -{ - std::string m_name; - int m_numModes; - - double m_mass; - double m_stiffnessScale; - double m_erp; - double m_cfm; - double m_friction; - double m_collisionMargin; - double m_damping; - - std::string m_visualFileName; - std::string m_simFileName; - btHashMap<btHashString, std::string> m_userData; - - UrdfReducedDeformable() - : m_numModes(1), - m_mass(1), - m_stiffnessScale(100), - m_erp(0.2), // generally, 0.2 is a good value for erp and cfm - m_cfm(0.2), - m_friction(0), - m_collisionMargin(0.02), - m_damping(0), - m_visualFileName(""), - m_simFileName("") - {} -}; - struct UrdfModel { std::string m_name; @@ -287,7 +256,6 @@ struct UrdfModel btHashMap<btHashString, UrdfLink*> m_links; btHashMap<btHashString, UrdfJoint*> m_joints; UrdfDeformable m_deformable; - UrdfReducedDeformable m_reducedDeformable; // Maps user data keys to user data values. btHashMap<btHashString, std::string> m_userData; @@ -365,7 +333,7 @@ protected: bool parseSensor(UrdfModel& model, UrdfLink& link, UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger); bool parseLameCoefficients(LameCoefficients& lameCoefficients, tinyxml2::XMLElement* config, ErrorLogger* logger); bool parseDeformable(UrdfModel& model, tinyxml2::XMLElement* config, ErrorLogger* logger); - bool parseReducedDeformable(UrdfModel& model, tinyxml2::XMLElement* config, ErrorLogger* logger); + public: UrdfParser(struct CommonFileIOInterface* fileIO); @@ -445,11 +413,6 @@ public: return m_urdf2Model.m_deformable; } - const UrdfReducedDeformable& getReducedDeformable() const - { - return m_urdf2Model.m_reducedDeformable; - } - bool mergeFixedLinks(UrdfModel& model, UrdfLink* link, ErrorLogger* logger, bool forceFixedBase, int level); bool printTree(UrdfLink* link, ErrorLogger* logger, int level); bool recreateModel(UrdfModel& model, UrdfLink* link, ErrorLogger* logger); diff --git a/examples/MultiBody/MultiDofDemo.cpp b/examples/MultiBody/MultiDofDemo.cpp index 6cd3a2c96..33f9e7a9f 100644 --- a/examples/MultiBody/MultiDofDemo.cpp +++ b/examples/MultiBody/MultiDofDemo.cpp @@ -165,7 +165,7 @@ void MultiDofDemo::initPhysics() btVector3 linkHalfExtents(0.05, 0.37, 0.1); btVector3 baseHalfExtents(0.05, 0.37, 0.1); - btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(world, numLinks, btVector3(-0.4f, 3.f, 0.f), baseHalfExtents, linkHalfExtents, spherical, g_floatingBase); + btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(world, numLinks, btVector3(-0.4f, 3.f, 0.f), linkHalfExtents, baseHalfExtents, spherical, g_floatingBase); //mbC->forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm mbC->setCanSleep(canSleep); diff --git a/examples/ReducedDeformableDemo/ConservationTest.cpp b/examples/ReducedDeformableDemo/ConservationTest.cpp deleted file mode 100644 index 05b7394da..000000000 --- a/examples/ReducedDeformableDemo/ConservationTest.cpp +++ /dev/null @@ -1,316 +0,0 @@ -/* - Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2019 Google Inc. http://bulletphysics.org - This software is provided 'as-is', without any express or implied warranty. - In no event will the authors be held liable for any damages arising from the use of this software. - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it freely, - subject to the following restrictions: - 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. - 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. - */ - -#include "ConservationTest.h" -///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. -#include "btBulletDynamicsCommon.h" -#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h" -#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h" -#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" -#include "../CommonInterfaces/CommonParameterInterface.h" -#include <stdio.h> //printf debugging -#include <random> - -#include "../CommonInterfaces/CommonDeformableBodyBase.h" -#include "../Utils/b3ResourcePath.h" - -static btScalar damping_alpha = 0.0; -static btScalar damping_beta = 0.0; -static int start_mode = 6; -static int num_modes = 20; - -class ConservationTest : public CommonDeformableBodyBase -{ - btScalar sim_time; - bool first_step; - - // get deformed shape - void getDeformedShape(btReducedDeformableBody* rsb, const int mode_n, const btScalar scale = 1) - { - // for (int i = 0; i < rsb->m_nodes.size(); ++i) - // for (int k = 0; k < 3; ++k) - // rsb->m_nodes[i].m_x[k] += rsb->m_modes[mode_n][3 * i + k] * scale; - - // rsb->m_reducedDofs[mode_n] = scale; - // rsb->m_reducedDofsBuffer[mode_n] = scale; - - srand(1); - for (int r = 0; r < rsb->m_nReduced; r++) - { - rsb->m_reducedDofs[r] = (btScalar(rand()) / btScalar(RAND_MAX) - 0.5); - rsb->m_reducedDofsBuffer[r] = rsb->m_reducedDofs[r]; - } - - rsb->mapToFullPosition(rsb->getRigidTransform()); - // std::cout << "-----------\n"; - // std::cout << rsb->m_nodes[0].m_x[0] << '\t' << rsb->m_nodes[0].m_x[1] << '\t' << rsb->m_nodes[0].m_x[2] << '\n'; - // std::cout << "-----------\n"; - } - -public: - ConservationTest(struct GUIHelperInterface* helper) - : CommonDeformableBodyBase(helper) - { - sim_time = 0; - first_step = true; - } - virtual ~ConservationTest() - { - } - void initPhysics(); - - void exitPhysics(); - - // TODO: disable pick force, non-interactive for now. - bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) { - return false; - } - - void resetCamera() - { - float dist = 10; - float pitch = 0; - float yaw = 90; - float targetPos[3] = {0, 3, 0}; - m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]); - } - - void checkMomentum(btReducedDeformableBody* rsb) - { - btVector3 x_com(0, 0, 0); - btVector3 total_linear(0, 0, 0); - btVector3 total_angular(0, 0, 0); - { - std::ofstream myfile("center_of_mass.txt", std::ios_base::app); - for (int i = 0; i < rsb->m_nFull; ++i) - { - x_com += rsb->m_nodalMass[i] * rsb->m_nodes[i].m_x; - } - x_com /= rsb->getTotalMass(); - myfile << sim_time << "\t" << x_com[0] << "\t" << x_com[1] << "\t" << x_com[2] << "\n"; - myfile.close(); - } - { - std::ofstream myfile("linear_momentum.txt", std::ios_base::app); - for (int i = 0; i < rsb->m_nFull; ++i) - { - total_linear += rsb->m_nodalMass[i] * rsb->m_nodes[i].m_v; - } - myfile << sim_time << "\t" << total_linear[0] << "\t" << total_linear[1] << "\t" << total_linear[2] << "\n"; - myfile.close(); - } - { - std::ofstream myfile("angular_momentum.txt", std::ios_base::app); - // btVector3 ri(0, 0, 0); - // for (int i = 0; i < rsb->m_nFull; ++i) - // { - // ri = rsb->m_nodes[i].m_x - x_com; - // total_angular += rsb->m_nodalMass[i] * ri.cross(rsb->m_nodes[i].m_v); - // } - total_angular = rsb->computeTotalAngularMomentum(); - myfile << sim_time << "\t" << total_angular[0] << "\t" << total_angular[1] << "\t" << total_angular[2] << "\n"; - myfile.close(); - } - { - btVector3 angular_rigid(0, 0, 0); - std::ofstream myfile("angular_momentum_rigid.txt", std::ios_base::app); - btVector3 ri(0, 0, 0); - for (int i = 0; i < rsb->m_nFull; ++i) - { - ri = rsb->m_nodes[i].m_x - x_com; - btMatrix3x3 ri_star = Cross(ri); - angular_rigid += rsb->m_nodalMass[i] * (ri_star.transpose() * ri_star * rsb->getAngularVelocity()); - } - myfile << sim_time << "\t" << angular_rigid[0] << "\t" << angular_rigid[1] << "\t" << angular_rigid[2] << "\n"; - myfile.close(); - } - - { - std::ofstream myfile("reduced_velocity.txt", std::ios_base::app); - myfile << sim_time << "\t" << rsb->m_reducedVelocity[0] << "\t" << rsb->m_reducedDofs[0] << "\n"; - myfile.close(); - } - } - - void stepSimulation(float deltaTime) - { - // add initial deformation - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(static_cast<btDeformableMultiBodyDynamicsWorld*>(m_dynamicsWorld)->getSoftBodyArray()[0]); - if (first_step /* && !rsb->m_bUpdateRtCst*/) - { - getDeformedShape(rsb, 0, 1); - first_step = false; - } - - float internalTimeStep = 1. / 240.f; - m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep); - - sim_time += internalTimeStep; - checkMomentum(rsb); - } - - virtual void renderScene() - { - CommonDeformableBodyBase::renderScene(); - btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); - - for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++) - { - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(deformableWorld->getSoftBodyArray()[i]); - { - btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer()); - btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); - - btVector3 origin = rsb->getRigidTransform().getOrigin(); - btVector3 line_x = rsb->getRigidTransform().getBasis() * 2 * btVector3(1, 0, 0) + origin; - btVector3 line_y = rsb->getRigidTransform().getBasis() * 2 * btVector3(0, 1, 0) + origin; - btVector3 line_z = rsb->getRigidTransform().getBasis() * 2 * btVector3(0, 0, 1) + origin; - - deformableWorld->getDebugDrawer()->drawLine(origin, line_x, btVector3(1, 0, 0)); - deformableWorld->getDebugDrawer()->drawLine(origin, line_y, btVector3(0, 1, 0)); - deformableWorld->getDebugDrawer()->drawLine(origin, line_z, btVector3(0, 0, 1)); - - deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 0, 0), 0.1, btVector3(1, 1, 1)); - deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 2, 0), 0.1, btVector3(1, 1, 1)); - deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 4, 0), 0.1, btVector3(1, 1, 1)); - } - } - } -}; - -void ConservationTest::initPhysics() -{ - m_guiHelper->setUpAxis(1); - - ///collision configuration contains default setup for memory, collision setup - m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration(); - - ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) - m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); - - m_broadphase = new btDbvtBroadphase(); - btReducedDeformableBodySolver* reducedSoftBodySolver = new btReducedDeformableBodySolver(); - btVector3 gravity = btVector3(0, 0, 0); - reducedSoftBodySolver->setGravity(gravity); - - btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver(); - sol->setDeformableSolver(reducedSoftBodySolver); - m_solver = sol; - - m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver); - m_dynamicsWorld->setGravity(gravity); - m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); - - // create volumetric reduced deformable body - { - std::string file_path("../../../data/reduced_beam/"); - std::string vtk_file("beam_mesh_origin.vtk"); - btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedDeformableObject( - getDeformableDynamicsWorld()->getWorldInfo(), - file_path, - vtk_file, - num_modes, - false); - - getDeformableDynamicsWorld()->addSoftBody(rsb); - rsb->getCollisionShape()->setMargin(0.1); - - btTransform init_transform; - init_transform.setIdentity(); - init_transform.setOrigin(btVector3(0, 4, 0)); - // init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0)); - rsb->transformTo(init_transform); - - rsb->setStiffnessScale(100); - rsb->setDamping(damping_alpha, damping_beta); - - 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); - - // rsb->setVelocity(btVector3(0, -COLLIDING_VELOCITY, 0)); - // rsb->setRigidVelocity(btVector3(0, 1, 0)); - // rsb->setRigidAngularVelocity(btVector3(1, 0, 0)); - } - getDeformableDynamicsWorld()->setImplicit(false); - getDeformableDynamicsWorld()->setLineSearch(false); - getDeformableDynamicsWorld()->setUseProjection(false); - getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.3; - getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0.2; - getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200); - getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3; - getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false; - getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100; - - m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); -} - -void ConservationTest::exitPhysics() -{ - //cleanup in the reverse order of creation/initialization - removePickingConstraint(); - //remove the rigidbodies from the dynamics world and delete them - int i; - for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--) - { - btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i]; - btRigidBody* body = btRigidBody::upcast(obj); - if (body && body->getMotionState()) - { - delete body->getMotionState(); - } - m_dynamicsWorld->removeCollisionObject(obj); - delete obj; - } - // delete forces - for (int j = 0; j < m_forces.size(); j++) - { - btDeformableLagrangianForce* force = m_forces[j]; - delete force; - } - m_forces.clear(); - - //delete collision shapes - for (int j = 0; j < m_collisionShapes.size(); j++) - { - btCollisionShape* shape = m_collisionShapes[j]; - delete shape; - } - m_collisionShapes.clear(); - - delete m_dynamicsWorld; - - delete m_solver; - - delete m_broadphase; - - delete m_dispatcher; - - delete m_collisionConfiguration; -} - - - -class CommonExampleInterface* ReducedConservationTestCreateFunc(struct CommonExampleOptions& options) -{ - return new ConservationTest(options.m_guiHelper); -} - - diff --git a/examples/ReducedDeformableDemo/ConservationTest.h b/examples/ReducedDeformableDemo/ConservationTest.h deleted file mode 100644 index 3528f1e15..000000000 --- a/examples/ReducedDeformableDemo/ConservationTest.h +++ /dev/null @@ -1,19 +0,0 @@ -/* - Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2019 Google Inc. http://bulletphysics.org - This software is provided 'as-is', without any express or implied warranty. - In no event will the authors be held liable for any damages arising from the use of this software. - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it freely, - subject to the following restrictions: - 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. - 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. - */ - -#ifndef _REDUCED_CONSERVATION_TEST_H -#define _REDUCED_CONSERVATION_TEST_H - -class CommonExampleInterface* ReducedConservationTestCreateFunc(struct CommonExampleOptions& options); - -#endif //_REDUCED_CONSERVATION_TEST_H diff --git a/examples/ReducedDeformableDemo/FreeFall.cpp b/examples/ReducedDeformableDemo/FreeFall.cpp deleted file mode 100644 index f63db542d..000000000 --- a/examples/ReducedDeformableDemo/FreeFall.cpp +++ /dev/null @@ -1,276 +0,0 @@ -/* - Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2019 Google Inc. http://bulletphysics.org - This software is provided 'as-is', without any express or implied warranty. - In no event will the authors be held liable for any damages arising from the use of this software. - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it freely, - subject to the following restrictions: - 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. - 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. - */ - -#include "FreeFall.h" -///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. -#include "btBulletDynamicsCommon.h" -#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h" -#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h" -#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" -#include "../CommonInterfaces/CommonParameterInterface.h" -#include <stdio.h> //printf debugging - -#include "../CommonInterfaces/CommonDeformableBodyBase.h" -#include "../Utils/b3ResourcePath.h" - -///The BasicTest shows the contact between volumetric deformable objects and rigid objects. -// static btScalar E = 50; -// static btScalar nu = 0.3; -static btScalar damping_alpha = 0.0; -static btScalar damping_beta = 0.0001; -static btScalar COLLIDING_VELOCITY = 0; -static int num_modes = 40; - -class FreeFall : public CommonDeformableBodyBase -{ -public: - FreeFall(struct GUIHelperInterface* helper) - : CommonDeformableBodyBase(helper) - { - } - virtual ~FreeFall() - { - } - void initPhysics(); - - void exitPhysics(); - - // TODO: disable pick force, non-interactive for now. - bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) { - return false; - } - - void resetCamera() - { - float dist = 8; - float pitch = -10; - float yaw = 90; - float targetPos[3] = {0, 2, 0}; - // float dist = 10; - // float pitch = -30; - // float yaw = 125; - // float targetPos[3] = {0, 2, 0}; - m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]); - } - - void Ctor_RbUpStack(const btVector3& origin) - { - float mass = 10; - btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.5, 0.5)); - // btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 1)); - btTransform startTransform; - startTransform.setIdentity(); - // startTransform.setOrigin(btVector3(0, 12, 0)); - // btRigidBody* rb0 = createRigidBody(mass, startTransform, shape); - // rb0->setLinearVelocity(btVector3(0, 0, 0)); - - startTransform.setOrigin(origin); - // startTransform.setRotation(btQuaternion(btVector3(1, 0, 1), SIMD_PI / 4.0)); - btRigidBody* rb1 = createRigidBody(mass, startTransform, shape); - rb1->setActivationState(DISABLE_DEACTIVATION); - rb1->setLinearVelocity(btVector3(0, 0, 0)); - } - - void createReducedDeformableObject(const btVector3& origin, const btQuaternion& rotation) - { - std::string file_path("../../../data/reduced_cube/"); - std::string vtk_file("cube_mesh.vtk"); - btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedDeformableObject( - getDeformableDynamicsWorld()->getWorldInfo(), - file_path, - vtk_file, - num_modes, - false); - - getDeformableDynamicsWorld()->addSoftBody(rsb); - rsb->getCollisionShape()->setMargin(0.01); - // rsb->scale(btVector3(1, 1, 0.5)); - - rsb->setTotalMass(10); - - btTransform init_transform; - init_transform.setIdentity(); - init_transform.setOrigin(origin); - init_transform.setRotation(rotation); - rsb->transformTo(init_transform); - - rsb->setStiffnessScale(25); - rsb->setDamping(damping_alpha, damping_beta); - // rsb->scale(btVector3(0.5, 0.5, 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); - } - - void stepSimulation(float deltaTime) - { - float internalTimeStep = 1. / 60.f; - m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep); - } - - virtual void renderScene() - { - CommonDeformableBodyBase::renderScene(); - btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); - // int flag = 0; - - for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++) - { - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(deformableWorld->getSoftBodyArray()[i]); - { - btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer()); - // btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), flag); - btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); - - // for (int p = 0; p < rsb->m_fixedNodes.size(); ++p) - // { - // deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_fixedNodes[p]].m_x, 0.2, btVector3(1, 0, 0)); - // } - // for (int p = 0; p < rsb->m_nodeRigidContacts.size(); ++p) - // { - // deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_contactNodesList[p]].m_x, 0.2, btVector3(0, 1, 0)); - // } - - // deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 0, 0), 0.1, btVector3(1, 1, 1)); - // deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 5, 0), 0.1, btVector3(1, 1, 1)); - // deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 10, 0), 0.1, btVector3(1, 1, 1)); - } - } - } -}; - -void FreeFall::initPhysics() -{ - m_guiHelper->setUpAxis(1); - - ///collision configuration contains default setup for memory, collision setup - m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration(); - - ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) - m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); - - m_broadphase = new btDbvtBroadphase(); - btReducedDeformableBodySolver* reducedSoftBodySolver = new btReducedDeformableBodySolver(); - - btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver(); - sol->setDeformableSolver(reducedSoftBodySolver); - m_solver = sol; - - m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver); - btVector3 gravity = btVector3(0, -9.8, 0); - m_dynamicsWorld->setGravity(gravity); - m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); - // m_dynamicsWorld->getSolverInfo().m_solverMode |= SOLVER_RANDMIZE_ORDER; - - // 2 reduced deformable cubes - createReducedDeformableObject(btVector3(0, 4, -2), btQuaternion(0, 0, 0)); - createReducedDeformableObject(btVector3(0, 4, 2), btQuaternion(0, 0, 0)); - - // 2 rigid cubes - Ctor_RbUpStack(btVector3(0, 10, -2)); - Ctor_RbUpStack(btVector3(0, 10, 2)); - - // create a static rigid box as the ground - { - // btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50))); - btBoxShape* groundShape = createBoxShape(btVector3(btScalar(10), btScalar(2), btScalar(10))); - m_collisionShapes.push_back(groundShape); - - btTransform groundTransform; - groundTransform.setIdentity(); - // groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0)); - // groundTransform.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_PI / 6.0)); - groundTransform.setOrigin(btVector3(0, -2, 0)); - // groundTransform.setOrigin(btVector3(0, 0, 6)); - // groundTransform.setOrigin(btVector3(0, -50, 0)); - { - btScalar mass(0.); - createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0)); - } - } - - getDeformableDynamicsWorld()->setImplicit(false); - getDeformableDynamicsWorld()->setLineSearch(false); - getDeformableDynamicsWorld()->setUseProjection(false); - getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2; - getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0.2; - getDeformableDynamicsWorld()->getSolverInfo().m_friction = 0.5; - getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200); - getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3; - getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false; - getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100; - - m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); - m_dynamicsWorld->setGravity(gravity); -} - -void FreeFall::exitPhysics() -{ - //cleanup in the reverse order of creation/initialization - removePickingConstraint(); - //remove the rigidbodies from the dynamics world and delete them - int i; - for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--) - { - btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i]; - btRigidBody* body = btRigidBody::upcast(obj); - if (body && body->getMotionState()) - { - delete body->getMotionState(); - } - m_dynamicsWorld->removeCollisionObject(obj); - delete obj; - } - // delete forces - for (int j = 0; j < m_forces.size(); j++) - { - btDeformableLagrangianForce* force = m_forces[j]; - delete force; - } - m_forces.clear(); - - //delete collision shapes - for (int j = 0; j < m_collisionShapes.size(); j++) - { - btCollisionShape* shape = m_collisionShapes[j]; - delete shape; - } - m_collisionShapes.clear(); - - delete m_dynamicsWorld; - - delete m_solver; - - delete m_broadphase; - - delete m_dispatcher; - - delete m_collisionConfiguration; -} - - - -class CommonExampleInterface* ReducedFreeFallCreateFunc(struct CommonExampleOptions& options) -{ - return new FreeFall(options.m_guiHelper); -} - - diff --git a/examples/ReducedDeformableDemo/FreeFall.h b/examples/ReducedDeformableDemo/FreeFall.h deleted file mode 100644 index b71d8027f..000000000 --- a/examples/ReducedDeformableDemo/FreeFall.h +++ /dev/null @@ -1,19 +0,0 @@ -/* - Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2019 Google Inc. http://bulletphysics.org - This software is provided 'as-is', without any express or implied warranty. - In no event will the authors be held liable for any damages arising from the use of this software. - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it freely, - subject to the following restrictions: - 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. - 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. - */ - -#ifndef _REDUCED_FREE_FALL_H -#define _REDUCED_FREE_FALL_H - -class CommonExampleInterface* ReducedFreeFallCreateFunc(struct CommonExampleOptions& options); - -#endif //_REDUCED_FREE_FALL_H diff --git a/examples/ReducedDeformableDemo/FrictionSlope.cpp b/examples/ReducedDeformableDemo/FrictionSlope.cpp deleted file mode 100644 index 20eac36e8..000000000 --- a/examples/ReducedDeformableDemo/FrictionSlope.cpp +++ /dev/null @@ -1,288 +0,0 @@ -/* - Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2019 Google Inc. http://bulletphysics.org - This software is provided 'as-is', without any express or implied warranty. - In no event will the authors be held liable for any damages arising from the use of this software. - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it freely, - subject to the following restrictions: - 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. - 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. - */ - -#include "FrictionSlope.h" -///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. -#include "btBulletDynamicsCommon.h" -#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h" -#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h" -#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" -#include "../CommonInterfaces/CommonParameterInterface.h" -#include <stdio.h> //printf debugging - -#include "../CommonInterfaces/CommonDeformableBodyBase.h" -#include "../Utils/b3ResourcePath.h" - -///The BasicTest shows the contact between volumetric deformable objects and rigid objects. -// static btScalar E = 50; -// static btScalar nu = 0.3; -static btScalar damping_alpha = 0.0; -static btScalar damping_beta = 0.001; -static btScalar COLLIDING_VELOCITY = 0; -static int num_modes = 20; - -class FrictionSlope : public CommonDeformableBodyBase -{ -public: - FrictionSlope(struct GUIHelperInterface* helper) - : CommonDeformableBodyBase(helper) - {} - virtual ~FrictionSlope() - { - } - void initPhysics(); - - void exitPhysics(); - - // TODO: disable pick force, non-interactive for now. - bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) { - return false; - } - - void resetCamera() - { - float dist = 20; - float pitch = -20; - float yaw = 90; - float targetPos[3] = {0, 0, 0.5}; - m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]); - } - - void Ctor_RbUpStack() - { - float mass = 1; - btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 1)); - // btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.5, 0.5)); - // btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.25, 2)); - btTransform startTransform; - startTransform.setIdentity(); - - startTransform.setOrigin(btVector3(0,4,0)); - btRigidBody* rb1 = createRigidBody(mass, startTransform, shape); - rb1->setLinearVelocity(btVector3(0, 0, 0)); - } - - void createGround() - { - btBoxShape* groundShape = createBoxShape(btVector3(btScalar(10), btScalar(2), btScalar(10))); - m_collisionShapes.push_back(groundShape); - - btTransform groundTransform; - groundTransform.setIdentity(); - // groundTransform.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_PI / 6.0)); - groundTransform.setOrigin(btVector3(0, 0, 0)); - btScalar mass(1e6); - btRigidBody* ground = createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0)); - // ground->setFriction(1); - } - - void stepSimulation(float deltaTime) - { - float internalTimeStep = 1. / 60.f; - m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep); - } - - virtual void renderScene() - { - CommonDeformableBodyBase::renderScene(); - btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); - - for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++) - { - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(deformableWorld->getSoftBodyArray()[i]); - { - btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer()); - // btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), flag); - btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); - - // for (int p = 0; p < rsb->m_fixedNodes.size(); ++p) - // { - // deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_fixedNodes[p]].m_x, 0.2, btVector3(1, 0, 0)); - // } - // for (int p = 0; p < rsb->m_nodeRigidContacts.size(); ++p) - // { - // deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_contactNodesList[p]].m_x, 0.2, btVector3(0, 1, 0)); - // } - } - } - } -}; - -namespace FrictionSlopeHelper -{ - void groundMotion(btScalar time, btDeformableMultiBodyDynamicsWorld* world) - { - btAlignedObjectArray<btRigidBody*>& rbs = world->getNonStaticRigidBodies(); - - btRigidBody* ground = rbs[0]; - btAssert(ground->getMass() > 1e5); - - btScalar start_time = 2; - btScalar end_time = 8; - btScalar start_angle = 0; - btScalar end_angle = SIMD_PI / 6; - btScalar current_angle = 0; - btScalar turn_speed = (end_angle - start_angle) / (end_time - start_time); - - if (time >= start_time) - { - current_angle = (time - start_time) * turn_speed; - if (time > end_time) - { - current_angle = end_angle; - turn_speed = 0; - } - } - else - { - current_angle = start_angle; - turn_speed = 0; - } - - btTransform groundTransform; - groundTransform.setIdentity(); - // groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0)); - groundTransform.setRotation(btQuaternion(btVector3(0, 0, 1), current_angle)); - - ground->setCenterOfMassTransform(groundTransform); - ground->setLinearVelocity(btVector3(0, 0, 0)); - ground->setAngularVelocity(btVector3(0, 0, 0)); - } -}; - -void FrictionSlope::initPhysics() -{ - m_guiHelper->setUpAxis(1); - - ///collision configuration contains default setup for memory, collision setup - m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration(); - - ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) - m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); - - m_broadphase = new btDbvtBroadphase(); - btReducedDeformableBodySolver* reducedSoftBodySolver = new btReducedDeformableBodySolver(); - btVector3 gravity = btVector3(0, -10, 0); - reducedSoftBodySolver->setGravity(gravity); - - btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver(); - sol->setDeformableSolver(reducedSoftBodySolver); - m_solver = sol; - - m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver); - m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); - - // create volumetric reduced deformable body - { - std::string file_path("../../../data/reduced_beam/"); - std::string vtk_file("beam_mesh_origin.vtk"); - btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedDeformableObject( - getDeformableDynamicsWorld()->getWorldInfo(), - file_path, - vtk_file, - num_modes, - false); - - getDeformableDynamicsWorld()->addSoftBody(rsb); - rsb->getCollisionShape()->setMargin(0.01); - - btTransform init_transform; - init_transform.setIdentity(); - init_transform.setOrigin(btVector3(0, 4, 0)); - init_transform.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_PI / 2.0)); - rsb->transform(init_transform); - rsb->setStiffnessScale(50); - rsb->setDamping(damping_alpha, damping_beta); - - 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); - } - - createGround(); - // add a few rigid bodies - // Ctor_RbUpStack(); - - getDeformableDynamicsWorld()->setImplicit(false); - getDeformableDynamicsWorld()->setLineSearch(false); - getDeformableDynamicsWorld()->setUseProjection(false); - getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2; - getDeformableDynamicsWorld()->getSolverInfo().m_friction = 1; - getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200); - getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3; - getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false; - getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100; - getDeformableDynamicsWorld()->setSolverCallback(FrictionSlopeHelper::groundMotion); - m_dynamicsWorld->setGravity(gravity); - m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); -} - -void FrictionSlope::exitPhysics() -{ - //cleanup in the reverse order of creation/initialization - removePickingConstraint(); - //remove the rigidbodies from the dynamics world and delete them - int i; - for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--) - { - btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i]; - btRigidBody* body = btRigidBody::upcast(obj); - if (body && body->getMotionState()) - { - delete body->getMotionState(); - } - m_dynamicsWorld->removeCollisionObject(obj); - delete obj; - } - // delete forces - for (int j = 0; j < m_forces.size(); j++) - { - btDeformableLagrangianForce* force = m_forces[j]; - delete force; - } - m_forces.clear(); - - //delete collision shapes - for (int j = 0; j < m_collisionShapes.size(); j++) - { - btCollisionShape* shape = m_collisionShapes[j]; - delete shape; - } - m_collisionShapes.clear(); - - delete m_dynamicsWorld; - - delete m_solver; - - delete m_broadphase; - - delete m_dispatcher; - - delete m_collisionConfiguration; -} - - - -class CommonExampleInterface* FrictionSlopeCreateFunc(struct CommonExampleOptions& options) -{ - return new FrictionSlope(options.m_guiHelper); -} - - diff --git a/examples/ReducedDeformableDemo/FrictionSlope.h b/examples/ReducedDeformableDemo/FrictionSlope.h deleted file mode 100644 index d2cdd737b..000000000 --- a/examples/ReducedDeformableDemo/FrictionSlope.h +++ /dev/null @@ -1,19 +0,0 @@ -/* - Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2019 Google Inc. http://bulletphysics.org - This software is provided 'as-is', without any express or implied warranty. - In no event will the authors be held liable for any damages arising from the use of this software. - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it freely, - subject to the following restrictions: - 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. - 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. - */ - -#ifndef _FRICTION_SLOPE_H -#define _FRICTION_SLOPE_H - -class CommonExampleInterface* FrictionSlopeCreateFunc(struct CommonExampleOptions& options); - -#endif //_REDUCED_FREE_FALL_H diff --git a/examples/ReducedDeformableDemo/ModeVisualizer.cpp b/examples/ReducedDeformableDemo/ModeVisualizer.cpp deleted file mode 100644 index becf6bcee..000000000 --- a/examples/ReducedDeformableDemo/ModeVisualizer.cpp +++ /dev/null @@ -1,227 +0,0 @@ -/* - Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2019 Google Inc. http://bulletphysics.org - This software is provided 'as-is', without any express or implied warranty. - In no event will the authors be held liable for any damages arising from the use of this software. - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it freely, - subject to the following restrictions: - 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. - 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. - */ - -#include "ModeVisualizer.h" -///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. -#include "btBulletDynamicsCommon.h" -#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h" -#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h" -#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" -#include "../CommonInterfaces/CommonParameterInterface.h" -#include <stdio.h> //printf debugging - -#include "../CommonInterfaces/CommonDeformableBodyBase.h" -#include "../Utils/b3ResourcePath.h" - - -static int num_modes = 20; -static btScalar visualize_mode = 0; -static btScalar frequency_scale = 1; - -class ModeVisualizer : public CommonDeformableBodyBase -{ - btScalar sim_time; - - // get deformed shape - void getDeformedShape(btReducedDeformableBody* rsb, const int mode_n, const btScalar time_term = 1) - { - for (int i = 0; i < rsb->m_nodes.size(); ++i) - for (int k = 0; k < 3; ++k) - rsb->m_nodes[i].m_x[k] = rsb->m_x0[i][k] + rsb->m_modes[mode_n][3 * i + k] * time_term; - } - - btVector3 computeMassWeightedColumnSum(btReducedDeformableBody* rsb, const int mode_n) - { - btVector3 sum(0, 0, 0); - for (int i = 0; i < rsb->m_nodes.size(); ++i) - { - for (int k = 0; k < 3; ++k) - { - sum[k] += rsb->m_nodalMass[i] * rsb->m_modes[mode_n][3 * i + k]; - } - } - return sum; - } - -public: - ModeVisualizer(struct GUIHelperInterface* helper) - : CommonDeformableBodyBase(helper) - { - sim_time = 0; - } - virtual ~ModeVisualizer() - { - } - void initPhysics(); - - void exitPhysics(); - - // disable pick force. non-interactive example. - bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) { - return false; - } - - void resetCamera() - { - float dist = 10; - float pitch = 0; - float yaw = 90; - float targetPos[3] = {0, 3, 0}; - m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]); - } - - void stepSimulation(float deltaTime) - { - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(static_cast<btDeformableMultiBodyDynamicsWorld*>(m_dynamicsWorld)->getSoftBodyArray()[0]); - - sim_time += deltaTime; - int n_mode = floor(visualize_mode); - btScalar scale = sin(sqrt(rsb->m_eigenvalues[n_mode]) * sim_time / frequency_scale); - getDeformedShape(rsb, n_mode, scale); - // btVector3 mass_weighted_column_sum = computeMassWeightedColumnSum(rsb, visualize_mode); - // std::cout << "mode=" << int(visualize_mode) << "\t" << mass_weighted_column_sum[0] << "\t" - // << mass_weighted_column_sum[1] << "\t" - // << mass_weighted_column_sum[2] << "\n"; - } - - virtual void renderScene() - { - CommonDeformableBodyBase::renderScene(); - btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); - - for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++) - { - btSoftBody* rsb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i]; - { - btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer()); - btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); - } - } - } -}; - -void ModeVisualizer::initPhysics() -{ - m_guiHelper->setUpAxis(1); - - ///collision configuration contains default setup for memory, collision setup - m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration(); - - ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) - m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); - - m_broadphase = new btDbvtBroadphase(); - btReducedDeformableBodySolver* reducedSoftBodySolver = new btReducedDeformableBodySolver(); - - btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver(); - sol->setDeformableSolver(reducedSoftBodySolver); - m_solver = sol; - - m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver); - m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); - - // create volumetric soft body - { - std::string file_path("../../../data/reduced_cube/"); - std::string vtk_file("cube_mesh.vtk"); - btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedDeformableObject( - getDeformableDynamicsWorld()->getWorldInfo(), - file_path, - vtk_file, - num_modes, - false); - - getDeformableDynamicsWorld()->addSoftBody(rsb); - rsb->getCollisionShape()->setMargin(0.1); - - btTransform init_transform; - init_transform.setIdentity(); - init_transform.setOrigin(btVector3(0, 2, 0)); - // init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0)); - rsb->transform(init_transform); - btSoftBodyHelpers::generateBoundaryFaces(rsb); - } - getDeformableDynamicsWorld()->setImplicit(false); - m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); - - { - SliderParams slider("Visualize Mode", &visualize_mode); - slider.m_minVal = 0; - slider.m_maxVal = num_modes - 1; - if (m_guiHelper->getParameterInterface()) - m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); - } - { - SliderParams slider("Frequency Reduction", &frequency_scale); - slider.m_minVal = 1; - slider.m_maxVal = 1e3; - if (m_guiHelper->getParameterInterface()) - m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); - } -} - -void ModeVisualizer::exitPhysics() -{ - //cleanup in the reverse order of creation/initialization - removePickingConstraint(); - //remove the rigidbodies from the dynamics world and delete them - int i; - for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--) - { - btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i]; - btRigidBody* body = btRigidBody::upcast(obj); - if (body && body->getMotionState()) - { - delete body->getMotionState(); - } - m_dynamicsWorld->removeCollisionObject(obj); - delete obj; - } - // delete forces - for (int j = 0; j < m_forces.size(); j++) - { - btDeformableLagrangianForce* force = m_forces[j]; - delete force; - } - m_forces.clear(); - - //delete collision shapes - for (int j = 0; j < m_collisionShapes.size(); j++) - { - btCollisionShape* shape = m_collisionShapes[j]; - delete shape; - } - m_collisionShapes.clear(); - - delete m_dynamicsWorld; - - delete m_solver; - - delete m_broadphase; - - delete m_dispatcher; - - delete m_collisionConfiguration; -} - - - -class CommonExampleInterface* ReducedModeVisualizerCreateFunc(struct CommonExampleOptions& options) -{ - return new ModeVisualizer(options.m_guiHelper); -} - - diff --git a/examples/ReducedDeformableDemo/ModeVisualizer.h b/examples/ReducedDeformableDemo/ModeVisualizer.h deleted file mode 100644 index e6f292b73..000000000 --- a/examples/ReducedDeformableDemo/ModeVisualizer.h +++ /dev/null @@ -1,19 +0,0 @@ -/* - Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2019 Google Inc. http://bulletphysics.org - This software is provided 'as-is', without any express or implied warranty. - In no event will the authors be held liable for any damages arising from the use of this software. - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it freely, - subject to the following restrictions: - 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. - 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. - */ - -#ifndef _REDUCED_MODE_VISUALIZER_H -#define _REDUCED_MODE_VISUALIZER_H - -class CommonExampleInterface* ReducedModeVisualizerCreateFunc(struct CommonExampleOptions& options); - -#endif //_REDUCED_MODE_VISUALIZER_H diff --git a/examples/ReducedDeformableDemo/ReducedBenchmark.cpp b/examples/ReducedDeformableDemo/ReducedBenchmark.cpp deleted file mode 100644 index 05ddc0362..000000000 --- a/examples/ReducedDeformableDemo/ReducedBenchmark.cpp +++ /dev/null @@ -1,349 +0,0 @@ -/* - Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2019 Google Inc. http://bulletphysics.org - This software is provided 'as-is', without any express or implied warranty. - In no event will the authors be held liable for any damages arising from the use of this software. - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it freely, - subject to the following restrictions: - 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. - 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. - */ - -#include "ReducedBenchmark.h" -///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. -#include "btBulletDynamicsCommon.h" -#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h" -#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h" -#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" -#include "../CommonInterfaces/CommonParameterInterface.h" -#include <stdio.h> //printf debugging - -#include "../CommonInterfaces/CommonDeformableBodyBase.h" -#include "../Utils/b3ResourcePath.h" - -static btScalar damping_alpha = 0.0; -static btScalar damping_beta = 0.0001; -static btScalar COLLIDING_VELOCITY = 0; -static int num_modes = 20; -static bool run_reduced = true; - -class ReducedBenchmark : public CommonDeformableBodyBase -{ - btVector3 m_gravity; -public: - ReducedBenchmark(struct GUIHelperInterface* helper) - : CommonDeformableBodyBase(helper) - { - } - virtual ~ReducedBenchmark() - { - } - void initPhysics(); - - void exitPhysics(); - - // TODO: disable pick force, non-interactive for now. - bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) { - return false; - } - - void resetCamera() - { - // float dist = 6; - // float pitch = -10; - // float yaw = 90; - // float targetPos[3] = {0, 2, 0}; - float dist = 10; - float pitch = -30; - float yaw = 125; - float targetPos[3] = {0, 2, 0}; - m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]); - } - - void Ctor_RbUpStack(const btVector3& origin) - { - float mass = 10; - btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.5, 0.5)); - // btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 1)); - btTransform startTransform; - startTransform.setIdentity(); - // startTransform.setOrigin(btVector3(0, 12, 0)); - // btRigidBody* rb0 = createRigidBody(mass, startTransform, shape); - // rb0->setLinearVelocity(btVector3(0, 0, 0)); - - startTransform.setOrigin(origin); - // startTransform.setRotation(btQuaternion(btVector3(1, 0, 1), SIMD_PI / 4.0)); - btRigidBody* rb1 = createRigidBody(mass, startTransform, shape); - rb1->setActivationState(DISABLE_DEACTIVATION); - // rb1->setLinearVelocity(btVector3(0, 0, 4)); - } - - void createDeform(const btVector3& origin, const btQuaternion& rotation) - { - - if (run_reduced) - { - std::string file_path("../../../data/reduced_torus/"); - std::string vtk_file("torus_mesh.vtk"); - btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedDeformableObject( - getDeformableDynamicsWorld()->getWorldInfo(), - file_path, - vtk_file, - num_modes, - false); - - getDeformableDynamicsWorld()->addSoftBody(rsb); - rsb->getCollisionShape()->setMargin(0.01); - // rsb->scale(btVector3(1, 1, 0.5)); - - rsb->setTotalMass(10); - - btTransform init_transform; - init_transform.setIdentity(); - init_transform.setOrigin(origin); - init_transform.setRotation(rotation); - rsb->transformTo(init_transform); - - rsb->setStiffnessScale(5); - rsb->setDamping(damping_alpha, damping_beta); - // rsb->scale(btVector3(0.5, 0.5, 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::cout << "Running reduced deformable\n"; - } - else // create full deformable cube - { - std::string filepath("../../../data/reduced_torus/"); - std::string filename = filepath + "torus_mesh.vtk"; - btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), filename.c_str()); - - btTransform init_transform; - init_transform.setIdentity(); - init_transform.setOrigin(origin); - init_transform.setRotation(rotation); - psb->transform(init_transform); - psb->getCollisionShape()->setMargin(0.015); - psb->setTotalMass(10); - psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects - psb->m_cfg.kCHR = 1; // collision hardness with rigid body - psb->m_cfg.kDF = .5; - psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; - psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN; - getDeformableDynamicsWorld()->addSoftBody(psb); - btSoftBodyHelpers::generateBoundaryFaces(psb); - - btDeformableGravityForce* gravity_force = new btDeformableGravityForce(m_gravity); - getDeformableDynamicsWorld()->addForce(psb, gravity_force); - m_forces.push_back(gravity_force); - - btScalar E = 10000; - btScalar nu = 0.3; - btScalar lambda = E * nu / ((1 + nu) * (1 - 2 * nu)); - btScalar mu = E / (2 * (1 + nu)); - btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(lambda, mu, 0.01); - // neohookean->setPoissonRatio(0.3); - // neohookean->setYoungsModulus(25); - neohookean->setDamping(0.01); - psb->m_cfg.drag = 0.001; - getDeformableDynamicsWorld()->addForce(psb, neohookean); - m_forces.push_back(neohookean); - - std::cout << "Running full deformable\n"; - } - - // btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedTorus(getDeformableDynamicsWorld()->getWorldInfo(), num_modes); - - // getDeformableDynamicsWorld()->addSoftBody(rsb); - // rsb->getCollisionShape()->setMargin(0.01); - // // rsb->scale(btVector3(1, 1, 0.5)); - - // rsb->setTotalMass(10); - - // btTransform init_transform; - // init_transform.setIdentity(); - // init_transform.setOrigin(origin); - // init_transform.setRotation(rotation); - // rsb->transformTo(init_transform); - - // rsb->setStiffnessScale(5); - // rsb->setDamping(damping_alpha, damping_beta); - // // rsb->scale(btVector3(0.5, 0.5, 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); - } - - void stepSimulation(float deltaTime) - { - float internalTimeStep = 1. / 240.f; - m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep); - } - - virtual void renderScene() - { - CommonDeformableBodyBase::renderScene(); - btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); - - for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++) - { - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(deformableWorld->getSoftBodyArray()[i]); - { - btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer()); - btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); - } - } - } -}; - -void ReducedBenchmark::initPhysics() -{ - m_guiHelper->setUpAxis(1); - - ///collision configuration contains default setup for memory, collision setup - m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration(); - - ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) - m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); - - m_broadphase = new btDbvtBroadphase(); - - if (run_reduced) - { - btReducedDeformableBodySolver* solver = new btReducedDeformableBodySolver(); - - btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver(); - sol->setDeformableSolver(solver); - m_solver = sol; - m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, solver); - } - else - { - btDeformableBodySolver* solver = new btDeformableBodySolver(); - - btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver(); - sol->setDeformableSolver(solver); - m_solver = sol; - m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, solver); - } - - // m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, solver); - btVector3 gravity = btVector3(0, -10, 0); - m_gravity = gravity; - m_dynamicsWorld->setGravity(gravity); - getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; - m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); - - // 3x3 torus - createDeform(btVector3(4, 4, -4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0)); - createDeform(btVector3(4, 4, 0), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0)); - createDeform(btVector3(4, 4, 4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0)); - createDeform(btVector3(0, 4, -4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0)); - createDeform(btVector3(0, 4, 0), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0)); - createDeform(btVector3(0, 4, 4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0)); - createDeform(btVector3(-4, 4, -4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0)); - createDeform(btVector3(-4, 4, 0), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0)); - createDeform(btVector3(-4, 4, 4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0)); - - // create a static rigid box as the ground - { - // btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50))); - btBoxShape* groundShape = createBoxShape(btVector3(btScalar(20), btScalar(2), btScalar(20))); - m_collisionShapes.push_back(groundShape); - - btTransform groundTransform; - groundTransform.setIdentity(); - // groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0)); - // groundTransform.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_PI / 6.0)); - groundTransform.setOrigin(btVector3(0, 0, 0)); - // groundTransform.setOrigin(btVector3(0, 0, 6)); - // groundTransform.setOrigin(btVector3(0, -50, 0)); - { - btScalar mass(0.); - createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0)); - } - } - - getDeformableDynamicsWorld()->setImplicit(false); - getDeformableDynamicsWorld()->setLineSearch(false); - getDeformableDynamicsWorld()->setUseProjection(false); - getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2; - getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0.2; - getDeformableDynamicsWorld()->getSolverInfo().m_friction = 0.5; - getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200); - getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3; - getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false; - getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100; - - m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); - m_dynamicsWorld->setGravity(gravity); -} - -void ReducedBenchmark::exitPhysics() -{ - //cleanup in the reverse order of creation/initialization - removePickingConstraint(); - //remove the rigidbodies from the dynamics world and delete them - int i; - for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--) - { - btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i]; - btRigidBody* body = btRigidBody::upcast(obj); - if (body && body->getMotionState()) - { - delete body->getMotionState(); - } - m_dynamicsWorld->removeCollisionObject(obj); - delete obj; - } - // delete forces - for (int j = 0; j < m_forces.size(); j++) - { - btDeformableLagrangianForce* force = m_forces[j]; - delete force; - } - m_forces.clear(); - - //delete collision shapes - for (int j = 0; j < m_collisionShapes.size(); j++) - { - btCollisionShape* shape = m_collisionShapes[j]; - delete shape; - } - m_collisionShapes.clear(); - - delete m_dynamicsWorld; - - delete m_solver; - - delete m_broadphase; - - delete m_dispatcher; - - delete m_collisionConfiguration; -} - - - -class CommonExampleInterface* ReducedBenchmarkCreateFunc(struct CommonExampleOptions& options) -{ - return new ReducedBenchmark(options.m_guiHelper); -} - - diff --git a/examples/ReducedDeformableDemo/ReducedBenchmark.h b/examples/ReducedDeformableDemo/ReducedBenchmark.h deleted file mode 100644 index ffaa4fcff..000000000 --- a/examples/ReducedDeformableDemo/ReducedBenchmark.h +++ /dev/null @@ -1,19 +0,0 @@ -/* - Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2019 Google Inc. http://bulletphysics.org - This software is provided 'as-is', without any express or implied warranty. - In no event will the authors be held liable for any damages arising from the use of this software. - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it freely, - subject to the following restrictions: - 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. - 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. - */ - -#ifndef _REDUCED_BENCHMARK_H -#define _REDUCED_BENCHMARK_H - -class CommonExampleInterface* ReducedBenchmarkCreateFunc(struct CommonExampleOptions& options); - -#endif //_REDUCED_BENCHMARK_H diff --git a/examples/ReducedDeformableDemo/ReducedCollide.cpp b/examples/ReducedDeformableDemo/ReducedCollide.cpp deleted file mode 100644 index dd84946ae..000000000 --- a/examples/ReducedDeformableDemo/ReducedCollide.cpp +++ /dev/null @@ -1,522 +0,0 @@ -/* - Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2019 Google Inc. http://bulletphysics.org - This software is provided 'as-is', without any express or implied warranty. - In no event will the authors be held liable for any damages arising from the use of this software. - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it freely, - subject to the following restrictions: - 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. - 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. - */ - -#include "ReducedCollide.h" -///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. -#include "btBulletDynamicsCommon.h" -#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h" -#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h" -#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" -#include "../CommonInterfaces/CommonParameterInterface.h" -#include <stdio.h> //printf debugging - -#include "../CommonInterfaces/CommonDeformableBodyBase.h" -#include "../Utils/b3ResourcePath.h" - -///The BasicTest shows the contact between volumetric deformable objects and rigid objects. -// static btScalar E = 50; -// static btScalar nu = 0.3; -static btScalar damping_alpha = 0.0; -static btScalar damping_beta = 0.0; -static btScalar COLLIDING_VELOCITY = 4; -static int num_modes = 20; - -class ReducedCollide : public CommonDeformableBodyBase -{ -public: - ReducedCollide(struct GUIHelperInterface* helper) - : CommonDeformableBodyBase(helper) - { - } - virtual ~ReducedCollide() - { - } - void initPhysics(); - - void exitPhysics(); - - btMultiBody* createFeatherstoneMultiBody_testMultiDof(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical = false, bool floating = false); - void addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents); - - // TODO: disable pick force, non-interactive for now. - bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) { - return false; - } - - void resetCamera() - { - // float dist = 20; - // float pitch = -10; - float dist = 10; - float pitch = -5; - float yaw = 90; - float targetPos[3] = {0, 0, 0}; - - // float dist = 5; - // float pitch = -35; - // float yaw = 50; - // float targetPos[3] = {-3, 2.8, -2.5}; - m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]); - } - - void Ctor_RbUpStack() - { - float mass = 10; - - btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.5, 0.5)); - // btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 1)); - btVector3 localInertia(0, 0, 0); - if (mass != 0.f) - shape->calculateLocalInertia(mass, localInertia); - - btTransform startTransform; - startTransform.setIdentity(); - startTransform.setOrigin(btVector3(0,-2,0)); - // startTransform.setRotation(btQuaternion(btVector3(1, 0, 1), SIMD_PI / 3.0)); - btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform); - - btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, shape, localInertia); - btRigidBody* body = new btRigidBody(rbInfo); - - m_dynamicsWorld->addRigidBody(body, 1, 1+2); - - body->setActivationState(DISABLE_DEACTIVATION); - body->setLinearVelocity(btVector3(0, COLLIDING_VELOCITY, 0)); - // body->setFriction(1); - } - - void rigidBar() - { - float mass = 10; - - btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.25, 2)); - btVector3 localInertia(0, 0, 0); - if (mass != 0.f) - shape->calculateLocalInertia(mass, localInertia); - - btTransform startTransform; - startTransform.setIdentity(); - startTransform.setOrigin(btVector3(0,10,0)); - // startTransform.setRotation(btQuaternion(btVector3(1, 0, 1), SIMD_PI / 3.0)); - btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform); - - btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, shape, localInertia); - btRigidBody* body = new btRigidBody(rbInfo); - - m_dynamicsWorld->addRigidBody(body, 1, 1+2); - - body->setActivationState(DISABLE_DEACTIVATION); - body->setLinearVelocity(btVector3(0, 0, 0)); - // body->setFriction(0); - } - - void createGround() - { - // float mass = 55; - float mass = 0; - - btCollisionShape* shape = new btBoxShape(btVector3(10, 2, 10)); - btVector3 localInertia(0, 0, 0); - if (mass != 0.f) - shape->calculateLocalInertia(mass, localInertia); - - btTransform startTransform; - startTransform.setIdentity(); - startTransform.setOrigin(btVector3(0,-2,0)); - // startTransform.setRotation(btQuaternion(btVector3(1, 0, 1), SIMD_PI / 3.0)); - btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform); - - btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, shape, localInertia); - btRigidBody* body = new btRigidBody(rbInfo); - - m_dynamicsWorld->addRigidBody(body, 1, 1+2); - - body->setActivationState(DISABLE_DEACTIVATION); - body->setLinearVelocity(btVector3(0, 0, 0)); - // body->setFriction(1); - } - - void stepSimulation(float deltaTime) - { - float internalTimeStep = 1. / 60.f; - m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep); - } - - virtual void renderScene() - { - CommonDeformableBodyBase::renderScene(); - btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); - - for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++) - { - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(deformableWorld->getSoftBodyArray()[i]); - { - btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer()); - btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); - } - - for (int p = 0; p < rsb->m_contactNodesList.size(); ++p) - { - int index = rsb->m_contactNodesList[p]; - deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[index].m_x, 0.2, btVector3(0, 1, 0)); - } - } - } -}; - -void ReducedCollide::initPhysics() -{ - m_guiHelper->setUpAxis(1); - - ///collision configuration contains default setup for memory, collision setup - m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration(); - - ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) - m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); - - m_broadphase = new btDbvtBroadphase(); - btReducedDeformableBodySolver* reducedSoftBodySolver = new btReducedDeformableBodySolver(); - btVector3 gravity = btVector3(0, 0, 0); - reducedSoftBodySolver->setGravity(gravity); - - btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver(); - sol->setDeformableSolver(reducedSoftBodySolver); - m_solver = sol; - - m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver); - m_dynamicsWorld->setGravity(gravity); - m_dynamicsWorld->getSolverInfo().m_globalCfm = 1e-3; - m_dynamicsWorld->getSolverInfo().m_solverMode |= SOLVER_RANDMIZE_ORDER; - m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); - - // create volumetric reduced deformable body - { - std::string file_path("../../../data/reduced_cube/"); - std::string vtk_file("cube_mesh.vtk"); - btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedDeformableObject( - getDeformableDynamicsWorld()->getWorldInfo(), - file_path, - vtk_file, - num_modes, - false); - - getDeformableDynamicsWorld()->addSoftBody(rsb); - rsb->getCollisionShape()->setMargin(0.1); - // rsb->scale(btVector3(0.5, 0.5, 0.5)); - - rsb->setStiffnessScale(100); - rsb->setDamping(damping_alpha, damping_beta); - - rsb->setTotalMass(15); - - btTransform init_transform; - init_transform.setIdentity(); - init_transform.setOrigin(btVector3(0, 4, 0)); - // init_transform.setRotation(btQuaternion(0, SIMD_PI / 2.0, SIMD_PI / 2.0)); - rsb->transformTo(init_transform); - - 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); - - rsb->setRigidVelocity(btVector3(0, -COLLIDING_VELOCITY, 0)); - // rsb->setRigidAngularVelocity(btVector3(1, 0, 0)); - b3Printf("total mass: %e", rsb->getTotalMass()); - } - // rigidBar(); - - // add a few rigid bodies - Ctor_RbUpStack(); - - // create ground - // createGround(); - - // create multibody - // { - // bool damping = false; - // bool gyro = true; - // int numLinks = 0; - // bool spherical = true; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals - // bool multibodyOnly = true; - // bool canSleep = false; - // bool selfCollide = true; - // bool multibodyConstraint = false; - // btVector3 linkHalfExtents(0.05, 0.37, 0.1); - // btVector3 baseHalfExtents(1, 1, 1); - // // btVector3 baseHalfExtents(2.5, 0.5, 2.5); - // // btVector3 baseHalfExtents(0.05, 0.37, 0.1); - - // bool g_floatingBase = true; - // // btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(m_dynamicsWorld, numLinks, btVector3(0, 4, 0), linkHalfExtents, baseHalfExtents, spherical, g_floatingBase); - // btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(m_dynamicsWorld, numLinks, btVector3(0.f, 4.f, 0.f), baseHalfExtents, linkHalfExtents, spherical, g_floatingBase); - // //mbC->forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm - - // mbC->setCanSleep(canSleep); - // mbC->setHasSelfCollision(selfCollide); - // mbC->setUseGyroTerm(gyro); - // // - // if (!damping) - // { - // mbC->setLinearDamping(0.f); - // mbC->setAngularDamping(0.f); - // } - // else - // { - // mbC->setLinearDamping(0.1f); - // mbC->setAngularDamping(0.9f); - // } - // // - // ////////////////////////////////////////////// - // // if (numLinks > 0) - // // { - // // btScalar q0 = 45.f * SIMD_PI / 180.f; - // // if (!spherical) - // // { - // // mbC->setJointPosMultiDof(0, &q0); - // // } - // // else - // // { - // // btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0); - // // quat0.normalize(); - // // mbC->setJointPosMultiDof(0, quat0); - // // } - // // } - // /// - // addColliders_testMultiDof(mbC, m_dynamicsWorld, baseHalfExtents, linkHalfExtents); - // } - - getDeformableDynamicsWorld()->setImplicit(false); - getDeformableDynamicsWorld()->setLineSearch(false); - getDeformableDynamicsWorld()->setUseProjection(false); - getDeformableDynamicsWorld()->getSolverInfo().m_friction = 1; - getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2; - getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0.2; - getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200); - getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3; - getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false; - getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100; - m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); - - // { - // SliderParams slider("Young's Modulus", &E); - // slider.m_minVal = 0; - // slider.m_maxVal = 2000; - // if (m_guiHelper->getParameterInterface()) - // m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); - // } - // { - // SliderParams slider("Poisson Ratio", &nu); - // slider.m_minVal = 0.05; - // slider.m_maxVal = 0.49; - // if (m_guiHelper->getParameterInterface()) - // m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); - // } - // { - // SliderParams slider("Mass Damping", &damping_alpha); - // slider.m_minVal = 0; - // slider.m_maxVal = 1; - // if (m_guiHelper->getParameterInterface()) - // m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); - // } - // { - // SliderParams slider("Stiffness Damping", &damping_beta); - // slider.m_minVal = 0; - // slider.m_maxVal = 0.1; - // if (m_guiHelper->getParameterInterface()) - // m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); - // } -} - -void ReducedCollide::exitPhysics() -{ - //cleanup in the reverse order of creation/initialization - removePickingConstraint(); - //remove the rigidbodies from the dynamics world and delete them - int i; - for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--) - { - btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i]; - btRigidBody* body = btRigidBody::upcast(obj); - if (body && body->getMotionState()) - { - delete body->getMotionState(); - } - m_dynamicsWorld->removeCollisionObject(obj); - delete obj; - } - // delete forces - for (int j = 0; j < m_forces.size(); j++) - { - btDeformableLagrangianForce* force = m_forces[j]; - delete force; - } - m_forces.clear(); - - //delete collision shapes - for (int j = 0; j < m_collisionShapes.size(); j++) - { - btCollisionShape* shape = m_collisionShapes[j]; - delete shape; - } - m_collisionShapes.clear(); - - delete m_dynamicsWorld; - - delete m_solver; - - delete m_broadphase; - - delete m_dispatcher; - - delete m_collisionConfiguration; -} - -btMultiBody* ReducedCollide::createFeatherstoneMultiBody_testMultiDof(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool floating) -{ - //init the base - btVector3 baseInertiaDiag(0.f, 0.f, 0.f); - float baseMass = 10; - - if (baseMass) - { - btCollisionShape* pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2])); - pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag); - delete pTempBox; - } - - bool canSleep = false; - - btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep); - - btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f); - // btQuaternion baseOriQuat(btVector3(0, 0, 1), -SIMD_PI / 6.0); - pMultiBody->setBasePos(basePosition); - pMultiBody->setWorldToBaseRot(baseOriQuat); - btVector3 vel(0, 0, 0); - - //init the links - btVector3 hingeJointAxis(1, 0, 0); - float linkMass = 1.f; - btVector3 linkInertiaDiag(0.f, 0.f, 0.f); - - btCollisionShape* pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2])); - pTempBox->calculateLocalInertia(linkMass, linkInertiaDiag); - delete pTempBox; - - //y-axis assumed up - btVector3 parentComToCurrentCom(0, -linkHalfExtents[1] * 2.f, 0); //par body's COM to cur body's COM offset - btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1], 0); //cur body's COM to cur body's PIV offset - btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset - - ////// - btScalar q0 = 0.f * SIMD_PI / 180.f; - btQuaternion quat0(btVector3(0, 1, 0).normalized(), q0); - quat0.normalize(); - ///// - - for (int i = 0; i < numLinks; ++i) - { - if (!spherical) - pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, true); - else - //pMultiBody->setupPlanar(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f)/*quat0*/, btVector3(1, 0, 0), parentComToCurrentPivot*2, false); - pMultiBody->setupSpherical(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), parentComToCurrentPivot, currentPivotToCurrentCom, true); - } - - pMultiBody->finalizeMultiDof(); - pMultiBody->setBaseVel(vel); - - /// - pWorld->addMultiBody(pMultiBody); - /// - return pMultiBody; -} - -void ReducedCollide::addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents) -{ - btAlignedObjectArray<btQuaternion> world_to_local; - world_to_local.resize(pMultiBody->getNumLinks() + 1); - - btAlignedObjectArray<btVector3> local_origin; - local_origin.resize(pMultiBody->getNumLinks() + 1); - world_to_local[0] = pMultiBody->getWorldToBaseRot(); - local_origin[0] = pMultiBody->getBasePos(); - - { - // float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1}; - btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()}; - - if (1) - { - btCollisionShape* box = new btBoxShape(baseHalfExtents); - btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1); - col->setCollisionShape(box); - - btTransform tr; - tr.setIdentity(); - tr.setOrigin(local_origin[0]); - tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3])); - col->setWorldTransform(tr); - - pWorld->addCollisionObject(col, 2, 1 + 2); - - col->setFriction(1); - pMultiBody->setBaseCollider(col); - } - } - - for (int i = 0; i < pMultiBody->getNumLinks(); ++i) - { - const int parent = pMultiBody->getParent(i); - world_to_local[i + 1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent + 1]; - local_origin[i + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[i + 1].inverse(), pMultiBody->getRVector(i))); - } - - for (int i = 0; i < pMultiBody->getNumLinks(); ++i) - { - btVector3 posr = local_origin[i + 1]; - // float pos[4]={posr.x(),posr.y(),posr.z(),1}; - - btScalar quat[4] = {-world_to_local[i + 1].x(), -world_to_local[i + 1].y(), -world_to_local[i + 1].z(), world_to_local[i + 1].w()}; - - btCollisionShape* box = new btBoxShape(linkHalfExtents); - btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i); - - col->setCollisionShape(box); - btTransform tr; - tr.setIdentity(); - tr.setOrigin(posr); - tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3])); - col->setWorldTransform(tr); - col->setFriction(1); - pWorld->addCollisionObject(col, 2, 1 + 2); - - pMultiBody->getLink(i).m_collider = col; - } -} - - - -class CommonExampleInterface* ReducedCollideCreateFunc(struct CommonExampleOptions& options) -{ - return new ReducedCollide(options.m_guiHelper); -} - - diff --git a/examples/ReducedDeformableDemo/ReducedCollide.h b/examples/ReducedDeformableDemo/ReducedCollide.h deleted file mode 100644 index cd2ed89f5..000000000 --- a/examples/ReducedDeformableDemo/ReducedCollide.h +++ /dev/null @@ -1,19 +0,0 @@ -/* - Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2019 Google Inc. http://bulletphysics.org - This software is provided 'as-is', without any express or implied warranty. - In no event will the authors be held liable for any damages arising from the use of this software. - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it freely, - subject to the following restrictions: - 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. - 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. - */ - -#ifndef _REDUCED_COLLIDE_H -#define _REDUCED_COLLIDE_H - -class CommonExampleInterface* ReducedCollideCreateFunc(struct CommonExampleOptions& options); - -#endif //_REDUCED_COLLIDE_H diff --git a/examples/ReducedDeformableDemo/ReducedGrasp.cpp b/examples/ReducedDeformableDemo/ReducedGrasp.cpp deleted file mode 100644 index c40e0c554..000000000 --- a/examples/ReducedDeformableDemo/ReducedGrasp.cpp +++ /dev/null @@ -1,457 +0,0 @@ -/* - Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2019 Google Inc. http://bulletphysics.org - This software is provided 'as-is', without any express or implied warranty. - In no event will the authors be held liable for any damages arising from the use of this software. - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it freely, - subject to the following restrictions: - 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. - 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. - */ - -#include "ReducedGrasp.h" -///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. -#include "btBulletDynamicsCommon.h" -#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h" -#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h" -#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" -#include "../CommonInterfaces/CommonParameterInterface.h" -#include <stdio.h> //printf debugging - -#include "../CommonInterfaces/CommonDeformableBodyBase.h" -#include "../Utils/b3ResourcePath.h" - -///The BasicTest shows the contact between volumetric deformable objects and rigid objects. -// static btScalar E = 50; -// static btScalar nu = 0.3; -static btScalar damping_alpha = 0.0; -static btScalar damping_beta = 0.0001; -static int num_modes = 20; - -class ReducedGrasp : public CommonDeformableBodyBase -{ -public: - ReducedGrasp(struct GUIHelperInterface* helper) - : CommonDeformableBodyBase(helper) - { - } - virtual ~ReducedGrasp() - { - } - void initPhysics(); - - void exitPhysics(); - - void resetCamera() - { - float dist = 10; - float pitch = -10; - float yaw = 90; - - // float dist = 25; - // float pitch = -30; - // float yaw = 100; - float targetPos[3] = {0, 0, 0}; - m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]); - } - - void stepSimulation(float deltaTime) - { - //use a smaller internal timestep, there are stability issues - float internalTimeStep = 1. / 240.f; - m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep); - // float internalTimeStep = 1. / 60.f; - // m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep); - } - - void createGrip() - { - int count = 2; - float mass = 1e6; - btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 0.25)); - { - btTransform startTransform; - startTransform.setIdentity(); - startTransform.setOrigin(btVector3(0,1,0)); - startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.)); - createRigidBody(mass, startTransform, shape); - } - { - btTransform startTransform; - startTransform.setIdentity(); - startTransform.setOrigin(btVector3(0,1,-4)); - startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.)); - createRigidBody(mass, startTransform, shape); - } - - } - - void Ctor_RbUpStack() - { - float mass = 8; - btCollisionShape* shape = new btBoxShape(btVector3(0.25, 2, 0.5)); - btTransform startTransform; - startTransform.setIdentity(); - - startTransform.setOrigin(btVector3(0,9.5,0)); - btRigidBody* rb1 = createRigidBody(mass, startTransform, shape); - rb1->setLinearVelocity(btVector3(0, 0, 0)); - rb1->setFriction(0.7); - } - - virtual void renderScene() - { - CommonDeformableBodyBase::renderScene(); - btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); - - for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++) - { - // btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(deformableWorld->getSoftBodyArray()[i]); - // { - // btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer()); - // btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); - // } - - // for (int p = 0; p < rsb->m_nodeRigidContacts.size(); ++p) - // { - // deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_contactNodesList[p]].m_x, 0.1, btVector3(0, 1, 0)); - // } - - btSoftBody* psb = static_cast<btSoftBody*>(deformableWorld->getSoftBodyArray()[i]); - { - btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer()); - btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); - } - } - } - - static void GripperDynamics(btScalar time, btDeformableMultiBodyDynamicsWorld* world); -}; - -void ReducedGrasp::GripperDynamics(btScalar time, btDeformableMultiBodyDynamicsWorld* world) -{ - btAlignedObjectArray<btRigidBody*>& rbs = world->getNonStaticRigidBodies(); - if (rbs.size()<2) - return; - btRigidBody* rb0 = rbs[0]; - // btScalar pressTime = 0.9; - // btScalar pressTime = 0.96; - btScalar pressTime = 1.26; - btScalar liftTime = 2.5; - btScalar shiftTime = 6; - btScalar holdTime = 7; - btScalar dropTime = 10; - // btScalar holdTime = 500; - // btScalar dropTime = 1000; - btTransform rbTransform; - rbTransform.setIdentity(); - btVector3 translation; - btVector3 velocity; - - btVector3 initialTranslationLeft = btVector3(0,1,0); // inner face has z=2 - btVector3 initialTranslationRight = btVector3(0,1,-4); // inner face has z=-2 - btVector3 pinchVelocityLeft = btVector3(0,0,-1); - btVector3 pinchVelocityRight = btVector3(0,0,1); - btVector3 liftVelocity = btVector3(0,4,0); - btVector3 shiftVelocity = btVector3(0,0,2); - btVector3 holdVelocity = btVector3(0,0,0); - btVector3 openVelocityLeft = btVector3(0,0,4); - btVector3 openVelocityRight = btVector3(0,0,-4); - - if (time < pressTime) - { - velocity = pinchVelocityLeft; - translation = initialTranslationLeft + pinchVelocityLeft * time; - } - // else - // { - // velocity = btVector3(0, 0, 0); - // translation = initialTranslationLeft + pinchVelocityLeft * pressTime; - // } - else if (time < liftTime) - { - velocity = liftVelocity; - translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (time - pressTime); - } - else if (time < shiftTime) - { - velocity = shiftVelocity; - translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime); - } - else if (time < holdTime) - { - velocity = btVector3(0,0,0); - translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime); - } - else if (time < dropTime) - { - velocity = openVelocityLeft; - translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (time - holdTime); - } - else - { - velocity = holdVelocity; - translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (dropTime - holdTime); - } - rbTransform.setOrigin(translation); - rbTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0)); - rb0->setCenterOfMassTransform(rbTransform); - rb0->setAngularVelocity(btVector3(0,0,0)); - rb0->setLinearVelocity(velocity); - - btRigidBody* rb1 = rbs[1]; - if (time < pressTime) - { - velocity = pinchVelocityRight; - translation = initialTranslationRight + pinchVelocityRight * time; - } - // else - // { - // velocity = btVector3(0, 0, 0); - // translation = initialTranslationRight + pinchVelocityRight * pressTime; - // } - else if (time < liftTime) - { - velocity = liftVelocity; - translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (time - pressTime); - } - else if (time < shiftTime) - { - velocity = shiftVelocity; - translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime); - } - else if (time < holdTime) - { - velocity = btVector3(0,0,0); - translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime); - } - else if (time < dropTime) - { - velocity = openVelocityRight; - translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (time - holdTime); - } - else - { - velocity = holdVelocity; - translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (dropTime - holdTime); - } - rbTransform.setOrigin(translation); - rbTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0)); - rb1->setCenterOfMassTransform(rbTransform); - rb1->setAngularVelocity(btVector3(0,0,0)); - rb1->setLinearVelocity(velocity); - - rb0->setFriction(20); - rb1->setFriction(20); -} - -void ReducedGrasp::initPhysics() -{ - m_guiHelper->setUpAxis(1); - - ///collision configuration contains default setup for memory, collision setup - m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration(); - - ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) - m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); - - m_broadphase = new btDbvtBroadphase(); - // btDeformableBodySolver* solver = new btDeformableBodySolver(); - btReducedDeformableBodySolver* solver = new btReducedDeformableBodySolver(); - - btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver(); - sol->setDeformableSolver(solver); - m_solver = sol; - - m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, solver); - btVector3 gravity = btVector3(0, -10, 0); - m_dynamicsWorld->setGravity(gravity); - getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; - getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25); - getDeformableDynamicsWorld()->setSolverCallback(GripperDynamics); - m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); - - // create volumetric reduced deformable body - { - std::string file_path("../../../data/reduced_cube/"); - std::string vtk_file("cube_mesh.vtk"); - btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedDeformableObject( - getDeformableDynamicsWorld()->getWorldInfo(), - file_path, - vtk_file, - num_modes, - false); - - getDeformableDynamicsWorld()->addSoftBody(rsb); - rsb->getCollisionShape()->setMargin(0.015); - - btTransform init_transform; - init_transform.setIdentity(); - init_transform.setOrigin(btVector3(0, 1, -2)); - // init_transform.setRotation(btQuaternion(0, SIMD_PI / 2.0, SIMD_PI / 2.0)); - // init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0)); - rsb->transform(init_transform); - - rsb->setStiffnessScale(100); - rsb->setDamping(damping_alpha, damping_beta); - - 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); - } - - // create full deformable cube - { - // std::string filepath("../../../examples/SoftDemo/cube/"); - // std::string filename = filepath + "mesh.vtk"; - // btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), filename.c_str()); - - // // psb->scale(btVector3(2, 2, 2)); - // psb->translate(btVector3(0, 1, -2)); - // psb->getCollisionShape()->setMargin(0.05); - // psb->setTotalMass(28.6); - // psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects - // psb->m_cfg.kCHR = 1; // collision hardness with rigid body - // psb->m_cfg.kDF = .5; - // psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; - // psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN; - // getDeformableDynamicsWorld()->addSoftBody(psb); - // btSoftBodyHelpers::generateBoundaryFaces(psb); - - // btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); - // getDeformableDynamicsWorld()->addForce(psb, gravity_force); - // m_forces.push_back(gravity_force); - - // btScalar E = 10000; - // btScalar nu = 0.3; - // btScalar lambda = E * nu / ((1 + nu) * (1 - 2 * nu)); - // btScalar mu = E / (2 * (1 + nu)); - // btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(lambda, mu, 0.02); - // // neohookean->setPoissonRatio(0.3); - // // neohookean->setYoungsModulus(25); - // neohookean->setDamping(0.01); - // psb->m_cfg.drag = 0.001; - // getDeformableDynamicsWorld()->addForce(psb, neohookean); - // m_forces.push_back(neohookean); - } - - getDeformableDynamicsWorld()->setImplicit(false); - getDeformableDynamicsWorld()->setLineSearch(false); - getDeformableDynamicsWorld()->setUseProjection(false); - getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2; - getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0.2; - getDeformableDynamicsWorld()->getSolverInfo().m_friction = 1; - getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200); - getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3; - getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false; - getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100; - - // grippers - createGrip(); - - // rigid block - // Ctor_RbUpStack(); - - // { - // float mass = 10; - // btCollisionShape* shape = new btBoxShape(btVector3(0.25, 2, 0.5)); - // btTransform startTransform; - // startTransform.setIdentity(); - // startTransform.setOrigin(btVector3(0,4,0)); - // btRigidBody* rb1 = createRigidBody(mass, startTransform, shape); - // rb1->setLinearVelocity(btVector3(0, 0, 0)); - // } - - //create a ground - { - btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(25.), btScalar(150.))); - - m_collisionShapes.push_back(groundShape); - - btTransform groundTransform; - groundTransform.setIdentity(); - groundTransform.setOrigin(btVector3(0, -25, 0)); - groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0)); - //We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here: - btScalar mass(0.); - - //rigidbody is dynamic if and only if mass is non zero, otherwise static - bool isDynamic = (mass != 0.f); - - btVector3 localInertia(0, 0, 0); - if (isDynamic) - groundShape->calculateLocalInertia(mass, localInertia); - - //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects - btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform); - btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia); - btRigidBody* body = new btRigidBody(rbInfo); - body->setFriction(0.5); - - //add the ground to the dynamics world - m_dynamicsWorld->addRigidBody(body); - } - - m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); -} - -void ReducedGrasp::exitPhysics() -{ - //cleanup in the reverse order of creation/initialization - removePickingConstraint(); - //remove the rigidbodies from the dynamics world and delete them - int i; - for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--) - { - btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i]; - btRigidBody* body = btRigidBody::upcast(obj); - if (body && body->getMotionState()) - { - delete body->getMotionState(); - } - m_dynamicsWorld->removeCollisionObject(obj); - delete obj; - } - // delete forces - for (int j = 0; j < m_forces.size(); j++) - { - btDeformableLagrangianForce* force = m_forces[j]; - delete force; - } - m_forces.clear(); - //delete collision shapes - for (int j = 0; j < m_collisionShapes.size(); j++) - { - btCollisionShape* shape = m_collisionShapes[j]; - delete shape; - } - m_collisionShapes.clear(); - - delete m_dynamicsWorld; - - delete m_solver; - - delete m_broadphase; - - delete m_dispatcher; - - delete m_collisionConfiguration; -} - - - -class CommonExampleInterface* ReducedGraspCreateFunc(struct CommonExampleOptions& options) -{ - return new ReducedGrasp(options.m_guiHelper); -} - - diff --git a/examples/ReducedDeformableDemo/ReducedGrasp.h b/examples/ReducedDeformableDemo/ReducedGrasp.h deleted file mode 100644 index 12d274849..000000000 --- a/examples/ReducedDeformableDemo/ReducedGrasp.h +++ /dev/null @@ -1,19 +0,0 @@ -/* - Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2019 Google Inc. http://bulletphysics.org - This software is provided 'as-is', without any express or implied warranty. - In no event will the authors be held liable for any damages arising from the use of this software. - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it freely, - subject to the following restrictions: - 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. - 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. - */ - -#ifndef _REDUCED_GRASP_H -#define _REDUCED_GRASP_H - -class CommonExampleInterface* ReducedGraspCreateFunc(struct CommonExampleOptions& options); - -#endif //_REDUCED_GRASP_H diff --git a/examples/ReducedDeformableDemo/ReducedMotorGrasp.cpp b/examples/ReducedDeformableDemo/ReducedMotorGrasp.cpp deleted file mode 100644 index 5dda30f97..000000000 --- a/examples/ReducedDeformableDemo/ReducedMotorGrasp.cpp +++ /dev/null @@ -1,558 +0,0 @@ -/* - Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2019 Google Inc. http://bulletphysics.org - This software is provided 'as-is', without any express or implied warranty. - In no event will the authors be held liable for any damages arising from the use of this software. - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it freely, - subject to the following restrictions: - 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. - 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. - */ - -#include "ReducedMotorGrasp.h" -///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. -#include "btBulletDynamicsCommon.h" -#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h" -#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h" -#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" -#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h" -#include <stdio.h> //printf debugging - -#include "../CommonInterfaces/CommonDeformableBodyBase.h" -#include "../Utils/b3ResourcePath.h" -#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h" -#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h" -#include "../Importers/ImportURDFDemo/URDF2Bullet.h" -#include "../Utils/b3BulletDefaultFileIO.h" -#include "../CommonInterfaces/CommonMultiBodyBase.h" -#include "../CommonInterfaces/CommonGraphicsAppInterface.h" -#include "../CommonInterfaces/CommonParameterInterface.h" -#include "../CommonInterfaces/CommonFileIOInterface.h" -#include "Bullet3Common/b3FileUtils.h" - -///The ReducedMotorGrasp shows grasping a volumetric deformable objects with multibody gripper with moter constraints. -static btScalar sGripperVerticalVelocity = 0.f; -static btScalar sGripperClosingTargetVelocity = 0.f; -static btScalar damping_alpha = 0.0; -static btScalar damping_beta = 0.0001; -static int num_modes = 20; -static float friction = 1.; -struct TetraCube -{ -#include "../SoftDemo/cube.inl" -}; - -struct TetraBunny -{ -#include "../SoftDemo/bunny.inl" -}; - -static bool supportsJointMotor(btMultiBody* mb, int mbLinkIndex) -{ - bool canHaveMotor = (mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::eRevolute - || mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::ePrismatic); - return canHaveMotor; -} - -class ReducedMotorGrasp : public CommonDeformableBodyBase -{ - btAlignedObjectArray<btDeformableLagrangianForce*> m_forces; -public: - ReducedMotorGrasp(struct GUIHelperInterface* helper) - :CommonDeformableBodyBase(helper) - { - } - virtual ~ReducedMotorGrasp() - { - } - void initPhysics(); - - void exitPhysics(); - - void Ctor_RbUpStack() - { - float mass = 8; - btCollisionShape* shape = new btBoxShape(btVector3(2, 0.25, 0.5)); - btTransform startTransform; - startTransform.setIdentity(); - - startTransform.setOrigin(btVector3(0,0.25,0)); - btRigidBody* rb1 = createRigidBody(mass, startTransform, shape); - rb1->setLinearVelocity(btVector3(0, 0, 0)); - rb1->setFriction(0.7); - } - - void resetCamera() - { - // float dist = 0.3; - // float pitch = -45; - // float yaw = 100; - // float targetPos[3] = {0, -0.1, 0}; - float dist = 0.4; - float pitch = -25; - float yaw = 90; - float targetPos[3] = {0, 0, 0}; - m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]); - } - - btMultiBody* createFeatherstoneMultiBody(btMultiBodyDynamicsWorld* pWorld,const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool floating); - - void addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents); - - btMultiBody* createFeatherstoneMultiBody_testMultiDof(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool floating); - - void stepSimulation(float deltaTime) - { - double fingerTargetVelocities[2] = {sGripperVerticalVelocity, sGripperClosingTargetVelocity}; - int num_multiBody = getDeformableDynamicsWorld()->getNumMultibodies(); - for (int i = 0; i < num_multiBody; ++i) - { - btMultiBody* mb = getDeformableDynamicsWorld()->btMultiBodyDynamicsWorld::getMultiBody(i); - mb->setBaseVel(btVector3(0,sGripperVerticalVelocity, 0)); - int dofIndex = 6; //skip the 3 linear + 3 angular degree of freedom entries of the base - for (int link = 0; link < mb->getNumLinks(); link++) - { - if (supportsJointMotor(mb, link)) - { - btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)mb->getLink(link).m_userPtr; - if (motor) - { - if (dofIndex == 6) - { - motor->setVelocityTarget(-fingerTargetVelocities[1], 1); - motor->setMaxAppliedImpulse(10); - } - if (dofIndex == 7) - { - motor->setVelocityTarget(fingerTargetVelocities[1], 1); - motor->setMaxAppliedImpulse(10); - } - motor->setMaxAppliedImpulse(25); - } - } - dofIndex += mb->getLink(link).m_dofCount; - } - } - - //use a smaller internal timestep, there are stability issues - float internalTimeStep = 1. / 240.f; - m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep); - // float internalTimeStep = 1. / 60.f; - // m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep); - } - - void createGrip() - { - int count = 2; - float mass = 2; - btCollisionShape* shape[] = { - new btBoxShape(btVector3(3, 3, 0.5)), - }; - static const int nshapes = sizeof(shape) / sizeof(shape[0]); - for (int i = 0; i < count; ++i) - { - btTransform startTransform; - startTransform.setIdentity(); - startTransform.setOrigin(btVector3(10, 0, 0)); - startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.)); - createRigidBody(mass, startTransform, shape[i % nshapes]); - } - } - - virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const - { - return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; - } - - virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() - { - return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; - } - - virtual void renderScene() - { - CommonDeformableBodyBase::renderScene(); - btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); - - for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++) - { - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(deformableWorld->getSoftBodyArray()[i]); - { - btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer()); - btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags()); - } - // for (int p = 0; p < rsb->m_contactNodesList.size(); ++p) - // { - // int index = rsb->m_contactNodesList[p]; - // deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[index].m_x, 0.2, btVector3(0, 1, 0)); - // } - } - } - - virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) - { - return false; - } - virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) - { - return false; - } - virtual void removePickingConstraint(){} -}; - - -void ReducedMotorGrasp::initPhysics() -{ - m_guiHelper->setUpAxis(1); - - m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration(); - - m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); - - m_broadphase = new btDbvtBroadphase(); - btReducedDeformableBodySolver* reducedSoftBodySolver = new btReducedDeformableBodySolver(); - // btVector3 gravity = btVector3(0, 0, 0); - btVector3 gravity = btVector3(0, -9.81, 0); - reducedSoftBodySolver->setGravity(gravity); - - btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver(); - sol->setDeformableSolver(reducedSoftBodySolver); - m_solver = sol; - - m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver); - m_dynamicsWorld->setGravity(gravity); - getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; - // getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.1; - // getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0; - // getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 150; - m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); - m_maxPickingForce = 0.001; - // build a gripper - { - bool damping = true; - bool gyro = false; - bool canSleep = false; - bool selfCollide = true; - int numLinks = 2; - // btVector3 linkHalfExtents(0.02, 0.018, .003); - // btVector3 baseHalfExtents(0.02, 0.002, .002); - btVector3 linkHalfExtents(0.03, 0.04, 0.006); - btVector3 baseHalfExtents(0.02, 0.015, 0.015); - btVector3 basePosition(0, 0.3, 0); - // btMultiBody* mbC = createFeatherstoneMultiBody(getDeformableDynamicsWorld(), btVector3(0.f, 0.05f,0.f), baseHalfExtents, linkHalfExtents, false); - btMultiBody* mbC = createFeatherstoneMultiBody(getDeformableDynamicsWorld(), basePosition, baseHalfExtents, linkHalfExtents, false); - - mbC->setCanSleep(canSleep); - mbC->setHasSelfCollision(selfCollide); - mbC->setUseGyroTerm(gyro); - - for (int i = 0; i < numLinks; i++) - { - int mbLinkIndex = i; - double maxMotorImpulse = 1; - - if (supportsJointMotor(mbC, mbLinkIndex)) - { - int dof = 0; - btScalar desiredVelocity = 0.f; - btMultiBodyJointMotor* motor = new btMultiBodyJointMotor(mbC, mbLinkIndex, dof, desiredVelocity, maxMotorImpulse); - motor->setPositionTarget(0, 0); - motor->setVelocityTarget(0, 1); - mbC->getLink(mbLinkIndex).m_userPtr = motor; - getDeformableDynamicsWorld()->addMultiBodyConstraint(motor); - motor->finalizeMultiDof(); - } - } - - if (!damping) - { - mbC->setLinearDamping(0.0f); - mbC->setAngularDamping(0.0f); - } - else - { - mbC->setLinearDamping(0.04f); - mbC->setAngularDamping(0.04f); - } - btScalar q0 = 0.f * SIMD_PI / 180.f; - if (numLinks > 0) - mbC->setJointPosMultiDof(0, &q0); - addColliders(mbC, getDeformableDynamicsWorld(), baseHalfExtents, linkHalfExtents); - } - - //create a ground - { - btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(10.), btScalar(5.), btScalar(10.))); - groundShape->setMargin(0.001); - m_collisionShapes.push_back(groundShape); - - btTransform groundTransform; - groundTransform.setIdentity(); - groundTransform.setOrigin(btVector3(0, -5.1, 0)); - groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0)); - //We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here: - btScalar mass(0.); - - //rigidbody is dynamic if and only if mass is non zero, otherwise static - bool isDynamic = (mass != 0.f); - - btVector3 localInertia(0, 0, 0); - if (isDynamic) - groundShape->calculateLocalInertia(mass, localInertia); - - //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects - btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform); - btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia); - btRigidBody* body = new btRigidBody(rbInfo); - body->setFriction(0.5); - - //add the ground to the dynamics world - m_dynamicsWorld->addRigidBody(body,1,1+2); - } - - // create volumetric reduced deformable body - { - std::string file_path("../../../data/reduced_cube/"); - std::string vtk_file("cube_mesh.vtk"); - btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedDeformableObject( - getDeformableDynamicsWorld()->getWorldInfo(), - file_path, - vtk_file, - num_modes, - false); - getDeformableDynamicsWorld()->addSoftBody(rsb); - rsb->getCollisionShape()->setMargin(0.001); - - rsb->setStiffnessScale(100); - rsb->setDamping(damping_alpha, damping_beta); - - rsb->scale(btVector3(0.075, 0.075, 0.075)); - rsb->setTotalMass(1); - - btTransform init_transform; - init_transform.setIdentity(); - init_transform.setOrigin(btVector3(0, 0.1, 0)); - // init_transform.setRotation(btQuaternion(SIMD_PI / 2.0, 0, SIMD_PI / 2.0)); - rsb->transform(init_transform); - - // rsb->setRigidVelocity(btVector3(0, 1, 0)); - - 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); - } - - // Ctor_RbUpStack(); - - getDeformableDynamicsWorld()->setImplicit(false); - getDeformableDynamicsWorld()->setLineSearch(false); - getDeformableDynamicsWorld()->setUseProjection(false); - getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2; - getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0.2; - getDeformableDynamicsWorld()->getSolverInfo().m_friction = 1; - getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200); - getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-6; - getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false; - getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 200; - m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); - - { - SliderParams slider("Moving velocity", &sGripperVerticalVelocity); - // slider.m_minVal = -.02; - // slider.m_maxVal = .02; - slider.m_minVal = -.2; - slider.m_maxVal = .2; - m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); - } - - { - SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity); - slider.m_minVal = -1; - slider.m_maxVal = 1; - m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); - } - -} - -void ReducedMotorGrasp::exitPhysics() -{ - //cleanup in the reverse order of creation/initialization - removePickingConstraint(); - //remove the rigidbodies from the dynamics world and delete them - int i; - for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--) - { - btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i]; - btRigidBody* body = btRigidBody::upcast(obj); - if (body && body->getMotionState()) - { - delete body->getMotionState(); - } - m_dynamicsWorld->removeCollisionObject(obj); - delete obj; - } - // delete forces - for (int j = 0; j < m_forces.size(); j++) - { - btDeformableLagrangianForce* force = m_forces[j]; - delete force; - } - m_forces.clear(); - - //delete collision shapes - for (int j = 0; j < m_collisionShapes.size(); j++) - { - btCollisionShape* shape = m_collisionShapes[j]; - delete shape; - } - m_collisionShapes.clear(); - - delete m_dynamicsWorld; - - delete m_solver; - - delete m_broadphase; - - delete m_dispatcher; - - delete m_collisionConfiguration; -} - -btMultiBody* ReducedMotorGrasp::createFeatherstoneMultiBody(btMultiBodyDynamicsWorld* pWorld, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool floating) -{ - //init the base - btVector3 baseInertiaDiag(0.f, 0.f, 0.f); - float baseMass = 55; - float linkMass = 55; - int numLinks = 2; - - if (baseMass) - { - btCollisionShape* pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2])); - pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag); - delete pTempBox; - } - - bool canSleep = false; - btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep); - - btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f); - pMultiBody->setBasePos(basePosition); - pMultiBody->setWorldToBaseRot(baseOriQuat); - - //init the links - btVector3 hingeJointAxis(1, 0, 0); - - btVector3 linkInertiaDiag(0.f, 0.f, 0.f); - - btCollisionShape* pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2])); - pTempBox->calculateLocalInertia(linkMass, linkInertiaDiag); - delete pTempBox; - - //y-axis assumed up - btAlignedObjectArray<btVector3> parentComToCurrentCom; - parentComToCurrentCom.push_back(btVector3(0, -linkHalfExtents[1] * 2.f, -baseHalfExtents[2] * 2.f)); - parentComToCurrentCom.push_back(btVector3(0, -linkHalfExtents[1] * 2.f, +baseHalfExtents[2] * 2.f));//par body's COM to cur body's COM offset - - - btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1]*2.f, 0); //cur body's COM to cur body's PIV offset - - btAlignedObjectArray<btVector3> parentComToCurrentPivot; - parentComToCurrentPivot.push_back(btVector3(parentComToCurrentCom[0] - currentPivotToCurrentCom)); - parentComToCurrentPivot.push_back(btVector3(parentComToCurrentCom[1] - currentPivotToCurrentCom));//par body's COM to cur body's PIV offset - - ////// - btScalar q0 = 0.f * SIMD_PI / 180.f; - btQuaternion quat0(btVector3(0, 1, 0).normalized(), q0); - quat0.normalize(); - ///// - - for (int i = 0; i < numLinks; ++i) - { - pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot[i], currentPivotToCurrentCom, true); - } - pMultiBody->finalizeMultiDof(); - /// - pWorld->addMultiBody(pMultiBody); - /// - return pMultiBody; -} - -void ReducedMotorGrasp::addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents) -{ - btAlignedObjectArray<btQuaternion> world_to_local; - world_to_local.resize(pMultiBody->getNumLinks() + 1); - - btAlignedObjectArray<btVector3> local_origin; - local_origin.resize(pMultiBody->getNumLinks() + 1); - world_to_local[0] = pMultiBody->getWorldToBaseRot(); - local_origin[0] = pMultiBody->getBasePos(); - - { - btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()}; - - if (1) - { - btCollisionShape* box = new btBoxShape(baseHalfExtents); - box->setMargin(0.001); - btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1); - col->setCollisionShape(box); - - btTransform tr; - tr.setIdentity(); - tr.setOrigin(local_origin[0]); - tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3])); - col->setWorldTransform(tr); - - pWorld->addCollisionObject(col, 2, 1 + 2); - - col->setFriction(friction); - pMultiBody->setBaseCollider(col); - } - } - - for (int i = 0; i < pMultiBody->getNumLinks(); ++i) - { - const int parent = pMultiBody->getParent(i); - world_to_local[i + 1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent + 1]; - local_origin[i + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[i + 1].inverse(), pMultiBody->getRVector(i))); - } - - for (int i = 0; i < pMultiBody->getNumLinks(); ++i) - { - btVector3 posr = local_origin[i + 1]; - - btScalar quat[4] = {-world_to_local[i + 1].x(), -world_to_local[i + 1].y(), -world_to_local[i + 1].z(), world_to_local[i + 1].w()}; - - btCollisionShape* box = new btBoxShape(linkHalfExtents); - box->setMargin(0.001); - btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i); - - col->setCollisionShape(box); - btTransform tr; - tr.setIdentity(); - tr.setOrigin(posr); - tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3])); - col->setWorldTransform(tr); - col->setFriction(friction); - pWorld->addCollisionObject(col, 2, 1 + 2); - - pMultiBody->getLink(i).m_collider = col; - } -} - -class CommonExampleInterface* ReducedMotorGraspCreateFunc(struct CommonExampleOptions& options) -{ - return new ReducedMotorGrasp(options.m_guiHelper); -} - - diff --git a/examples/ReducedDeformableDemo/ReducedMotorGrasp.h b/examples/ReducedDeformableDemo/ReducedMotorGrasp.h deleted file mode 100644 index 52883ecf1..000000000 --- a/examples/ReducedDeformableDemo/ReducedMotorGrasp.h +++ /dev/null @@ -1,19 +0,0 @@ -/* - Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2019 Google Inc. http://bulletphysics.org - This software is provided 'as-is', without any express or implied warranty. - In no event will the authors be held liable for any damages arising from the use of this software. - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it freely, - subject to the following restrictions: - 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. - 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. - */ - -#ifndef _REDUCED_MOTOR_GRASP -#define _REDUCED_MOTOR_GRASP - -class CommonExampleInterface* ReducedMotorGraspCreateFunc(struct CommonExampleOptions& options); - -#endif //_REDUCED_MOTOR_GRASP diff --git a/examples/ReducedDeformableDemo/Springboard.cpp b/examples/ReducedDeformableDemo/Springboard.cpp deleted file mode 100644 index 58641365e..000000000 --- a/examples/ReducedDeformableDemo/Springboard.cpp +++ /dev/null @@ -1,264 +0,0 @@ -/* - Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2019 Google Inc. http://bulletphysics.org - This software is provided 'as-is', without any express or implied warranty. - In no event will the authors be held liable for any damages arising from the use of this software. - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it freely, - subject to the following restrictions: - 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. - 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. - */ - -#include "Springboard.h" -///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. -#include "btBulletDynamicsCommon.h" -#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h" -#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h" -#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" -#include "../CommonInterfaces/CommonParameterInterface.h" -#include <stdio.h> //printf debugging - -#include "../CommonInterfaces/CommonDeformableBodyBase.h" -#include "../Utils/b3ResourcePath.h" - -static btScalar damping_alpha = 0.0; -static btScalar damping_beta = 0.0001; -static int num_modes = 20; - -class Springboard : public CommonDeformableBodyBase -{ - btScalar sim_time; - bool first_step; - -public: - Springboard(struct GUIHelperInterface* helper) - : CommonDeformableBodyBase(helper) - { - sim_time = 0; - first_step = true; - } - virtual ~Springboard() - { - } - void initPhysics(); - - void exitPhysics(); - - // TODO: disable pick force, non-interactive for now. - bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) { - return false; - } - - void resetCamera() - { - float dist = 10; - float pitch = 0; - float yaw = 90; - float targetPos[3] = {0, 3, 0}; - m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]); - } - - void Ctor_RbUpStack() - { - float mass = 2; - btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 1)); - btTransform startTransform; - startTransform.setIdentity(); - startTransform.setOrigin(btVector3(0,8,1)); - btRigidBody* rb1 = createRigidBody(mass, startTransform, shape); - rb1->setActivationState(DISABLE_DEACTIVATION); - } - - void stepSimulation(float deltaTime) - { - float internalTimeStep = 1. / 60.f; - m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep); - - { - sim_time += internalTimeStep; - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(getDeformableDynamicsWorld()->getSoftBodyArray()[0]); - - // std::ofstream myfile("fixed_node.txt", std::ios_base::app); - // myfile << sim_time << "\t" << rsb->m_nodes[0].m_x[0] - rsb->m_x0[0][0] << "\t" - // << rsb->m_nodes[0].m_x[1] - rsb->m_x0[0][1] << "\t" - // << rsb->m_nodes[0].m_x[2] - rsb->m_x0[0][2] << "\n"; - // myfile.close(); - } - } - - virtual void renderScene() - { - CommonDeformableBodyBase::renderScene(); - btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); - - for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++) - { - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(deformableWorld->getSoftBodyArray()[i]); - { - btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer()); - btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); - - for (int p = 0; p < rsb->m_fixedNodes.size(); ++p) - { - deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_fixedNodes[p]].m_x, 0.2, btVector3(1, 0, 0)); - // std::cout << rsb->m_nodes[rsb->m_fixedNodes[p]].m_x[0] << "\t" << rsb->m_nodes[rsb->m_fixedNodes[p]].m_x[1] << "\t" << rsb->m_nodes[rsb->m_fixedNodes[p]].m_x[2] << "\n"; - } - // deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 0, 0), 0.1, btVector3(1, 1, 1)); - // deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 2, 0), 0.1, btVector3(1, 1, 1)); - // deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 4, 0), 0.1, btVector3(1, 1, 1)); - } - } - } -}; - -void Springboard::initPhysics() -{ - m_guiHelper->setUpAxis(1); - - ///collision configuration contains default setup for memory, collision setup - m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration(); - - ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) - m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); - - m_broadphase = new btDbvtBroadphase(); - btReducedDeformableBodySolver* reducedSoftBodySolver = new btReducedDeformableBodySolver(); - btVector3 gravity = btVector3(0, -10, 0); - reducedSoftBodySolver->setGravity(gravity); - - btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver(); - sol->setDeformableSolver(reducedSoftBodySolver); - m_solver = sol; - - m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver); - m_dynamicsWorld->setGravity(gravity); - m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); - - // create volumetric reduced deformable body - { - std::string file_path("../../../data/reduced_beam/"); - std::string vtk_file("beam_mesh_origin.vtk"); - btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedDeformableObject( - getDeformableDynamicsWorld()->getWorldInfo(), - file_path, - vtk_file, - num_modes, - false); - - getDeformableDynamicsWorld()->addSoftBody(rsb); - rsb->getCollisionShape()->setMargin(0.1); - - btTransform init_transform; - init_transform.setIdentity(); - init_transform.setOrigin(btVector3(0, 4, 0)); - // init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0)); - rsb->transform(init_transform); - - rsb->setStiffnessScale(200); - rsb->setDamping(damping_alpha, damping_beta); - - // set fixed nodes - rsb->setFixedNodes(0); - rsb->setFixedNodes(1); - rsb->setFixedNodes(2); - rsb->setFixedNodes(3); - - 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); - - // rsb->setVelocity(btVector3(0, -COLLIDING_VELOCITY, 0)); - // rsb->setRigidVelocity(btVector3(0, 1, 0)); - // rsb->setRigidAngularVelocity(btVector3(1, 0, 0)); - } - getDeformableDynamicsWorld()->setImplicit(false); - getDeformableDynamicsWorld()->setLineSearch(false); - getDeformableDynamicsWorld()->setUseProjection(false); - getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.3; - getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0.2; - getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200); - getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3; - getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false; - getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100; - // add a few rigid bodies - Ctor_RbUpStack(); - - // create a static rigid box as the ground - { - // btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50))); - btBoxShape* groundShape = createBoxShape(btVector3(btScalar(10), btScalar(2), btScalar(10))); - m_collisionShapes.push_back(groundShape); - - btTransform groundTransform; - groundTransform.setIdentity(); - groundTransform.setOrigin(btVector3(0, 0, 0)); - { - btScalar mass(0.); - createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0)); - } - } - - m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); -} - -void Springboard::exitPhysics() -{ - //cleanup in the reverse order of creation/initialization - removePickingConstraint(); - //remove the rigidbodies from the dynamics world and delete them - int i; - for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--) - { - btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i]; - btRigidBody* body = btRigidBody::upcast(obj); - if (body && body->getMotionState()) - { - delete body->getMotionState(); - } - m_dynamicsWorld->removeCollisionObject(obj); - delete obj; - } - // delete forces - for (int j = 0; j < m_forces.size(); j++) - { - btDeformableLagrangianForce* force = m_forces[j]; - delete force; - } - m_forces.clear(); - - //delete collision shapes - for (int j = 0; j < m_collisionShapes.size(); j++) - { - btCollisionShape* shape = m_collisionShapes[j]; - delete shape; - } - m_collisionShapes.clear(); - - delete m_dynamicsWorld; - - delete m_solver; - - delete m_broadphase; - - delete m_dispatcher; - - delete m_collisionConfiguration; -} - - - -class CommonExampleInterface* ReducedSpringboardCreateFunc(struct CommonExampleOptions& options) -{ - return new Springboard(options.m_guiHelper); -} - - diff --git a/examples/ReducedDeformableDemo/Springboard.h b/examples/ReducedDeformableDemo/Springboard.h deleted file mode 100644 index 2636d5623..000000000 --- a/examples/ReducedDeformableDemo/Springboard.h +++ /dev/null @@ -1,19 +0,0 @@ -/* - Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2019 Google Inc. http://bulletphysics.org - This software is provided 'as-is', without any express or implied warranty. - In no event will the authors be held liable for any damages arising from the use of this software. - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it freely, - subject to the following restrictions: - 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. - 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. - */ - -#ifndef _REDUCED_SPRINGBOARD_H -#define _REDUCED_SPRINGBOARD_H - -class CommonExampleInterface* ReducedSpringboardCreateFunc(struct CommonExampleOptions& options); - -#endif //_REDUCED_SPRINGBOARD_H diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index a7cf6d560..bcd132a79 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -120,10 +120,6 @@ #include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" #include "BulletSoftBody/btDeformableBodySolver.h" #include "BulletSoftBody/btDeformableMultiBodyConstraintSolver.h" - -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h" -#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h" #endif //SKIP_DEFORMABLE_BODY #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h" @@ -1669,7 +1665,6 @@ struct PhysicsServerCommandProcessorInternalData btDeformableMousePickingForce* m_mouseForce; btScalar m_maxPickingForce; btDeformableBodySolver* m_deformablebodySolver; - btReducedDeformableBodySolver* m_reducedSoftBodySolver; btAlignedObjectArray<btDeformableLagrangianForce*> m_lf; #endif @@ -2726,26 +2721,16 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld(int flags) m_data->m_broadphase = bv; } -#ifndef SKIP_DEFORMABLE_BODY if (flags & RESET_USE_DEFORMABLE_WORLD) { - // deformable +#ifndef SKIP_DEFORMABLE_BODY m_data->m_deformablebodySolver = new btDeformableBodySolver(); btDeformableMultiBodyConstraintSolver* solver = new btDeformableMultiBodyConstraintSolver; m_data->m_solver = solver; solver->setDeformableSolver(m_data->m_deformablebodySolver); m_data->m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, solver, m_data->m_collisionConfiguration, m_data->m_deformablebodySolver); - } - else if (flags & RESET_USE_REDUCED_DEFORMABLE_WORLD) - { - // reduced deformable - m_data->m_reducedSoftBodySolver = new btReducedDeformableBodySolver(); - btDeformableMultiBodyConstraintSolver* solver = new btDeformableMultiBodyConstraintSolver; - m_data->m_solver = solver; - solver->setDeformableSolver(m_data->m_reducedSoftBodySolver); - m_data->m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, solver, m_data->m_collisionConfiguration, m_data->m_reducedSoftBodySolver); - } #endif + } @@ -2792,14 +2777,7 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld(int flags) m_data->m_dynamicsWorld->getSolverInfo().m_frictionERP = 0.2; //need to check if there are artifacts with frictionERP m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.00001; m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = 50; - if (flags & RESET_USE_REDUCED_DEFORMABLE_WORLD) - { - m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 128; - } - else - { - m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 0; - } + m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 0; m_data->m_dynamicsWorld->getSolverInfo().m_warmstartingFactor = 0.1; gDbvtMargin = btScalar(0); m_data->m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold = 1e-7; @@ -3673,11 +3651,6 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto return false; } } - if (!(u2b.getReducedDeformableModel().m_visualFileName.empty())) - { - bool use_self_collision = false; - return processReducedDeformable(u2b.getReducedDeformableModel(), pos, orn, bodyUniqueIdPtr, bufferServerToClient, bufferSizeInBytes, globalScaling, use_self_collision); - } bool ok = processImportedObjects(fileName, bufferServerToClient, bufferSizeInBytes, useMultiBody, flags, u2b); if (ok) { @@ -9439,10 +9412,6 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo psb->setGravityFactor(deformable.m_gravFactor); psb->setCacheBarycenter(deformable.m_cache_barycenter); psb->initializeFaceTree(); - - deformWorld->setImplicit(true); - deformWorld->setLineSearch(false); - deformWorld->setUseProjection(true); } #endif //SKIP_DEFORMABLE_BODY #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD @@ -9704,447 +9673,6 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo return true; } -bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDeformable& reduced_deformable, const btVector3& pos, const btQuaternion& orn, int* bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes, btScalar scale, bool useSelfCollision) -{ -#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD - btReducedDeformableBody* rsb = NULL; - CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface()); - char relativeFileName[1024]; - char pathPrefix[1024]; - pathPrefix[0] = 0; - if (fileIO->findResourcePath(reduced_deformable.m_visualFileName.c_str(), relativeFileName, 1024)) - { - b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024); - } - const std::string& error_message_prefix = ""; - std::string out_found_filename, out_found_sim_filename; - int out_type(0), out_sim_type(0); - - bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type); - if (!reduced_deformable.m_simFileName.empty()) - { - bool foundSimMesh = UrdfFindMeshFile(fileIO, pathPrefix, reduced_deformable.m_simFileName, error_message_prefix, &out_found_sim_filename, &out_sim_type); - } - else - { - out_sim_type = out_type; - out_found_sim_filename = out_found_filename; - } - - if (out_sim_type == UrdfGeometry::FILE_OBJ) - { - printf("Obj file is currently unsupported\n"); - return false; - } - else if (out_sim_type == UrdfGeometry::FILE_VTK) - { -#ifndef SKIP_DEFORMABLE_BODY - btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); - if (deformWorld) - { - rsb = btReducedDeformableBodyHelpers::createFromVtkFile(deformWorld->getWorldInfo(), out_found_sim_filename.c_str()); - if (!rsb) - { - printf("Load reduced deformable failed\n"); - return false; - } - - // load modes, reduced stiffness matrix - rsb->setReducedModes(reduced_deformable.m_numModes, rsb->m_nodes.size()); - rsb->setStiffnessScale(reduced_deformable.m_stiffnessScale); - rsb->setDamping(0, reduced_deformable.m_damping); // damping alpha is set to 0 by default - btReducedDeformableBodyHelpers::readReducedDeformableInfoFromFiles(rsb, pathPrefix); - // set total mass - rsb->setTotalMass(reduced_deformable.m_mass); - } -#endif - } - b3ImportMeshData meshData; - - if (rsb != NULL) - { -#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD - // load render mesh - if ((out_found_sim_filename != out_found_filename) || ((out_sim_type == UrdfGeometry::FILE_OBJ))) - { - // load render mesh - if (!m_data->m_useAlternativeDeformableIndexing) - { - - float rgbaColor[4] = { 1,1,1,1 }; - - if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal( - out_found_filename.c_str(), meshData, fileIO)) - { - - for (int v = 0; v < meshData.m_gfxShape->m_numvertices; v++) - { - btSoftBody::RenderNode n; - n.m_x.setValue( - meshData.m_gfxShape->m_vertices->at(v).xyzw[0], - meshData.m_gfxShape->m_vertices->at(v).xyzw[1], - meshData.m_gfxShape->m_vertices->at(v).xyzw[2]); - n.m_uv1.setValue(meshData.m_gfxShape->m_vertices->at(v).uv[0], - meshData.m_gfxShape->m_vertices->at(v).uv[1], - 0.); - n.m_normal.setValue(meshData.m_gfxShape->m_vertices->at(v).normal[0], - meshData.m_gfxShape->m_vertices->at(v).normal[1], - meshData.m_gfxShape->m_vertices->at(v).normal[2]); - rsb->m_renderNodes.push_back(n); - } - for (int f = 0; f < meshData.m_gfxShape->m_numIndices; f += 3) - { - btSoftBody::RenderFace ff; - ff.m_n[0] = &rsb->m_renderNodes[meshData.m_gfxShape->m_indices->at(f + 0)]; - ff.m_n[1] = &rsb->m_renderNodes[meshData.m_gfxShape->m_indices->at(f + 1)]; - ff.m_n[2] = &rsb->m_renderNodes[meshData.m_gfxShape->m_indices->at(f + 2)]; - rsb->m_renderFaces.push_back(ff); - } - } - } - else - { - bt_tinyobj::attrib_t attribute; - std::vector<bt_tinyobj::shape_t> shapes; - - std::string err = bt_tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), pathPrefix, m_data->m_pluginManager.getFileIOInterface()); - - for (int s = 0; s < (int)shapes.size(); s++) - { - bt_tinyobj::shape_t& shape = shapes[s]; - int faceCount = shape.mesh.indices.size(); - int vertexCount = attribute.vertices.size() / 3; - for (int v = 0; v < vertexCount; v++) - { - btSoftBody::RenderNode n; - n.m_x = btVector3(attribute.vertices[3 * v], attribute.vertices[3 * v + 1], attribute.vertices[3 * v + 2]); - rsb->m_renderNodes.push_back(n); - } - for (int f = 0; f < faceCount; f += 3) - { - if (f < 0 && f >= int(shape.mesh.indices.size())) - { - continue; - } - bt_tinyobj::index_t v_0 = shape.mesh.indices[f]; - bt_tinyobj::index_t v_1 = shape.mesh.indices[f + 1]; - bt_tinyobj::index_t v_2 = shape.mesh.indices[f + 2]; - btSoftBody::RenderFace ff; - ff.m_n[0] = &rsb->m_renderNodes[v_0.vertex_index]; - ff.m_n[1] = &rsb->m_renderNodes[v_1.vertex_index]; - ff.m_n[2] = &rsb->m_renderNodes[v_2.vertex_index]; - rsb->m_renderFaces.push_back(ff); - } - } - } - if (out_sim_type == UrdfGeometry::FILE_VTK) - { - btSoftBodyHelpers::interpolateBarycentricWeights(rsb); - } - else if (out_sim_type == UrdfGeometry::FILE_OBJ) - { - btSoftBodyHelpers::extrapolateBarycentricWeights(rsb); - } - } - else - { - rsb->m_renderNodes.resize(0); - } -#endif -#ifndef SKIP_DEFORMABLE_BODY - btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); - if (deformWorld) - { - btScalar collision_hardness = 1; - rsb->m_cfg.kKHR = collision_hardness; - rsb->m_cfg.kCHR = collision_hardness; - - rsb->m_cfg.kDF = reduced_deformable.m_friction; - btSoftBody::Material* pm = rsb->appendMaterial(); - pm->m_flags -= btSoftBody::fMaterial::DebugDraw; - - // turn on the collision flag for deformable - // collision between deformable and rigid - rsb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; - /// turn on node contact for rigid body - rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN; - // turn on face contact for multibodies - // rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_MDF; - // collion between deformable and deformable and self-collision - // rsb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; - rsb->setCollisionFlags(0); - rsb->setSelfCollision(useSelfCollision); - rsb->initializeFaceTree(); - } -#endif //SKIP_DEFORMABLE_BODY -// #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD -// btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld(); -// if (softWorld) -// { -// btSoftBody::Material* pm = rsb->appendMaterial(); -// pm->m_kLST = 0.5; -// pm->m_flags -= btSoftBody::fMaterial::DebugDraw; -// rsb->generateBendingConstraints(2, pm); -// rsb->m_cfg.piterations = 20; -// rsb->m_cfg.kDF = 0.5; -// //turn on softbody vs softbody collision -// rsb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS; -// rsb->randomizeConstraints(); -// rsb->setTotalMass(reduced_deformable.m_mass, true); -// } -// #endif //SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD - rsb->scale(btVector3(scale, scale, scale)); - btTransform init_transform; - init_transform.setOrigin(pos); - init_transform.setRotation(orn); - rsb->transform(init_transform); - - rsb->getCollisionShape()->setMargin(reduced_deformable.m_collisionMargin); - rsb->getCollisionShape()->setUserPointer(rsb); -#ifndef SKIP_DEFORMABLE_BODY - if (deformWorld) - { - deformWorld->addSoftBody(rsb); - deformWorld->getSolverInfo().m_deformable_erp = reduced_deformable.m_erp; - deformWorld->getSolverInfo().m_deformable_cfm = reduced_deformable.m_cfm; - deformWorld->getSolverInfo().m_friction = reduced_deformable.m_friction; - deformWorld->getSolverInfo().m_splitImpulse = false; - deformWorld->setImplicit(false); - deformWorld->setLineSearch(false); - deformWorld->setUseProjection(false); - } - else -#endif //SKIP_DEFORMABLE_BODY - { - btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld(); - if (softWorld) - { - softWorld->addSoftBody(rsb); - } - } - - *bodyUniqueId = m_data->m_bodyHandles.allocHandle(); - InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(*bodyUniqueId); - bodyHandle->m_softBody = rsb; - rsb->setUserIndex2(*bodyUniqueId); - - b3VisualShapeData visualShape; - - visualShape.m_objectUniqueId = *bodyUniqueId; - visualShape.m_linkIndex = -1; - visualShape.m_visualGeometryType = URDF_GEOM_MESH; - //dimensions just contains the scale - visualShape.m_dimensions[0] = 1; - visualShape.m_dimensions[1] = 1; - visualShape.m_dimensions[2] = 1; - //filename - strncpy(visualShape.m_meshAssetFileName, relativeFileName, VISUAL_SHAPE_MAX_PATH_LEN); - visualShape.m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN - 1] = 0; - //position and orientation - visualShape.m_localVisualFrame[0] = 0; - visualShape.m_localVisualFrame[1] = 0; - visualShape.m_localVisualFrame[2] = 0; - visualShape.m_localVisualFrame[3] = 0; - visualShape.m_localVisualFrame[4] = 0; - visualShape.m_localVisualFrame[5] = 0; - visualShape.m_localVisualFrame[6] = 1; - //color and ids to be set by the renderer - visualShape.m_rgbaColor[0] = 1; - visualShape.m_rgbaColor[1] = 1; - visualShape.m_rgbaColor[2] = 1; - visualShape.m_rgbaColor[3] = 1; - visualShape.m_tinyRendererTextureId = -1; - visualShape.m_textureUniqueId = -1; - visualShape.m_openglTextureId = -1; - - if (meshData.m_gfxShape) - { - int texUid1 = -1; - if (meshData.m_textureHeight > 0 && meshData.m_textureWidth > 0 && meshData.m_textureImage1) - { - texUid1 = m_data->m_guiHelper->registerTexture(meshData.m_textureImage1, meshData.m_textureWidth, meshData.m_textureHeight); - } - visualShape.m_openglTextureId = texUid1; - int shapeUid1 = m_data->m_guiHelper->registerGraphicsShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0], meshData.m_gfxShape->m_numvertices, &meshData.m_gfxShape->m_indices->at(0), meshData.m_gfxShape->m_numIndices, B3_GL_TRIANGLES, texUid1); - rsb->getCollisionShape()->setUserIndex(shapeUid1); - float position[4] = { 0,0,0,1 }; - float orientation[4] = { 0,0,0,1 }; - float color[4] = { 1,1,1,1 }; - float scaling[4] = { 1,1,1,1 }; - int instanceUid = m_data->m_guiHelper->registerGraphicsInstance(shapeUid1, position, orientation, color, scaling); - rsb->setUserIndex(instanceUid); - - if (m_data->m_enableTinyRenderer) - { - int texUid2 = m_data->m_pluginManager.getRenderInterface()->registerTexture(meshData.m_textureImage1, meshData.m_textureWidth, meshData.m_textureHeight); - visualShape.m_tinyRendererTextureId = texUid2; - int linkIndex = -1; - int softBodyGraphicsShapeUid = m_data->m_pluginManager.getRenderInterface()->registerShapeAndInstance( - visualShape, - &meshData.m_gfxShape->m_vertices->at(0).xyzw[0], - meshData.m_gfxShape->m_numvertices, - &meshData.m_gfxShape->m_indices->at(0), - meshData.m_gfxShape->m_numIndices, - B3_GL_TRIANGLES, - texUid2, - rsb->getBroadphaseHandle()->getUid(), - *bodyUniqueId, - linkIndex); - - rsb->setUserIndex3(softBodyGraphicsShapeUid); - } - delete meshData.m_gfxShape; - meshData.m_gfxShape = 0; - } - else - { - //m_data->m_guiHelper->createCollisionShapeGraphicsObject(psb->getCollisionShape()); - - btAlignedObjectArray<GLInstanceVertex> gfxVertices; - btAlignedObjectArray<int> indices; - int strideInBytes = 9 * sizeof(float); - gfxVertices.resize(rsb->m_faces.size() * 3); - for (int i = 0; i < rsb->m_faces.size(); i++) // Foreach face - { - for (int k = 0; k < 3; k++) // Foreach vertex on a face - { - int currentIndex = i * 3 + k; - for (int j = 0; j < 3; j++) - { - gfxVertices[currentIndex].xyzw[j] = rsb->m_faces[i].m_n[k]->m_x[j]; - } - for (int j = 0; j < 3; j++) - { - gfxVertices[currentIndex].normal[j] = rsb->m_faces[i].m_n[k]->m_n[j]; - } - for (int j = 0; j < 2; j++) - { - gfxVertices[currentIndex].uv[j] = btFabs(btFabs(10. * rsb->m_faces[i].m_n[k]->m_x[j])); - } - indices.push_back(currentIndex); - } - } - if (gfxVertices.size() && indices.size()) - { - int red = 173; - int green = 199; - int blue = 255; - - int texWidth = 256; - int texHeight = 256; - btAlignedObjectArray<unsigned char> texels; - texels.resize(texWidth* texHeight * 3); - for (int i = 0; i < texWidth * texHeight * 3; i++) - texels[i] = 255; - for (int i = 0; i < texWidth; i++) - { - for (int j = 0; j < texHeight; j++) - { - int a = i < texWidth / 2 ? 1 : 0; - int b = j < texWidth / 2 ? 1 : 0; - - if (a == b) - { - texels[(i + j * texWidth) * 3 + 0] = red; - texels[(i + j * texWidth) * 3 + 1] = green; - texels[(i + j * texWidth) * 3 + 2] = blue; - } - } - } - - int texId = m_data->m_guiHelper->registerTexture(&texels[0], texWidth, texHeight); - visualShape.m_openglTextureId = texId; - int shapeId = m_data->m_guiHelper->registerGraphicsShape(&gfxVertices[0].xyzw[0], gfxVertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES, texId); - b3Assert(shapeId >= 0); - rsb->getCollisionShape()->setUserIndex(shapeId); - if (m_data->m_enableTinyRenderer) - { - - int texUid2 = m_data->m_pluginManager.getRenderInterface()->registerTexture(&texels[0], texWidth, texHeight); - visualShape.m_tinyRendererTextureId = texUid2; - int linkIndex = -1; - int softBodyGraphicsShapeUid = m_data->m_pluginManager.getRenderInterface()->registerShapeAndInstance( - visualShape, - &gfxVertices[0].xyzw[0], gfxVertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES, texUid2, - rsb->getBroadphaseHandle()->getUid(), - *bodyUniqueId, - linkIndex); - rsb->setUserIndex3(softBodyGraphicsShapeUid); - } - } - } - - - - btAlignedObjectArray<btVector3> vertices; - btAlignedObjectArray<btVector3> normals; - if (rsb->m_renderNodes.size() == 0) - { - rsb->m_renderNodes.resize(rsb->m_faces.size()*3); - vertices.resize(rsb->m_faces.size() * 3); - normals.resize(rsb->m_faces.size() * 3); - - for (int i = 0; i < rsb->m_faces.size(); i++) // Foreach face - { - - for (int k = 0; k < 3; k++) // Foreach vertex on a face - { - int currentIndex = i * 3 + k; - for (int j = 0; j < 3; j++) - { - rsb->m_renderNodes[currentIndex].m_x[j] = rsb->m_faces[i].m_n[k]->m_x[j]; - } - for (int j = 0; j < 3; j++) - { - rsb->m_renderNodes[currentIndex].m_normal[j] = rsb->m_faces[i].m_n[k]->m_n[j]; - } - for (int j = 0; j < 2; j++) - { - rsb->m_renderNodes[currentIndex].m_uv1[j] = btFabs(10*rsb->m_faces[i].m_n[k]->m_x[j]); - } - rsb->m_renderNodes[currentIndex].m_uv1[2] = 0; - vertices[currentIndex] = rsb->m_faces[i].m_n[k]->m_x; - normals[currentIndex] = rsb->m_faces[i].m_n[k]->m_n; - } - } - btSoftBodyHelpers::extrapolateBarycentricWeights(rsb); - } - else - { - vertices.resize(rsb->m_renderNodes.size()); - normals.resize(rsb->m_renderNodes.size()); - for (int i = 0; i < rsb->m_renderNodes.size(); i++) // Foreach face - { - vertices[i] = rsb->m_renderNodes[i].m_x; - normals[i] = rsb->m_renderNodes[i].m_normal; - } - } - m_data->m_pluginManager.getRenderInterface()->updateShape(rsb->getUserIndex3(), &vertices[0], vertices.size(), &normals[0], normals.size()); - - if (!reduced_deformable.m_name.empty()) - { - bodyHandle->m_bodyName = reduced_deformable.m_name; - } - else - { - int pos = strlen(relativeFileName) - 1; - while (pos >= 0 && relativeFileName[pos] != '/') - { - pos--; - } - btAssert(strlen(relativeFileName) - pos - 5 > 0); - std::string object_name(std::string(relativeFileName).substr(pos + 1, strlen(relativeFileName) - 5 - pos)); - bodyHandle->m_bodyName = object_name; - } - b3Notification notification; - notification.m_notificationType = BODY_ADDED; - notification.m_bodyArgs.m_bodyUniqueId = *bodyUniqueId; - m_data->m_pluginManager.addNotification(notification); - } -#endif - return true; -} - bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) { serverStatusOut.m_type = CMD_LOAD_SOFT_BODY_FAILED; @@ -11378,8 +10906,7 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); if (deformWorld) { - // deformWorld->getWorldInfo().m_gravity = grav; - deformWorld->setGravity(grav); + deformWorld->getWorldInfo().m_gravity = grav; for (int i = 0; i < m_data->m_lf.size(); ++i) { btDeformableLagrangianForce* force = m_data->m_lf[i]; diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.h b/examples/SharedMemory/PhysicsServerCommandProcessor.h index fb23a1bb9..2a2722132 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.h +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.h @@ -110,7 +110,6 @@ protected: bool processImportedObjects(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags, class URDFImporterInterface& u2b); bool processDeformable(const UrdfDeformable& deformable, const btVector3& pos, const btQuaternion& orn, int* bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes, btScalar scale, bool useSelfCollision); - bool processReducedDeformable(const UrdfReducedDeformable& deformable, const btVector3& pos, const btQuaternion& orn, int* bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes, btScalar scale, bool useSelfCollision); bool supportsJointMotor(class btMultiBody* body, int linkIndex); diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index 7541ddb5a..6085f4a0f 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -617,7 +617,6 @@ enum b3ResetSimulationFlags RESET_USE_DEFORMABLE_WORLD=1, RESET_USE_DISCRETE_DYNAMICS_WORLD=2, RESET_USE_SIMPLE_BROADPHASE=4, - RESET_USE_REDUCED_DEFORMABLE_WORLD=8, }; struct b3BodyNotificationArgs diff --git a/examples/pybullet/examples/reduced_deformable_cube.py b/examples/pybullet/examples/reduced_deformable_cube.py deleted file mode 100644 index cab91cfdb..000000000 --- a/examples/pybullet/examples/reduced_deformable_cube.py +++ /dev/null @@ -1,27 +0,0 @@ -import pybullet as p -from time import sleep -import pybullet_data - -physicsClient = p.connect(p.GUI) - -p.setAdditionalSearchPath(pybullet_data.getDataPath()) - -p.resetSimulation(p.RESET_USE_REDUCED_DEFORMABLE_WORLD) -p.resetDebugVisualizerCamera(4,-40,-30,[0, 0, 0]) -p.setGravity(0, 0, -10) - -tex = p.loadTexture("uvmap.png") -planeId = p.loadURDF("plane.urdf", [0,0,-2]) - -boxId = p.loadURDF("cube.urdf", [1,1,5],useMaximalCoordinates = True) - -#p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "reduced_cube.mp4") -cube = p.loadURDF("reduced_cube/reduced_cube.urdf", [1,1,1]) -p.changeVisualShape(cube, -1, rgbaColor=[1,1,1,1], textureUniqueId=tex, flags=0) -p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25) -p.setRealTimeSimulation(0) - -while p.isConnected(): - p.stepSimulation() - p.getCameraImage(320,200) - p.setGravity(0,0,-10) diff --git a/examples/pybullet/examples/reduced_deformable_torus.py b/examples/pybullet/examples/reduced_deformable_torus.py deleted file mode 100644 index 8f42e0372..000000000 --- a/examples/pybullet/examples/reduced_deformable_torus.py +++ /dev/null @@ -1,32 +0,0 @@ -import pybullet as p -from time import sleep -import pybullet_data - -physicsClient = p.connect(p.GUI) - -p.setAdditionalSearchPath(pybullet_data.getDataPath()) - -p.resetSimulation(p.RESET_USE_REDUCED_DEFORMABLE_WORLD) -p.resetDebugVisualizerCamera(4,-40,-30,[0, 0, 0]) -p.setGravity(0, 0, -10) - -tex = p.loadTexture("uvmap.png") -planeId = p.loadURDF("plane.urdf", [0,0,-2]) - -box1 = p.loadURDF("cube.urdf", [1,1,3],useMaximalCoordinates = True) -box2 = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True) - -# p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "reduced_torus.mp4") -reduced_obj1= p.loadURDF("reduced_torus/reduced_torus.urdf", [1,1,1]) -p.changeVisualShape(reduced_obj1, -1, rgbaColor=[1,1,1,1], textureUniqueId=tex, flags=0) - -reduced_obj2 = p.loadURDF("reduced_torus/reduced_torus.urdf", [1,2,1]) -p.changeVisualShape(reduced_obj2, -1, rgbaColor=[1,1,1,1], textureUniqueId=tex, flags=0) - -p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25) -p.setRealTimeSimulation(0) - -while p.isConnected(): - p.stepSimulation() - p.getCameraImage(320,200) - p.setGravity(0,0,-10) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index f78f464f9..db7246b5e 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -13253,7 +13253,6 @@ initpybullet(void) //PyModule_AddIntConstant(m, "CONSTRAINT_SOLVER_LCP_BLOCK",eConstraintSolverLCP_BLOCK_PGS); PyModule_AddIntConstant(m, "RESET_USE_DEFORMABLE_WORLD", RESET_USE_DEFORMABLE_WORLD); - PyModule_AddIntConstant(m, "RESET_USE_REDUCED_DEFORMABLE_WORLD", RESET_USE_REDUCED_DEFORMABLE_WORLD); PyModule_AddIntConstant(m, "RESET_USE_DISCRETE_DYNAMICS_WORLD", RESET_USE_DISCRETE_DYNAMICS_WORLD); PyModule_AddIntConstant(m, "RESET_USE_SIMPLE_BROADPHASE", RESET_USE_SIMPLE_BROADPHASE); diff --git a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.cpp b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.cpp deleted file mode 100644 index feb30d587..000000000 --- a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.cpp +++ /dev/null @@ -1,792 +0,0 @@ -#include "btReducedDeformableBody.h" -#include "../btSoftBodyInternals.h" -#include "btReducedDeformableBodyHelpers.h" -#include "LinearMath/btTransformUtil.h" -#include <iostream> -#include <fstream> - -btReducedDeformableBody::btReducedDeformableBody(btSoftBodyWorldInfo* worldInfo, int node_count, const btVector3* x, const btScalar* m) - : btSoftBody(worldInfo, node_count, x, m), m_rigidOnly(false) -{ - // reduced deformable - m_reducedModel = true; - m_nReduced = 0; - m_nFull = 0; - m_nodeIndexOffset = 0; - - m_transform_lock = false; - m_ksScale = 1.0; - m_rhoScale = 1.0; - - // rigid motion - m_linearVelocity.setZero(); - m_angularVelocity.setZero(); - m_internalDeltaLinearVelocity.setZero(); - m_internalDeltaAngularVelocity.setZero(); - m_angularVelocityFromReduced.setZero(); - m_internalDeltaAngularVelocityFromReduced.setZero(); - m_angularFactor.setValue(1, 1, 1); - m_linearFactor.setValue(1, 1, 1); - // m_invInertiaLocal.setValue(1, 1, 1); - m_invInertiaLocal.setIdentity(); - m_mass = 0.0; - m_inverseMass = 0.0; - - m_linearDamping = 0; - m_angularDamping = 0; - - // Rayleigh damping - m_dampingAlpha = 0; - m_dampingBeta = 0; - - m_rigidTransformWorld.setIdentity(); -} - -void btReducedDeformableBody::setReducedModes(int num_modes, int full_size) -{ - m_nReduced = num_modes; - m_nFull = full_size; - m_reducedDofs.resize(m_nReduced, 0); - m_reducedDofsBuffer.resize(m_nReduced, 0); - m_reducedVelocity.resize(m_nReduced, 0); - m_reducedVelocityBuffer.resize(m_nReduced, 0); - m_reducedForceElastic.resize(m_nReduced, 0); - m_reducedForceDamping.resize(m_nReduced, 0); - m_reducedForceExternal.resize(m_nReduced, 0); - m_internalDeltaReducedVelocity.resize(m_nReduced, 0); - m_nodalMass.resize(full_size, 0); - m_localMomentArm.resize(m_nFull); -} - -void btReducedDeformableBody::setMassProps(const tDenseArray& mass_array) -{ - btScalar total_mass = 0; - btVector3 CoM(0, 0, 0); - for (int i = 0; i < m_nFull; ++i) - { - m_nodalMass[i] = m_rhoScale * mass_array[i]; - m_nodes[i].m_im = mass_array[i] > 0 ? 1.0 / (m_rhoScale * mass_array[i]) : 0; - total_mass += m_rhoScale * mass_array[i]; - - CoM += m_nodalMass[i] * m_nodes[i].m_x; - } - // total rigid body mass - m_mass = total_mass; - m_inverseMass = total_mass > 0 ? 1.0 / total_mass : 0; - // original CoM - m_initialCoM = CoM / total_mass; -} - -void btReducedDeformableBody::setInertiaProps() -{ - // make sure the initial CoM is at the origin (0,0,0) - // for (int i = 0; i < m_nFull; ++i) - // { - // m_nodes[i].m_x -= m_initialCoM; - // } - // m_initialCoM.setZero(); - m_rigidTransformWorld.setOrigin(m_initialCoM); - m_interpolationWorldTransform = m_rigidTransformWorld; - - updateLocalInertiaTensorFromNodes(); - - // update world inertia tensor - btMatrix3x3 rotation; - rotation.setIdentity(); - updateInitialInertiaTensor(rotation); - updateInertiaTensor(); - m_interpolateInvInertiaTensorWorld = m_invInertiaTensorWorld; -} - -void btReducedDeformableBody::setRigidVelocity(const btVector3& v) -{ - m_linearVelocity = v; -} - -void btReducedDeformableBody::setRigidAngularVelocity(const btVector3& omega) -{ - m_angularVelocity = omega; -} - -void btReducedDeformableBody::setStiffnessScale(const btScalar ks) -{ - m_ksScale = ks; -} - -void btReducedDeformableBody::setMassScale(const btScalar rho) -{ - m_rhoScale = rho; -} - -void btReducedDeformableBody::setFixedNodes(const int n_node) -{ - m_fixedNodes.push_back(n_node); - m_nodes[n_node].m_im = 0; // set inverse mass to be zero for the constraint solver. -} - -void btReducedDeformableBody::setDamping(const btScalar alpha, const btScalar beta) -{ - m_dampingAlpha = alpha; - m_dampingBeta = beta; -} - -void btReducedDeformableBody::internalInitialization() -{ - // zeroing - endOfTimeStepZeroing(); - // initialize rest position - updateRestNodalPositions(); - // initialize local nodal moment arm form the CoM - updateLocalMomentArm(); - // initialize projection matrix - updateExternalForceProjectMatrix(false); -} - -void btReducedDeformableBody::updateLocalMomentArm() -{ - TVStack delta_x; - delta_x.resize(m_nFull); - - for (int i = 0; i < m_nFull; ++i) - { - for (int k = 0; k < 3; ++k) - { - // compute displacement - delta_x[i][k] = 0; - for (int j = 0; j < m_nReduced; ++j) - { - delta_x[i][k] += m_modes[j][3 * i + k] * m_reducedDofs[j]; - } - } - // get new moment arm Sq + x0 - m_localMomentArm[i] = m_x0[i] - m_initialCoM + delta_x[i]; - } -} - -void btReducedDeformableBody::updateExternalForceProjectMatrix(bool initialized) -{ - // if not initialized, need to compute both P_A and Cq - // otherwise, only need to udpate Cq - if (!initialized) - { - // resize - m_projPA.resize(m_nReduced); - m_projCq.resize(m_nReduced); - - m_STP.resize(m_nReduced); - m_MrInvSTP.resize(m_nReduced); - - // P_A - for (int r = 0; r < m_nReduced; ++r) - { - m_projPA[r].resize(3 * m_nFull, 0); - for (int i = 0; i < m_nFull; ++i) - { - btMatrix3x3 mass_scaled_i = Diagonal(1) - Diagonal(m_nodalMass[i] / m_mass); - btVector3 s_ri(m_modes[r][3 * i], m_modes[r][3 * i + 1], m_modes[r][3 * i + 2]); - btVector3 prod_i = mass_scaled_i * s_ri; - - for (int k = 0; k < 3; ++k) - m_projPA[r][3 * i + k] = prod_i[k]; - - // btScalar ratio = m_nodalMass[i] / m_mass; - // m_projPA[r] += btVector3(- m_modes[r][3 * i] * ratio, - // - m_modes[r][3 * i + 1] * ratio, - // - m_modes[r][3 * i + 2] * ratio); - } - } - } - - // C(q) is updated once per position update - for (int r = 0; r < m_nReduced; ++r) - { - m_projCq[r].resize(3 * m_nFull, 0); - for (int i = 0; i < m_nFull; ++i) - { - btMatrix3x3 r_star = Cross(m_localMomentArm[i]); - btVector3 s_ri(m_modes[r][3 * i], m_modes[r][3 * i + 1], m_modes[r][3 * i + 2]); - btVector3 prod_i = r_star * m_invInertiaTensorWorld * r_star * s_ri; - - for (int k = 0; k < 3; ++k) - m_projCq[r][3 * i + k] = m_nodalMass[i] * prod_i[k]; - - // btVector3 si(m_modes[r][3 * i], m_modes[r][3 * i + 1], m_modes[r][3 * i + 2]); - // m_projCq[r] += m_nodalMass[i] * si.cross(m_localMomentArm[i]); - } - } -} - -void btReducedDeformableBody::endOfTimeStepZeroing() -{ - for (int i = 0; i < m_nReduced; ++i) - { - m_reducedForceElastic[i] = 0; - m_reducedForceDamping[i] = 0; - m_reducedForceExternal[i] = 0; - m_internalDeltaReducedVelocity[i] = 0; - m_reducedDofsBuffer[i] = m_reducedDofs[i]; - m_reducedVelocityBuffer[i] = m_reducedVelocity[i]; - } - // std::cout << "zeroed!\n"; -} - -void btReducedDeformableBody::applyInternalVelocityChanges() -{ - m_linearVelocity += m_internalDeltaLinearVelocity; - m_angularVelocity += m_internalDeltaAngularVelocity; - m_internalDeltaLinearVelocity.setZero(); - m_internalDeltaAngularVelocity.setZero(); - for (int r = 0; r < m_nReduced; ++r) - { - m_reducedVelocity[r] += m_internalDeltaReducedVelocity[r]; - m_internalDeltaReducedVelocity[r] = 0; - } -} - -void btReducedDeformableBody::predictIntegratedTransform(btScalar dt, btTransform& predictedTransform) -{ - btTransformUtil::integrateTransform(m_rigidTransformWorld, m_linearVelocity, m_angularVelocity, dt, predictedTransform); -} - -void btReducedDeformableBody::updateReducedDofs(btScalar solverdt) -{ - for (int r = 0; r < m_nReduced; ++r) - { - m_reducedDofs[r] = m_reducedDofsBuffer[r] + solverdt * m_reducedVelocity[r]; - } -} - -void btReducedDeformableBody::mapToFullPosition(const btTransform& ref_trans) -{ - btVector3 origin = ref_trans.getOrigin(); - btMatrix3x3 rotation = ref_trans.getBasis(); - - - for (int i = 0; i < m_nFull; ++i) - { - m_nodes[i].m_x = rotation * m_localMomentArm[i] + origin; - m_nodes[i].m_q = m_nodes[i].m_x; - } -} - -void btReducedDeformableBody::updateReducedVelocity(btScalar solverdt) -{ - // update reduced velocity - for (int r = 0; r < m_nReduced; ++r) - { - // the reduced mass is always identity! - btScalar delta_v = 0; - delta_v = solverdt * (m_reducedForceElastic[r] + m_reducedForceDamping[r]); - // delta_v = solverdt * (m_reducedForceElastic[r] + m_reducedForceDamping[r] + m_reducedForceExternal[r]); - m_reducedVelocity[r] = m_reducedVelocityBuffer[r] + delta_v; - } -} - -void btReducedDeformableBody::mapToFullVelocity(const btTransform& ref_trans) -{ - // compute the reduced contribution to the angular velocity - // btVector3 sum_linear(0, 0, 0); - // btVector3 sum_angular(0, 0, 0); - // m_linearVelocityFromReduced.setZero(); - // m_angularVelocityFromReduced.setZero(); - // for (int i = 0; i < m_nFull; ++i) - // { - // btVector3 r_com = ref_trans.getBasis() * m_localMomentArm[i]; - // btMatrix3x3 r_star = Cross(r_com); - - // btVector3 v_from_reduced(0, 0, 0); - // for (int k = 0; k < 3; ++k) - // { - // for (int r = 0; r < m_nReduced; ++r) - // { - // v_from_reduced[k] += m_modes[r][3 * i + k] * m_reducedVelocity[r]; - // } - // } - - // btVector3 delta_linear = m_nodalMass[i] * v_from_reduced; - // btVector3 delta_angular = m_nodalMass[i] * (r_star * ref_trans.getBasis() * v_from_reduced); - // sum_linear += delta_linear; - // sum_angular += delta_angular; - // // std::cout << "delta_linear: " << delta_linear[0] << "\t" << delta_linear[1] << "\t" << delta_linear[2] << "\n"; - // // std::cout << "delta_angular: " << delta_angular[0] << "\t" << delta_angular[1] << "\t" << delta_angular[2] << "\n"; - // // std::cout << "sum_linear: " << sum_linear[0] << "\t" << sum_linear[1] << "\t" << sum_linear[2] << "\n"; - // // std::cout << "sum_angular: " << sum_angular[0] << "\t" << sum_angular[1] << "\t" << sum_angular[2] << "\n"; - // } - // m_linearVelocityFromReduced = 1.0 / m_mass * (ref_trans.getBasis() * sum_linear); - // m_angularVelocityFromReduced = m_interpolateInvInertiaTensorWorld * sum_angular; - - // m_linearVelocity -= m_linearVelocityFromReduced; - // m_angularVelocity -= m_angularVelocityFromReduced; - - for (int i = 0; i < m_nFull; ++i) - { - m_nodes[i].m_v = computeNodeFullVelocity(ref_trans, i); - } -} - -const btVector3 btReducedDeformableBody::computeTotalAngularMomentum() const -{ - btVector3 L_rigid = m_invInertiaTensorWorld.inverse() * m_angularVelocity; - btVector3 L_reduced(0, 0, 0); - btMatrix3x3 omega_prime_star = Cross(m_angularVelocityFromReduced); - - for (int i = 0; i < m_nFull; ++i) - { - btVector3 r_com = m_rigidTransformWorld.getBasis() * m_localMomentArm[i]; - btMatrix3x3 r_star = Cross(r_com); - - btVector3 v_from_reduced(0, 0, 0); - for (int k = 0; k < 3; ++k) - { - for (int r = 0; r < m_nReduced; ++r) - { - v_from_reduced[k] += m_modes[r][3 * i + k] * m_reducedVelocity[r]; - } - } - - L_reduced += m_nodalMass[i] * (r_star * (m_rigidTransformWorld.getBasis() * v_from_reduced - omega_prime_star * r_com)); - // L_reduced += m_nodalMass[i] * (r_star * (m_rigidTransformWorld.getBasis() * v_from_reduced)); - } - return L_rigid + L_reduced; -} - -const btVector3 btReducedDeformableBody::computeNodeFullVelocity(const btTransform& ref_trans, int n_node) const -{ - btVector3 v_from_reduced(0, 0, 0); - btVector3 r_com = ref_trans.getBasis() * m_localMomentArm[n_node]; - // compute velocity contributed by the reduced velocity - for (int k = 0; k < 3; ++k) - { - for (int r = 0; r < m_nReduced; ++r) - { - v_from_reduced[k] += m_modes[r][3 * n_node + k] * m_reducedVelocity[r]; - } - } - // get new velocity - btVector3 vel = m_angularVelocity.cross(r_com) + - ref_trans.getBasis() * v_from_reduced + - m_linearVelocity; - return vel; -} - -const btVector3 btReducedDeformableBody::internalComputeNodeDeltaVelocity(const btTransform& ref_trans, int n_node) const -{ - btVector3 deltaV_from_reduced(0, 0, 0); - btVector3 r_com = ref_trans.getBasis() * m_localMomentArm[n_node]; - - // compute velocity contributed by the reduced velocity - for (int k = 0; k < 3; ++k) - { - for (int r = 0; r < m_nReduced; ++r) - { - deltaV_from_reduced[k] += m_modes[r][3 * n_node + k] * m_internalDeltaReducedVelocity[r]; - } - } - - // get delta velocity - btVector3 deltaV = m_internalDeltaAngularVelocity.cross(r_com) + - ref_trans.getBasis() * deltaV_from_reduced + - m_internalDeltaLinearVelocity; - return deltaV; -} - -void btReducedDeformableBody::proceedToTransform(btScalar dt, bool end_of_time_step) -{ - btTransformUtil::integrateTransform(m_rigidTransformWorld, m_linearVelocity, m_angularVelocity, dt, m_interpolationWorldTransform); - updateInertiaTensor(); - // m_interpolateInvInertiaTensorWorld = m_interpolationWorldTransform.getBasis().scaled(m_invInertiaLocal) * m_interpolationWorldTransform.getBasis().transpose(); - m_rigidTransformWorld = m_interpolationWorldTransform; - m_invInertiaTensorWorld = m_interpolateInvInertiaTensorWorld; -} - -void btReducedDeformableBody::transformTo(const btTransform& trs) -{ - btTransform current_transform = getRigidTransform(); - btTransform new_transform(trs.getBasis() * current_transform.getBasis().transpose(), - trs.getOrigin() - current_transform.getOrigin()); - transform(new_transform); -} - -void btReducedDeformableBody::transform(const btTransform& trs) -{ - m_transform_lock = true; - - // transform mesh - { - const btScalar margin = getCollisionShape()->getMargin(); - ATTRIBUTE_ALIGNED16(btDbvtVolume) - vol; - - btVector3 CoM = m_rigidTransformWorld.getOrigin(); - btVector3 translation = trs.getOrigin(); - btMatrix3x3 rotation = trs.getBasis(); - - for (int i = 0; i < m_nodes.size(); ++i) - { - Node& n = m_nodes[i]; - n.m_x = rotation * (n.m_x - CoM) + CoM + translation; - n.m_q = rotation * (n.m_q - CoM) + CoM + translation; - n.m_n = rotation * n.m_n; - vol = btDbvtVolume::FromCR(n.m_x, margin); - - m_ndbvt.update(n.m_leaf, vol); - } - updateNormals(); - updateBounds(); - updateConstants(); - } - - // update modes - updateModesByRotation(trs.getBasis()); - - // update inertia tensor - updateInitialInertiaTensor(trs.getBasis()); - updateInertiaTensor(); - m_interpolateInvInertiaTensorWorld = m_invInertiaTensorWorld; - - // update rigid frame (No need to update the rotation. Nodes have already been updated.) - m_rigidTransformWorld.setOrigin(m_initialCoM + trs.getOrigin()); - m_interpolationWorldTransform = m_rigidTransformWorld; - m_initialCoM = m_rigidTransformWorld.getOrigin(); - - internalInitialization(); -} - -void btReducedDeformableBody::scale(const btVector3& scl) -{ - // Scaling the mesh after transform is applied is not allowed - btAssert(!m_transform_lock); - - // scale the mesh - { - const btScalar margin = getCollisionShape()->getMargin(); - ATTRIBUTE_ALIGNED16(btDbvtVolume) - vol; - - btVector3 CoM = m_rigidTransformWorld.getOrigin(); - - for (int i = 0; i < m_nodes.size(); ++i) - { - Node& n = m_nodes[i]; - n.m_x = (n.m_x - CoM) * scl + CoM; - n.m_q = (n.m_q - CoM) * scl + CoM; - vol = btDbvtVolume::FromCR(n.m_x, margin); - m_ndbvt.update(n.m_leaf, vol); - } - updateNormals(); - updateBounds(); - updateConstants(); - initializeDmInverse(); - } - - // update inertia tensor - updateLocalInertiaTensorFromNodes(); - - btMatrix3x3 id; - id.setIdentity(); - updateInitialInertiaTensor(id); // there is no rotation, but the local inertia tensor has changed - updateInertiaTensor(); - m_interpolateInvInertiaTensorWorld = m_invInertiaTensorWorld; - - internalInitialization(); -} - -void btReducedDeformableBody::setTotalMass(btScalar mass, bool fromfaces) -{ - // Changing the total mass after transform is applied is not allowed - btAssert(!m_transform_lock); - - btScalar scale_ratio = mass / m_mass; - - // update nodal mass - for (int i = 0; i < m_nFull; ++i) - { - m_nodalMass[i] *= scale_ratio; - } - m_mass = mass; - m_inverseMass = mass > 0 ? 1.0 / mass : 0; - - // update inertia tensors - updateLocalInertiaTensorFromNodes(); - - btMatrix3x3 id; - id.setIdentity(); - updateInitialInertiaTensor(id); // there is no rotation, but the local inertia tensor has changed - updateInertiaTensor(); - m_interpolateInvInertiaTensorWorld = m_invInertiaTensorWorld; - - internalInitialization(); -} - -void btReducedDeformableBody::updateRestNodalPositions() -{ - // update reset nodal position - m_x0.resize(m_nFull); - for (int i = 0; i < m_nFull; ++i) - { - m_x0[i] = m_nodes[i].m_x; - } -} - -// reference notes: -// https://ocw.mit.edu/courses/aeronautics-and-astronautics/16-07-dynamics-fall-2009/lecture-notes/MIT16_07F09_Lec26.pdf -void btReducedDeformableBody::updateLocalInertiaTensorFromNodes() -{ - btMatrix3x3 inertia_tensor; - inertia_tensor.setZero(); - - for (int p = 0; p < m_nFull; ++p) - { - btMatrix3x3 particle_inertia; - particle_inertia.setZero(); - - btVector3 r = m_nodes[p].m_x - m_initialCoM; - - particle_inertia[0][0] = m_nodalMass[p] * (r[1] * r[1] + r[2] * r[2]); - particle_inertia[1][1] = m_nodalMass[p] * (r[0] * r[0] + r[2] * r[2]); - particle_inertia[2][2] = m_nodalMass[p] * (r[0] * r[0] + r[1] * r[1]); - - particle_inertia[0][1] = - m_nodalMass[p] * (r[0] * r[1]); - particle_inertia[0][2] = - m_nodalMass[p] * (r[0] * r[2]); - particle_inertia[1][2] = - m_nodalMass[p] * (r[1] * r[2]); - - particle_inertia[1][0] = particle_inertia[0][1]; - particle_inertia[2][0] = particle_inertia[0][2]; - particle_inertia[2][1] = particle_inertia[1][2]; - - inertia_tensor += particle_inertia; - } - m_invInertiaLocal = inertia_tensor.inverse(); -} - -void btReducedDeformableBody::updateInitialInertiaTensor(const btMatrix3x3& rotation) -{ - // m_invInertiaTensorWorldInitial = rotation.scaled(m_invInertiaLocal) * rotation.transpose(); - m_invInertiaTensorWorldInitial = rotation * m_invInertiaLocal * rotation.transpose(); -} - -void btReducedDeformableBody::updateModesByRotation(const btMatrix3x3& rotation) -{ - for (int r = 0; r < m_nReduced; ++r) - { - for (int i = 0; i < m_nFull; ++i) - { - btVector3 nodal_disp(m_modes[r][3 * i], m_modes[r][3 * i + 1], m_modes[r][3 * i + 2]); - nodal_disp = rotation * nodal_disp; - - for (int k = 0; k < 3; ++k) - { - m_modes[r][3 * i + k] = nodal_disp[k]; - } - } - } -} - -void btReducedDeformableBody::updateInertiaTensor() -{ - m_invInertiaTensorWorld = m_rigidTransformWorld.getBasis() * m_invInertiaTensorWorldInitial * m_rigidTransformWorld.getBasis().transpose(); -} - -void btReducedDeformableBody::applyDamping(btScalar timeStep) -{ - m_linearVelocity *= btScalar(1) - m_linearDamping; - m_angularDamping *= btScalar(1) - m_angularDamping; -} - -void btReducedDeformableBody::applyCentralImpulse(const btVector3& impulse) -{ - m_linearVelocity += impulse * m_linearFactor * m_inverseMass; - #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0 - clampVelocity(m_linearVelocity); - #endif -} - -void btReducedDeformableBody::applyTorqueImpulse(const btVector3& torque) -{ - m_angularVelocity += m_interpolateInvInertiaTensorWorld * torque * m_angularFactor; - #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0 - clampVelocity(m_angularVelocity); - #endif -} - -void btReducedDeformableBody::internalApplyRigidImpulse(const btVector3& impulse, const btVector3& rel_pos) -{ - if (m_inverseMass == btScalar(0.)) - { - std::cout << "something went wrong...probably didn't initialize?\n"; - btAssert(false); - } - // delta linear velocity - m_internalDeltaLinearVelocity += impulse * m_linearFactor * m_inverseMass; - // delta angular velocity - btVector3 torque = rel_pos.cross(impulse * m_linearFactor); - m_internalDeltaAngularVelocity += m_interpolateInvInertiaTensorWorld * torque * m_angularFactor; -} - -btVector3 btReducedDeformableBody::getRelativePos(int n_node) -{ - btMatrix3x3 rotation = m_interpolationWorldTransform.getBasis(); - btVector3 ri = rotation * m_localMomentArm[n_node]; - return ri; -} - -btMatrix3x3 btReducedDeformableBody::getImpulseFactor(int n_node) -{ - // relative position - btMatrix3x3 rotation = m_interpolationWorldTransform.getBasis(); - btVector3 ri = rotation * m_localMomentArm[n_node]; - btMatrix3x3 ri_skew = Cross(ri); - - // calculate impulse factor - // rigid part - btScalar inv_mass = m_nodalMass[n_node] > btScalar(0) ? btScalar(1) / m_mass : btScalar(0); - btMatrix3x3 K1 = Diagonal(inv_mass); - K1 -= ri_skew * m_interpolateInvInertiaTensorWorld * ri_skew; - - // reduced deformable part - btMatrix3x3 SA; - SA.setZero(); - for (int i = 0; i < 3; ++i) - { - for (int j = 0; j < 3; ++j) - { - for (int r = 0; r < m_nReduced; ++r) - { - SA[i][j] += m_modes[r][3 * n_node + i] * (m_projPA[r][3 * n_node + j] + m_projCq[r][3 * n_node + j]); - } - } - } - btMatrix3x3 RSARinv = rotation * SA * rotation.transpose(); - - - TVStack omega_helper; // Sum_i m_i r*_i R S_i - omega_helper.resize(m_nReduced); - for (int r = 0; r < m_nReduced; ++r) - { - omega_helper[r].setZero(); - for (int i = 0; i < m_nFull; ++i) - { - btMatrix3x3 mi_rstar_i = rotation * Cross(m_localMomentArm[i]) * m_nodalMass[i]; - btVector3 s_ri(m_modes[r][3 * i], m_modes[r][3 * i + 1], m_modes[r][3 * i + 2]); - omega_helper[r] += mi_rstar_i * rotation * s_ri; - } - } - - btMatrix3x3 sum_multiply_A; - sum_multiply_A.setZero(); - for (int i = 0; i < 3; ++i) - { - for (int j = 0; j < 3; ++j) - { - for (int r = 0; r < m_nReduced; ++r) - { - sum_multiply_A[i][j] += omega_helper[r][i] * (m_projPA[r][3 * n_node + j] + m_projCq[r][3 * n_node + j]); - } - } - } - - btMatrix3x3 K2 = RSARinv + ri_skew * m_interpolateInvInertiaTensorWorld * sum_multiply_A * rotation.transpose(); - - return m_rigidOnly ? K1 : K1 + K2; -} - -void btReducedDeformableBody::internalApplyFullSpaceImpulse(const btVector3& impulse, const btVector3& rel_pos, int n_node, btScalar dt) -{ - if (!m_rigidOnly) - { - // apply impulse force - applyFullSpaceNodalForce(impulse / dt, n_node); - - // update delta damping force - tDenseArray reduced_vel_tmp; - reduced_vel_tmp.resize(m_nReduced); - for (int r = 0; r < m_nReduced; ++r) - { - reduced_vel_tmp[r] = m_reducedVelocity[r] + m_internalDeltaReducedVelocity[r]; - } - applyReducedDampingForce(reduced_vel_tmp); - // applyReducedDampingForce(m_internalDeltaReducedVelocity); - - // delta reduced velocity - for (int r = 0; r < m_nReduced; ++r) - { - // The reduced mass is always identity! - m_internalDeltaReducedVelocity[r] += dt * (m_reducedForceDamping[r] + m_reducedForceExternal[r]); - } - } - - internalApplyRigidImpulse(impulse, rel_pos); -} - -void btReducedDeformableBody::applyFullSpaceNodalForce(const btVector3& f_ext, int n_node) -{ - // f_local = R^-1 * f_ext //TODO: interpoalted transfrom - // btVector3 f_local = m_rigidTransformWorld.getBasis().transpose() * f_ext; - btVector3 f_local = m_interpolationWorldTransform.getBasis().transpose() * f_ext; - - // f_ext_r = [S^T * P]_{n_node} * f_local - tDenseArray f_ext_r; - f_ext_r.resize(m_nReduced, 0); - for (int r = 0; r < m_nReduced; ++r) - { - m_reducedForceExternal[r] = 0; - for (int k = 0; k < 3; ++k) - { - f_ext_r[r] += (m_projPA[r][3 * n_node + k] + m_projCq[r][3 * n_node + k]) * f_local[k]; - } - - m_reducedForceExternal[r] += f_ext_r[r]; - } -} - -void btReducedDeformableBody::applyRigidGravity(const btVector3& gravity, btScalar dt) -{ - // update rigid frame velocity - m_linearVelocity += dt * gravity; -} - -void btReducedDeformableBody::applyReducedElasticForce(const tDenseArray& reduce_dofs) -{ - for (int r = 0; r < m_nReduced; ++r) - { - m_reducedForceElastic[r] = - m_ksScale * m_Kr[r] * reduce_dofs[r]; - } -} - -void btReducedDeformableBody::applyReducedDampingForce(const tDenseArray& reduce_vel) -{ - for (int r = 0; r < m_nReduced; ++r) - { - m_reducedForceDamping[r] = - m_dampingBeta * m_ksScale * m_Kr[r] * reduce_vel[r]; - } -} - -btScalar btReducedDeformableBody::getTotalMass() const -{ - return m_mass; -} - -btTransform& btReducedDeformableBody::getRigidTransform() -{ - return m_rigidTransformWorld; -} - -const btVector3& btReducedDeformableBody::getLinearVelocity() const -{ - return m_linearVelocity; -} - -const btVector3& btReducedDeformableBody::getAngularVelocity() const -{ - return m_angularVelocity; -} - -void btReducedDeformableBody::disableReducedModes(const bool rigid_only) -{ - m_rigidOnly = rigid_only; -} - -bool btReducedDeformableBody::isReducedModesOFF() const -{ - return m_rigidOnly; -}
\ No newline at end of file diff --git a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h deleted file mode 100644 index 8968fb0cb..000000000 --- a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h +++ /dev/null @@ -1,257 +0,0 @@ -#ifndef BT_REDUCED_SOFT_BODY_H -#define BT_REDUCED_SOFT_BODY_H - -#include "../btSoftBody.h" -#include "LinearMath/btAlignedObjectArray.h" -#include "LinearMath/btVector3.h" -#include "LinearMath/btMatrix3x3.h" -#include "LinearMath/btTransform.h" - -// Reduced deformable body is a simplified deformable object embedded in a rigid frame. -class btReducedDeformableBody : public btSoftBody -{ - public: - // - // Typedefs - // - typedef btAlignedObjectArray<btVector3> TVStack; - // typedef btAlignedObjectArray<btMatrix3x3> tBlockDiagMatrix; - typedef btAlignedObjectArray<btScalar> tDenseArray; - typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > tDenseMatrix; - - private: - // flag to turn off the reduced modes - bool m_rigidOnly; - - // Flags for transform. Once transform is applied, users cannot scale the mesh or change its total mass. - bool m_transform_lock; - - // scaling factors - btScalar m_rhoScale; // mass density scale - btScalar m_ksScale; // stiffness scale - - // projection matrix - tDenseMatrix m_projPA; // Eqn. 4.11 from Rahul Sheth's thesis - tDenseMatrix m_projCq; - tDenseArray m_STP; - tDenseArray m_MrInvSTP; - - TVStack m_localMomentArm; // Sq + x0 - - btVector3 m_internalDeltaLinearVelocity; - btVector3 m_internalDeltaAngularVelocity; - tDenseArray m_internalDeltaReducedVelocity; - - btVector3 m_linearVelocityFromReduced; // contribution to the linear velocity from reduced velocity - btVector3 m_angularVelocityFromReduced; // contribution to the angular velocity from reduced velocity - btVector3 m_internalDeltaAngularVelocityFromReduced; - - protected: - // rigid frame - btScalar m_mass; // total mass of the rigid frame - btScalar m_inverseMass; // inverse of the total mass of the rigid frame - btVector3 m_linearVelocity; - btVector3 m_angularVelocity; - btScalar m_linearDamping; // linear damping coefficient - btScalar m_angularDamping; // angular damping coefficient - btVector3 m_linearFactor; - btVector3 m_angularFactor; - // btVector3 m_invInertiaLocal; - btMatrix3x3 m_invInertiaLocal; - btTransform m_rigidTransformWorld; - btMatrix3x3 m_invInertiaTensorWorldInitial; - btMatrix3x3 m_invInertiaTensorWorld; - btMatrix3x3 m_interpolateInvInertiaTensorWorld; - btVector3 m_initialCoM; // initial center of mass (original of the m_rigidTransformWorld) - - // damping - btScalar m_dampingAlpha; - btScalar m_dampingBeta; - - public: - // - // Fields - // - - // reduced space - int m_nReduced; - int m_nFull; - tDenseMatrix m_modes; // modes of the reduced deformable model. Each inner array is a mode, outer array size = n_modes - tDenseArray m_reducedDofs; // Reduced degree of freedom - tDenseArray m_reducedDofsBuffer; // Reduced degree of freedom at t^n - tDenseArray m_reducedVelocity; // Reduced velocity array - tDenseArray m_reducedVelocityBuffer; // Reduced velocity array at t^n - tDenseArray m_reducedForceExternal; // reduced external force - tDenseArray m_reducedForceElastic; // reduced internal elastic force - tDenseArray m_reducedForceDamping; // reduced internal damping force - tDenseArray m_eigenvalues; // eigenvalues of the reduce deformable model - tDenseArray m_Kr; // reduced stiffness matrix - - // full space - TVStack m_x0; // Rest position - tDenseArray m_nodalMass; // Mass on each node - btAlignedObjectArray<int> m_fixedNodes; // index of the fixed nodes - int m_nodeIndexOffset; // offset of the node index needed for contact solver when there are multiple reduced deformable body in the world. - - // contacts - btAlignedObjectArray<int> m_contactNodesList; - - // - // Api - // - btReducedDeformableBody(btSoftBodyWorldInfo* worldInfo, int node_count, const btVector3* x, const btScalar* m); - - ~btReducedDeformableBody() {} - - // - // initializing helpers - // - void internalInitialization(); - - void setReducedModes(int num_modes, int full_size); - - void setMassProps(const tDenseArray& mass_array); - - void setInertiaProps(); - - void setRigidVelocity(const btVector3& v); - - void setRigidAngularVelocity(const btVector3& omega); - - void setStiffnessScale(const btScalar ks); - - void setMassScale(const btScalar rho); - - void setFixedNodes(const int n_node); - - void setDamping(const btScalar alpha, const btScalar beta); - - void disableReducedModes(const bool rigid_only); - - virtual void setTotalMass(btScalar mass, bool fromfaces = false); - - // - // various internal updates - // - virtual void transformTo(const btTransform& trs); - virtual void transform(const btTransform& trs); - // caution: - // need to use scale before using transform, because the scale is performed in the local frame - // (i.e., may have some rotation already, but the m_rigidTransformWorld doesn't have this info) - virtual void scale(const btVector3& scl); - - private: - void updateRestNodalPositions(); - - void updateInitialInertiaTensor(const btMatrix3x3& rotation); - - void updateLocalInertiaTensorFromNodes(); - - void updateInertiaTensor(); - - void updateModesByRotation(const btMatrix3x3& rotation); - - public: - void updateLocalMomentArm(); - - void predictIntegratedTransform(btScalar dt, btTransform& predictedTransform); - - // update the external force projection matrix - void updateExternalForceProjectMatrix(bool initialized); - - void endOfTimeStepZeroing(); - - void applyInternalVelocityChanges(); - - // - // position and velocity update related - // - - // compute reduced degree of freedoms - void updateReducedDofs(btScalar solverdt); - - // compute reduced velocity update (for explicit time stepping) - void updateReducedVelocity(btScalar solverdt); - - // map to full degree of freedoms - void mapToFullPosition(const btTransform& ref_trans); - - // compute full space velocity from the reduced velocity - void mapToFullVelocity(const btTransform& ref_trans); - - // compute total angular momentum - const btVector3 computeTotalAngularMomentum() const; - - // get a single node's full space velocity from the reduced velocity - const btVector3 computeNodeFullVelocity(const btTransform& ref_trans, int n_node) const; - - // get a single node's all delta velocity - const btVector3 internalComputeNodeDeltaVelocity(const btTransform& ref_trans, int n_node) const; - - // - // rigid motion related - // - void applyDamping(btScalar timeStep); - - void applyCentralImpulse(const btVector3& impulse); - - void applyTorqueImpulse(const btVector3& torque); - - void proceedToTransform(btScalar dt, bool end_of_time_step); - - // - // force related - // - - // apply impulse to the rigid frame - void internalApplyRigidImpulse(const btVector3& impulse, const btVector3& rel_pos); - - // apply impulse to nodes in the full space - void internalApplyFullSpaceImpulse(const btVector3& impulse, const btVector3& rel_pos, int n_node, btScalar dt); - - // apply nodal external force in the full space - void applyFullSpaceNodalForce(const btVector3& f_ext, int n_node); - - // apply gravity to the rigid frame - void applyRigidGravity(const btVector3& gravity, btScalar dt); - - // apply reduced elastic force - void applyReducedElasticForce(const tDenseArray& reduce_dofs); - - // apply reduced damping force - void applyReducedDampingForce(const tDenseArray& reduce_vel); - - // calculate the impulse factor - virtual btMatrix3x3 getImpulseFactor(int n_node); - - // get relative position from a node to the CoM of the rigid frame - btVector3 getRelativePos(int n_node); - - // - // accessors - // - bool isReducedModesOFF() const; - btScalar getTotalMass() const; - btTransform& getRigidTransform(); - const btVector3& getLinearVelocity() const; - const btVector3& getAngularVelocity() const; - - #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0 - void clampVelocity(btVector3& v) const { - v.setX( - fmax(-BT_CLAMP_VELOCITY_TO, - fmin(BT_CLAMP_VELOCITY_TO, v.getX())) - ); - v.setY( - fmax(-BT_CLAMP_VELOCITY_TO, - fmin(BT_CLAMP_VELOCITY_TO, v.getY())) - ); - v.setZ( - fmax(-BT_CLAMP_VELOCITY_TO, - fmin(BT_CLAMP_VELOCITY_TO, v.getZ())) - ); - } - #endif -}; - -#endif // BT_REDUCED_SOFT_BODY_H
\ No newline at end of file diff --git a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.cpp b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.cpp deleted file mode 100644 index d7e4cc2b8..000000000 --- a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.cpp +++ /dev/null @@ -1,215 +0,0 @@ -#include "btReducedDeformableBodyHelpers.h" -#include "../btSoftBodyHelpers.h" -#include <iostream> -#include <string> -#include <sstream> - -btReducedDeformableBody* btReducedDeformableBodyHelpers::createReducedDeformableObject(btSoftBodyWorldInfo& worldInfo, const std::string& file_path, const std::string& vtk_file, const int num_modes, bool rigid_only) { - std::string filename = file_path + vtk_file; - btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createFromVtkFile(worldInfo, filename.c_str()); - - rsb->setReducedModes(num_modes, rsb->m_nodes.size()); - btReducedDeformableBodyHelpers::readReducedDeformableInfoFromFiles(rsb, file_path.c_str()); - - rsb->disableReducedModes(rigid_only); - - return rsb; -} - -btReducedDeformableBody* btReducedDeformableBodyHelpers::createFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file) -{ - std::ifstream fs; - fs.open(vtk_file); - btAssert(fs); - - typedef btAlignedObjectArray<int> Index; - std::string line; - btAlignedObjectArray<btVector3> X; - btVector3 position; - btAlignedObjectArray<Index> indices; - bool reading_points = false; - bool reading_tets = false; - size_t n_points = 0; - size_t n_tets = 0; - size_t x_count = 0; - size_t indices_count = 0; - while (std::getline(fs, line)) - { - std::stringstream ss(line); - if (line.size() == (size_t)(0)) - { - } - else if (line.substr(0, 6) == "POINTS") - { - reading_points = true; - reading_tets = false; - ss.ignore(128, ' '); // ignore "POINTS" - ss >> n_points; - X.resize(n_points); - } - else if (line.substr(0, 5) == "CELLS") - { - reading_points = false; - reading_tets = true; - ss.ignore(128, ' '); // ignore "CELLS" - ss >> n_tets; - indices.resize(n_tets); - } - else if (line.substr(0, 10) == "CELL_TYPES") - { - reading_points = false; - reading_tets = false; - } - else if (reading_points) - { - btScalar p; - ss >> p; - position.setX(p); - ss >> p; - position.setY(p); - ss >> p; - position.setZ(p); - //printf("v %f %f %f\n", position.getX(), position.getY(), position.getZ()); - X[x_count++] = position; - } - else if (reading_tets) - { - int d; - ss >> d; - if (d != 4) - { - printf("Load deformable failed: Only Tetrahedra are supported in VTK file.\n"); - fs.close(); - return 0; - } - ss.ignore(128, ' '); // ignore "4" - Index tet; - tet.resize(4); - for (size_t i = 0; i < 4; i++) - { - ss >> tet[i]; - //printf("%d ", tet[i]); - } - //printf("\n"); - indices[indices_count++] = tet; - } - } - btReducedDeformableBody* rsb = new btReducedDeformableBody(&worldInfo, n_points, &X[0], 0); - - for (int i = 0; i < n_tets; ++i) - { - const Index& ni = indices[i]; - rsb->appendTetra(ni[0], ni[1], ni[2], ni[3]); - { - rsb->appendLink(ni[0], ni[1], 0, true); - rsb->appendLink(ni[1], ni[2], 0, true); - rsb->appendLink(ni[2], ni[0], 0, true); - rsb->appendLink(ni[0], ni[3], 0, true); - rsb->appendLink(ni[1], ni[3], 0, true); - rsb->appendLink(ni[2], ni[3], 0, true); - } - } - - btSoftBodyHelpers::generateBoundaryFaces(rsb); - rsb->initializeDmInverse(); - rsb->m_tetraScratches.resize(rsb->m_tetras.size()); - rsb->m_tetraScratchesTn.resize(rsb->m_tetras.size()); - printf("Nodes: %u\r\n", rsb->m_nodes.size()); - printf("Links: %u\r\n", rsb->m_links.size()); - printf("Faces: %u\r\n", rsb->m_faces.size()); - printf("Tetras: %u\r\n", rsb->m_tetras.size()); - - fs.close(); - - return rsb; -} - -void btReducedDeformableBodyHelpers::readReducedDeformableInfoFromFiles(btReducedDeformableBody* rsb, const char* file_path) -{ - // read in eigenmodes, stiffness and mass matrices - std::string eigenvalues_file = std::string(file_path) + "eigenvalues.bin"; - btReducedDeformableBodyHelpers::readBinaryVec(rsb->m_eigenvalues, rsb->m_nReduced, eigenvalues_file.c_str()); - - std::string Kr_file = std::string(file_path) + "K_r_diag_mat.bin"; - btReducedDeformableBodyHelpers::readBinaryVec(rsb->m_Kr, rsb->m_nReduced, Kr_file.c_str()); - - // std::string Mr_file = std::string(file_path) + "M_r_diag_mat.bin"; - // btReducedDeformableBodyHelpers::readBinaryVec(rsb->m_Mr, rsb->m_nReduced, Mr_file.c_str()); - - std::string modes_file = std::string(file_path) + "modes.bin"; - btReducedDeformableBodyHelpers::readBinaryMat(rsb->m_modes, rsb->m_nReduced, 3 * rsb->m_nFull, modes_file.c_str()); - - // read in full nodal mass - std::string M_file = std::string(file_path) + "M_diag_mat.bin"; - btAlignedObjectArray<btScalar> mass_array; - btReducedDeformableBodyHelpers::readBinaryVec(mass_array, rsb->m_nFull, M_file.c_str()); - rsb->setMassProps(mass_array); - - // calculate the inertia tensor in the local frame - rsb->setInertiaProps(); - - // other internal initialization - rsb->internalInitialization(); -} - -// read in a vector from the binary file -void btReducedDeformableBodyHelpers::readBinaryVec(btReducedDeformableBody::tDenseArray& vec, - const unsigned int n_size, // #entries read - const char* file) -{ - std::ifstream f_in(file, std::ios::in | std::ios::binary); - // first get size - unsigned int size; - f_in.read((char*)&size, sizeof(uint32_t)); - btAssert(size >= n_size); // make sure the #requested mode is smaller than the #available modes - - // read data - vec.resize(n_size); - double temp; - for (unsigned int i = 0; i < n_size; ++i) - { - f_in.read((char*)&temp, sizeof(double)); - vec[i] = btScalar(temp); - } - f_in.close(); -} - -// read in a matrix from the binary file -void btReducedDeformableBodyHelpers::readBinaryMat(btReducedDeformableBody::tDenseMatrix& mat, - const unsigned int n_modes, // #modes, outer array size - const unsigned int n_full, // inner array size - const char* file) -{ - std::ifstream f_in(file, std::ios::in | std::ios::binary); - // first get size - unsigned int v_size; - f_in.read((char*)&v_size, sizeof(uint32_t)); - btAssert(v_size >= n_modes * n_full); // make sure the #requested mode is smaller than the #available modes - - // read data - mat.resize(n_modes); - for (int i = 0; i < n_modes; ++i) - { - for (int j = 0; j < n_full; ++j) - { - double temp; - f_in.read((char*)&temp, sizeof(double)); - - if (mat[i].size() != n_modes) - mat[i].resize(n_full); - mat[i][j] = btScalar(temp); - } - } - f_in.close(); -} - -void btReducedDeformableBodyHelpers::calculateLocalInertia(btVector3& inertia, const btScalar mass, const btVector3& half_extents, const btVector3& margin) -{ - btScalar lx = btScalar(2.) * (half_extents[0] + margin[0]); - btScalar ly = btScalar(2.) * (half_extents[1] + margin[1]); - btScalar lz = btScalar(2.) * (half_extents[2] + margin[2]); - - inertia.setValue(mass / (btScalar(12.0)) * (ly * ly + lz * lz), - mass / (btScalar(12.0)) * (lx * lx + lz * lz), - mass / (btScalar(12.0)) * (lx * lx + ly * ly)); -} diff --git a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h deleted file mode 100644 index 2b259a931..000000000 --- a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h +++ /dev/null @@ -1,25 +0,0 @@ -#ifndef BT_REDUCED_SOFT_BODY_HELPERS_H -#define BT_REDUCED_SOFT_BODY_HELPERS_H - -#include "btReducedDeformableBody.h" -#include <string> - -struct btReducedDeformableBodyHelpers -{ - // create a reduced deformable object - static btReducedDeformableBody* createReducedDeformableObject(btSoftBodyWorldInfo& worldInfo, const std::string& file_path, const std::string& vtk_file, const int num_modes, bool rigid_only); - // read in geometry info from Vtk file - static btReducedDeformableBody* createFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file); - // read in all reduced files - static void readReducedDeformableInfoFromFiles(btReducedDeformableBody* rsb, const char* file_path); - // read in a binary vector - static void readBinaryVec(btReducedDeformableBody::tDenseArray& vec, const unsigned int n_size, const char* file); - // read in a binary matrix - static void readBinaryMat(btReducedDeformableBody::tDenseMatrix& mat, const unsigned int n_modes, const unsigned int n_full, const char* file); - - // calculate the local inertia tensor for a box shape reduced deformable object - static void calculateLocalInertia(btVector3& inertia, const btScalar mass, const btVector3& half_extents, const btVector3& margin); -}; - - -#endif // BT_REDUCED_SOFT_BODY_HELPERS_H
\ No newline at end of file diff --git a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.cpp b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.cpp deleted file mode 100644 index 1418cc247..000000000 --- a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.cpp +++ /dev/null @@ -1,325 +0,0 @@ -#include "btReducedDeformableBodySolver.h" -#include "btReducedDeformableBody.h" - -btReducedDeformableBodySolver::btReducedDeformableBodySolver() -{ - m_ascendOrder = true; - m_reducedSolver = true; - m_dampingAlpha = 0; - m_dampingBeta = 0; - m_gravity = btVector3(0, 0, 0); -} - -void btReducedDeformableBodySolver::setGravity(const btVector3& gravity) -{ - m_gravity = gravity; -} - -void btReducedDeformableBodySolver::reinitialize(const btAlignedObjectArray<btSoftBody*>& bodies, btScalar dt) -{ - m_softBodies.copyFromArray(bodies); - bool nodeUpdated = updateNodes(); - - if (nodeUpdated) - { - m_dv.resize(m_numNodes, btVector3(0, 0, 0)); - m_ddv.resize(m_numNodes, btVector3(0, 0, 0)); - m_residual.resize(m_numNodes, btVector3(0, 0, 0)); - m_backupVelocity.resize(m_numNodes, btVector3(0, 0, 0)); - } - - // need to setZero here as resize only set value for newly allocated items - for (int i = 0; i < m_numNodes; ++i) - { - m_dv[i].setZero(); - m_ddv[i].setZero(); - m_residual[i].setZero(); - } - - if (dt > 0) - { - m_dt = dt; - } - m_objective->reinitialize(nodeUpdated, dt); - - int N = bodies.size(); - if (nodeUpdated) - { - m_staticConstraints.resize(N); - m_nodeRigidConstraints.resize(N); - // m_faceRigidConstraints.resize(N); - } - for (int i = 0; i < N; ++i) - { - m_staticConstraints[i].clear(); - m_nodeRigidConstraints[i].clear(); - // m_faceRigidConstraints[i].clear(); - } - - for (int i = 0; i < m_softBodies.size(); ++i) - { - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(m_softBodies[i]); - rsb->m_contactNodesList.clear(); - } - - // set node index offsets - int sum = 0; - for (int i = 0; i < m_softBodies.size(); ++i) - { - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(m_softBodies[i]); - rsb->m_nodeIndexOffset = sum; - sum += rsb->m_nodes.size(); - } - - btDeformableBodySolver::updateSoftBodies(); -} - -void btReducedDeformableBodySolver::predictMotion(btScalar solverdt) -{ - applyExplicitForce(solverdt); - - // predict new mesh location - predictReduceDeformableMotion(solverdt); - - //TODO: check if there is anything missed from btDeformableBodySolver::predictDeformableMotion -} - -void btReducedDeformableBodySolver::predictReduceDeformableMotion(btScalar solverdt) -{ - for (int i = 0; i < m_softBodies.size(); ++i) - { - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(m_softBodies[i]); - if (!rsb->isActive()) - { - continue; - } - - // clear contacts variables - rsb->m_nodeRigidContacts.resize(0); - rsb->m_faceRigidContacts.resize(0); - rsb->m_faceNodeContacts.resize(0); - - // calculate inverse mass matrix for all nodes - for (int j = 0; j < rsb->m_nodes.size(); ++j) - { - if (rsb->m_nodes[j].m_im > 0) - { - rsb->m_nodes[j].m_effectiveMass_inv = rsb->m_nodes[j].m_effectiveMass.inverse(); - } - } - - // rigid motion: t, R at time^* - rsb->predictIntegratedTransform(solverdt, rsb->getInterpolationWorldTransform()); - - // update reduced dofs at time^* - // rsb->updateReducedDofs(solverdt); - - // update local moment arm at time^* - // rsb->updateLocalMomentArm(); - // rsb->updateExternalForceProjectMatrix(true); - - // predict full space velocity at time^* (needed for constraints) - rsb->mapToFullVelocity(rsb->getInterpolationWorldTransform()); - - // update full space nodal position at time^* - rsb->mapToFullPosition(rsb->getInterpolationWorldTransform()); - - // update bounding box - rsb->updateBounds(); - - // update tree - rsb->updateNodeTree(true, true); - if (!rsb->m_fdbvt.empty()) - { - rsb->updateFaceTree(true, true); - } - } -} - -void btReducedDeformableBodySolver::applyExplicitForce(btScalar solverdt) -{ - for (int i = 0; i < m_softBodies.size(); ++i) - { - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(m_softBodies[i]); - - // apply gravity to the rigid frame, get m_linearVelocity at time^* - rsb->applyRigidGravity(m_gravity, solverdt); - - if (!rsb->isReducedModesOFF()) - { - // add internal force (elastic force & damping force) - rsb->applyReducedElasticForce(rsb->m_reducedDofsBuffer); - rsb->applyReducedDampingForce(rsb->m_reducedVelocityBuffer); - - // get reduced velocity at time^* - rsb->updateReducedVelocity(solverdt); - } - - // apply damping (no need at this point) - // rsb->applyDamping(solverdt); - } -} - -void btReducedDeformableBodySolver::applyTransforms(btScalar timeStep) -{ - for (int i = 0; i < m_softBodies.size(); ++i) - { - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(m_softBodies[i]); - - // rigid motion - rsb->proceedToTransform(timeStep, true); - - if (!rsb->isReducedModesOFF()) - { - // update reduced dofs for time^n+1 - rsb->updateReducedDofs(timeStep); - - // update local moment arm for time^n+1 - rsb->updateLocalMomentArm(); - rsb->updateExternalForceProjectMatrix(true); - } - - // update mesh nodal positions for time^n+1 - rsb->mapToFullPosition(rsb->getRigidTransform()); - - // update mesh nodal velocity - rsb->mapToFullVelocity(rsb->getRigidTransform()); - - // end of time step clean up and update - rsb->endOfTimeStepZeroing(); - - // update the rendering mesh - rsb->interpolateRenderMesh(); - } -} - -void btReducedDeformableBodySolver::setConstraints(const btContactSolverInfo& infoGlobal) -{ - for (int i = 0; i < m_softBodies.size(); ++i) - { - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(m_softBodies[i]); - if (!rsb->isActive()) - { - continue; - } - - // set fixed constraints - for (int j = 0; j < rsb->m_fixedNodes.size(); ++j) - { - int i_node = rsb->m_fixedNodes[j]; - if (rsb->m_nodes[i_node].m_im == 0) - { - for (int k = 0; k < 3; ++k) - { - btVector3 dir(0, 0, 0); - dir[k] = 1; - btReducedDeformableStaticConstraint static_constraint(rsb, &rsb->m_nodes[i_node], rsb->getRelativePos(i_node), rsb->m_x0[i_node], dir, infoGlobal, m_dt); - m_staticConstraints[i].push_back(static_constraint); - } - } - } - btAssert(rsb->m_fixedNodes.size() * 3 == m_staticConstraints[i].size()); - - // set Deformable Node vs. Rigid constraint - for (int j = 0; j < rsb->m_nodeRigidContacts.size(); ++j) - { - const btSoftBody::DeformableNodeRigidContact& contact = rsb->m_nodeRigidContacts[j]; - // skip fixed points - if (contact.m_node->m_im == 0) - { - continue; - } - btReducedDeformableNodeRigidContactConstraint constraint(rsb, contact, infoGlobal, m_dt); - m_nodeRigidConstraints[i].push_back(constraint); - rsb->m_contactNodesList.push_back(contact.m_node->index - rsb->m_nodeIndexOffset); - } - // std::cout << "contact node list size: " << rsb->m_contactNodesList.size() << "\n"; - // std::cout << "#contact nodes: " << m_nodeRigidConstraints[i].size() << "\n"; - - } -} - -btScalar btReducedDeformableBodySolver::solveContactConstraints(btCollisionObject** deformableBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal) -{ - btScalar residualSquare = 0; - - for (int i = 0; i < m_softBodies.size(); ++i) - { - btAlignedObjectArray<int> m_orderNonContactConstraintPool; - btAlignedObjectArray<int> m_orderContactConstraintPool; - - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(m_softBodies[i]); - - // shuffle the order of applying constraint - m_orderNonContactConstraintPool.resize(m_staticConstraints[i].size()); - m_orderContactConstraintPool.resize(m_nodeRigidConstraints[i].size()); - if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER) - { - // fixed constraint order - for (int j = 0; j < m_staticConstraints[i].size(); ++j) - { - m_orderNonContactConstraintPool[j] = m_ascendOrder ? j : m_staticConstraints[i].size() - 1 - j; - } - // contact constraint order - for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j) - { - m_orderContactConstraintPool[j] = m_ascendOrder ? j : m_nodeRigidConstraints[i].size() - 1 - j; - } - - m_ascendOrder = m_ascendOrder ? false : true; - } - else - { - for (int j = 0; j < m_staticConstraints[i].size(); ++j) - { - m_orderNonContactConstraintPool[j] = j; - } - // contact constraint order - for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j) - { - m_orderContactConstraintPool[j] = j; - } - } - - // handle fixed constraint - for (int k = 0; k < m_staticConstraints[i].size(); ++k) - { - btReducedDeformableStaticConstraint& constraint = m_staticConstraints[i][m_orderNonContactConstraintPool[k]]; - btScalar localResidualSquare = constraint.solveConstraint(infoGlobal); - residualSquare = btMax(residualSquare, localResidualSquare); - } - - // handle contact constraint - - // node vs rigid contact - // std::cout << "!!#contact_nodes: " << m_nodeRigidConstraints[i].size() << '\n'; - for (int k = 0; k < m_nodeRigidConstraints[i].size(); ++k) - { - btReducedDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[i][m_orderContactConstraintPool[k]]; - btScalar localResidualSquare = constraint.solveConstraint(infoGlobal); - residualSquare = btMax(residualSquare, localResidualSquare); - } - - // face vs rigid contact - // for (int k = 0; k < m_faceRigidConstraints[i].size(); ++k) - // { - // btReducedDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[i][k]; - // btScalar localResidualSquare = constraint.solveConstraint(infoGlobal); - // residualSquare = btMax(residualSquare, localResidualSquare); - // } - } - - - return residualSquare; -} - -void btReducedDeformableBodySolver::deformableBodyInternalWriteBack() -{ - // reduced deformable update - for (int i = 0; i < m_softBodies.size(); ++i) - { - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(m_softBodies[i]); - rsb->applyInternalVelocityChanges(); - } - m_ascendOrder = true; -}
\ No newline at end of file diff --git a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h deleted file mode 100644 index 04c171f31..000000000 --- a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h +++ /dev/null @@ -1,61 +0,0 @@ -#ifndef BT_REDUCED_DEFORMABLE_BODY_DYNAMICS_WORLD_H -#define BT_REDUCED_DEFORMABLE_BODY_DYNAMICS_WORLD_H - -#include "BulletSoftBody/btDeformableBodySolver.h" -#include "btReducedDeformableContactConstraint.h" - -class btReducedDeformableBody; - -class btReducedDeformableBodySolver : public btDeformableBodySolver -{ - protected: - bool m_ascendOrder; - btScalar m_dampingAlpha; - btScalar m_dampingBeta; - - btVector3 m_gravity; - - void predictReduceDeformableMotion(btScalar solverdt); - - void applyExplicitForce(btScalar solverdt); - - public: - btAlignedObjectArray<btAlignedObjectArray<btReducedDeformableStaticConstraint> > m_staticConstraints; - btAlignedObjectArray<btAlignedObjectArray<btReducedDeformableNodeRigidContactConstraint> > m_nodeRigidConstraints; - btAlignedObjectArray<btAlignedObjectArray<btReducedDeformableFaceRigidContactConstraint> > m_faceRigidConstraints; - - btReducedDeformableBodySolver(); - ~btReducedDeformableBodySolver() {} - - virtual void setGravity(const btVector3& gravity); - - virtual SolverTypes getSolverType() const - { - return REDUCED_DEFORMABLE_SOLVER; - } - - // resize/clear data structures - virtual void reinitialize(const btAlignedObjectArray<btSoftBody*>& bodies, btScalar dt); - - virtual void predictMotion(btScalar solverdt); - - virtual void applyTransforms(btScalar timeStep); - - // set up contact constraints - virtual void setConstraints(const btContactSolverInfo& infoGlobal); - - // solve all constraints (fixed and contact) - virtual btScalar solveContactConstraints(btCollisionObject** deformableBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal); - - // apply all the delta velocities - virtual void deformableBodyInternalWriteBack(); - - // virtual void setProjection() {} - - // virtual void setLagrangeMultiplier() {} - - // virtual void setupDeformableSolve(bool implicit); - -}; - -#endif // BT_REDUCED_DEFORMABLE_BODY_DYNAMICS_WORLD_H
\ No newline at end of file diff --git a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.cpp b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.cpp deleted file mode 100644 index 3c78d2d22..000000000 --- a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.cpp +++ /dev/null @@ -1,579 +0,0 @@ -#include "btReducedDeformableContactConstraint.h" -#include <iostream> - -// ================= static constraints =================== -btReducedDeformableStaticConstraint::btReducedDeformableStaticConstraint( - btReducedDeformableBody* rsb, - btSoftBody::Node* node, - const btVector3& ri, - const btVector3& x0, - const btVector3& dir, - const btContactSolverInfo& infoGlobal, - btScalar dt) - : m_rsb(rsb), m_ri(ri), m_targetPos(x0), m_impulseDirection(dir), m_dt(dt), btDeformableStaticConstraint(node, infoGlobal) -{ - m_erp = 0.2; - m_appliedImpulse = 0; - - // get impulse factor - m_impulseFactorMatrix = rsb->getImpulseFactor(m_node->index); - m_impulseFactor = (m_impulseFactorMatrix * m_impulseDirection).dot(m_impulseDirection); - - btScalar vel_error = btDot(-m_node->m_v, m_impulseDirection); - btScalar pos_error = btDot(m_targetPos - m_node->m_x, m_impulseDirection); - - m_rhs = (vel_error + m_erp * pos_error / m_dt) / m_impulseFactor; -} - -btScalar btReducedDeformableStaticConstraint::solveConstraint(const btContactSolverInfo& infoGlobal) -{ - // target velocity of fixed constraint is 0 - btVector3 deltaVa = getDeltaVa(); - btScalar deltaV_rel = btDot(deltaVa, m_impulseDirection); - btScalar deltaImpulse = m_rhs - deltaV_rel / m_impulseFactor; - m_appliedImpulse = m_appliedImpulse + deltaImpulse; - - btVector3 impulse = deltaImpulse * m_impulseDirection; - applyImpulse(impulse); - - // calculate residual - btScalar residualSquare = m_impulseFactor * deltaImpulse; - residualSquare *= residualSquare; - - return residualSquare; -} - -// this calls reduced deformable body's internalApplyFullSpaceImpulse -void btReducedDeformableStaticConstraint::applyImpulse(const btVector3& impulse) -{ - // apply full space impulse - m_rsb->internalApplyFullSpaceImpulse(impulse, m_ri, m_node->index, m_dt); -} - -btVector3 btReducedDeformableStaticConstraint::getDeltaVa() const -{ - return m_rsb->internalComputeNodeDeltaVelocity(m_rsb->getInterpolationWorldTransform(), m_node->index); -} - -// ================= base contact constraints =================== -btReducedDeformableRigidContactConstraint::btReducedDeformableRigidContactConstraint( - btReducedDeformableBody* rsb, - const btSoftBody::DeformableRigidContact& c, - const btContactSolverInfo& infoGlobal, - btScalar dt) - : m_rsb(rsb), m_dt(dt), btDeformableRigidContactConstraint(c, infoGlobal) -{ - m_nodeQueryIndex = 0; - m_appliedNormalImpulse = 0; - m_appliedTangentImpulse = 0; - m_rhs = 0; - m_rhs_tangent = 0; - m_cfm = infoGlobal.m_deformable_cfm; - m_cfm_friction = 0; - m_erp = infoGlobal.m_deformable_erp; - m_erp_friction = infoGlobal.m_deformable_erp; - m_friction = infoGlobal.m_friction; - - m_collideStatic = m_contact->m_cti.m_colObj->isStaticObject(); - m_collideMultibody = (m_contact->m_cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK); -} - -void btReducedDeformableRigidContactConstraint::setSolverBody(const int bodyId, btSolverBody& solver_body) -{ - if (!m_collideMultibody) - { - m_solverBodyId = bodyId; - m_solverBody = &solver_body; - m_linearComponentNormal = -m_contactNormalA * m_solverBody->internalGetInvMass(); - btVector3 torqueAxis = -m_relPosA.cross(m_contactNormalA); - m_angularComponentNormal = m_solverBody->m_originalBody->getInvInertiaTensorWorld() * torqueAxis; - - m_linearComponentTangent = m_contactTangent * m_solverBody->internalGetInvMass(); - btVector3 torqueAxisTangent = m_relPosA.cross(m_contactTangent); - m_angularComponentTangent = m_solverBody->m_originalBody->getInvInertiaTensorWorld() * torqueAxisTangent; - } -} - -btVector3 btReducedDeformableRigidContactConstraint::getVa() const -{ - btVector3 Va(0, 0, 0); - if (!m_collideStatic) - { - Va = btDeformableRigidContactConstraint::getVa(); - } - return Va; -} - -btScalar btReducedDeformableRigidContactConstraint::solveConstraint(const btContactSolverInfo& infoGlobal) -{ - // btVector3 Va = getVa(); - // btVector3 deltaVa = Va - m_bufferVelocityA; - // if (!m_collideStatic) - // { - // std::cout << "moving collision!!!\n"; - // std::cout << "relPosA: " << m_relPosA[0] << "\t" << m_relPosA[1] << "\t" << m_relPosA[2] << "\n"; - // std::cout << "moving rigid linear_vel: " << m_solverBody->m_originalBody->getLinearVelocity()[0] << '\t' - // << m_solverBody->m_originalBody->getLinearVelocity()[1] << '\t' - // << m_solverBody->m_originalBody->getLinearVelocity()[2] << '\n'; - // } - btVector3 deltaVa = getDeltaVa(); - btVector3 deltaVb = getDeltaVb(); - - // if (!m_collideStatic) - // { - // std::cout << "deltaVa: " << deltaVa[0] << '\t' << deltaVa[1] << '\t' << deltaVa[2] << '\n'; - // std::cout << "deltaVb: " << deltaVb[0] << '\t' << deltaVb[1] << '\t' << deltaVb[2] << '\n'; - // } - - // get delta relative velocity and magnitude (i.e., how much impulse has been applied?) - btVector3 deltaV_rel = deltaVa - deltaVb; - btScalar deltaV_rel_normal = -btDot(deltaV_rel, m_contactNormalA); - - // if (!m_collideStatic) - // { - // std::cout << "deltaV_rel: " << deltaV_rel[0] << '\t' << deltaV_rel[1] << '\t' << deltaV_rel[2] << "\n"; - // std::cout << "deltaV_rel_normal: " << deltaV_rel_normal << "\n"; - // std::cout << "normal_A: " << m_contactNormalA[0] << '\t' << m_contactNormalA[1] << '\t' << m_contactNormalA[2] << '\n'; - // } - - // get the normal impulse to be applied - btScalar deltaImpulse = m_rhs - m_appliedNormalImpulse * m_cfm - deltaV_rel_normal / m_normalImpulseFactor; - // if (!m_collideStatic) - // { - // std::cout << "m_rhs: " << m_rhs << '\t' << "m_appliedNormalImpulse: " << m_appliedNormalImpulse << "\n"; - // std::cout << "m_normalImpulseFactor: " << m_normalImpulseFactor << '\n'; - // } - - { - // cumulative impulse that has been applied - btScalar sum = m_appliedNormalImpulse + deltaImpulse; - // if the cumulative impulse is pushing the object into the rigid body, set it zero - if (sum < 0) - { - deltaImpulse = -m_appliedNormalImpulse; - m_appliedNormalImpulse = 0; - } - else - { - m_appliedNormalImpulse = sum; - } - } - - // if (!m_collideStatic) - // { - // std::cout << "m_appliedNormalImpulse: " << m_appliedNormalImpulse << '\n'; - // std::cout << "deltaImpulse: " << deltaImpulse << '\n'; - // } - - // residual is the nodal normal velocity change in current iteration - btScalar residualSquare = deltaImpulse * m_normalImpulseFactor; // get residual - residualSquare *= residualSquare; - - - // apply Coulomb friction (based on delta velocity, |dv_t| = |dv_n * friction|) - btScalar deltaImpulse_tangent = 0; - btScalar deltaImpulse_tangent2 = 0; - { - // calculate how much impulse is needed - // btScalar deltaV_rel_tangent = btDot(deltaV_rel, m_contactTangent); - // btScalar impulse_changed = deltaV_rel_tangent * m_tangentImpulseFactorInv; - // deltaImpulse_tangent = m_rhs_tangent - impulse_changed; - - // btScalar sum = m_appliedTangentImpulse + deltaImpulse_tangent; - btScalar lower_limit = - m_appliedNormalImpulse * m_friction; - btScalar upper_limit = m_appliedNormalImpulse * m_friction; - // if (sum > upper_limit) - // { - // deltaImpulse_tangent = upper_limit - m_appliedTangentImpulse; - // m_appliedTangentImpulse = upper_limit; - // } - // else if (sum < lower_limit) - // { - // deltaImpulse_tangent = lower_limit - m_appliedTangentImpulse; - // m_appliedTangentImpulse = lower_limit; - // } - // else - // { - // m_appliedTangentImpulse = sum; - // } - // - calculateTangentialImpulse(deltaImpulse_tangent, m_appliedTangentImpulse, m_rhs_tangent, - m_tangentImpulseFactorInv, m_contactTangent, lower_limit, upper_limit, deltaV_rel); - - if (m_collideMultibody) - { - calculateTangentialImpulse(deltaImpulse_tangent2, m_appliedTangentImpulse2, m_rhs_tangent2, - m_tangentImpulseFactorInv2, m_contactTangent2, lower_limit, upper_limit, deltaV_rel); - } - - - if (!m_collideStatic) - { - // std::cout << "m_contactTangent: " << m_contactTangent[0] << "\t" << m_contactTangent[1] << "\t" << m_contactTangent[2] << "\n"; - // std::cout << "deltaV_rel_tangent: " << deltaV_rel_tangent << '\n'; - // std::cout << "deltaImpulseTangent: " << deltaImpulse_tangent << '\n'; - // std::cout << "m_appliedTangentImpulse: " << m_appliedTangentImpulse << '\n'; - } - } - - // get the total impulse vector - btVector3 impulse_normal = deltaImpulse * m_contactNormalA; - btVector3 impulse_tangent = deltaImpulse_tangent * (-m_contactTangent); - btVector3 impulse_tangent2 = deltaImpulse_tangent2 * (-m_contactTangent2); - btVector3 impulse = impulse_normal + impulse_tangent + impulse_tangent2; - - applyImpulse(impulse); - - // apply impulse to the rigid/multibodies involved and change their velocities - if (!m_collideStatic) - { - // std::cout << "linear_component: " << m_linearComponentNormal[0] << '\t' - // << m_linearComponentNormal[1] << '\t' - // << m_linearComponentNormal[2] << '\n'; - // std::cout << "angular_component: " << m_angularComponentNormal[0] << '\t' - // << m_angularComponentNormal[1] << '\t' - // << m_angularComponentNormal[2] << '\n'; - - if (!m_collideMultibody) // collision with rigid body - { - // std::cout << "rigid impulse applied!!\n"; - // std::cout << "delta Linear: " << m_solverBody->getDeltaLinearVelocity()[0] << '\t' - // << m_solverBody->getDeltaLinearVelocity()[1] << '\t' - // << m_solverBody->getDeltaLinearVelocity()[2] << '\n'; - // std::cout << "delta Angular: " << m_solverBody->getDeltaAngularVelocity()[0] << '\t' - // << m_solverBody->getDeltaAngularVelocity()[1] << '\t' - // << m_solverBody->getDeltaAngularVelocity()[2] << '\n'; - - m_solverBody->internalApplyImpulse(m_linearComponentNormal, m_angularComponentNormal, deltaImpulse); - m_solverBody->internalApplyImpulse(m_linearComponentTangent, m_angularComponentTangent, deltaImpulse_tangent); - - // std::cout << "after\n"; - // std::cout << "rigid impulse applied!!\n"; - // std::cout << "delta Linear: " << m_solverBody->getDeltaLinearVelocity()[0] << '\t' - // << m_solverBody->getDeltaLinearVelocity()[1] << '\t' - // << m_solverBody->getDeltaLinearVelocity()[2] << '\n'; - // std::cout << "delta Angular: " << m_solverBody->getDeltaAngularVelocity()[0] << '\t' - // << m_solverBody->getDeltaAngularVelocity()[1] << '\t' - // << m_solverBody->getDeltaAngularVelocity()[2] << '\n'; - } - else // collision with multibody - { - btMultiBodyLinkCollider* multibodyLinkCol = 0; - multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(m_contact->m_cti.m_colObj); - if (multibodyLinkCol) - { - const btScalar* deltaV_normal = &m_contact->jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; - // apply normal component of the impulse - multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_normal, -deltaImpulse); - - // const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; - // std::cout << "deltaV_normal: "; - // for (int i = 0; i < ndof; ++i) - // { - // std::cout << i << "\t" << deltaV_normal[i] << '\n'; - // } - - if (impulse_tangent.norm() > SIMD_EPSILON) - { - // apply tangential component of the impulse - const btScalar* deltaV_t1 = &m_contact->jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; - multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t1, deltaImpulse_tangent); - const btScalar* deltaV_t2 = &m_contact->jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; - multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t2, deltaImpulse_tangent2); - } - } - } - } - return residualSquare; -} - -void btReducedDeformableRigidContactConstraint::calculateTangentialImpulse(btScalar& deltaImpulse_tangent, - btScalar& appliedImpulse, - const btScalar rhs_tangent, - const btScalar tangentImpulseFactorInv, - const btVector3& tangent, - const btScalar lower_limit, - const btScalar upper_limit, - const btVector3& deltaV_rel) -{ - btScalar deltaV_rel_tangent = btDot(deltaV_rel, tangent); - btScalar impulse_changed = deltaV_rel_tangent * tangentImpulseFactorInv; - deltaImpulse_tangent = rhs_tangent - m_cfm_friction * appliedImpulse - impulse_changed; - - btScalar sum = appliedImpulse + deltaImpulse_tangent; - if (sum > upper_limit) - { - deltaImpulse_tangent = upper_limit - appliedImpulse; - appliedImpulse = upper_limit; - } - else if (sum < lower_limit) - { - deltaImpulse_tangent = lower_limit - appliedImpulse; - appliedImpulse = lower_limit; - } - else - { - appliedImpulse = sum; - } -} - -// ================= node vs rigid constraints =================== -btReducedDeformableNodeRigidContactConstraint::btReducedDeformableNodeRigidContactConstraint( - btReducedDeformableBody* rsb, - const btSoftBody::DeformableNodeRigidContact& contact, - const btContactSolverInfo& infoGlobal, - btScalar dt) - : m_node(contact.m_node), btReducedDeformableRigidContactConstraint(rsb, contact, infoGlobal, dt) -{ - m_contactNormalA = contact.m_cti.m_normal; - m_contactNormalB = -contact.m_cti.m_normal; - - if (contact.m_node->index < rsb->m_nodes.size()) - { - m_nodeQueryIndex = contact.m_node->index; - } - else - { - m_nodeQueryIndex = m_node->index - rsb->m_nodeIndexOffset; - } - - if (m_contact->m_cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) - { - m_relPosA = contact.m_c1; - } - else - { - m_relPosA = btVector3(0,0,0); - } - m_relPosB = m_node->m_x - m_rsb->getRigidTransform().getOrigin(); - - if (m_collideStatic) // colliding with static object, only consider reduced deformable body's impulse factor - { - m_impulseFactor = m_rsb->getImpulseFactor(m_nodeQueryIndex); - } - else // colliding with dynamic object, consider both reduced deformable and rigid body's impulse factors - { - m_impulseFactor = m_rsb->getImpulseFactor(m_nodeQueryIndex) + contact.m_c0; - } - - m_normalImpulseFactor = (m_impulseFactor * m_contactNormalA).dot(m_contactNormalA); - m_tangentImpulseFactor = 0; - - warmStarting(); -} - -void btReducedDeformableNodeRigidContactConstraint::warmStarting() -{ - btVector3 va = getVa(); - btVector3 vb = getVb(); - m_bufferVelocityA = va; - m_bufferVelocityB = vb; - - // we define the (+) direction of errors to be the outward surface normal of the rigid object - btVector3 v_rel = vb - va; - // get tangent direction of the relative velocity - btVector3 v_tangent = v_rel - v_rel.dot(m_contactNormalA) * m_contactNormalA; - if (v_tangent.norm() < SIMD_EPSILON) - { - m_contactTangent = btVector3(0, 0, 0); - // tangent impulse factor - m_tangentImpulseFactor = 0; - m_tangentImpulseFactorInv = 0; - } - else - { - if (!m_collideMultibody) - { - m_contactTangent = v_tangent.normalized(); - m_contactTangent2.setZero(); - // tangent impulse factor 1 - m_tangentImpulseFactor = (m_impulseFactor * m_contactTangent).dot(m_contactTangent); - m_tangentImpulseFactorInv = btScalar(1) / m_tangentImpulseFactor; - // tangent impulse factor 2 - m_tangentImpulseFactor2 = 0; - m_tangentImpulseFactorInv2 = 0; - } - else // multibody requires 2 contact directions - { - m_contactTangent = m_contact->t1; - m_contactTangent2 = m_contact->t2; - - // tangent impulse factor 1 - m_tangentImpulseFactor = (m_impulseFactor * m_contactTangent).dot(m_contactTangent); - m_tangentImpulseFactorInv = btScalar(1) / m_tangentImpulseFactor; - // tangent impulse factor 2 - m_tangentImpulseFactor2 = (m_impulseFactor * m_contactTangent2).dot(m_contactTangent2); - m_tangentImpulseFactorInv2 = btScalar(1) / m_tangentImpulseFactor2; - } - } - - - // initial guess for normal impulse - { - btScalar velocity_error = btDot(v_rel, m_contactNormalA); // magnitude of relative velocity - btScalar position_error = 0; - if (m_penetration > 0) - { - velocity_error += m_penetration / m_dt; - } - else - { - // add penetration correction vel - position_error = m_penetration * m_erp / m_dt; - } - // get the initial estimate of impulse magnitude to be applied - m_rhs = -(velocity_error + position_error) / m_normalImpulseFactor; - } - - // initial guess for tangential impulse - { - btScalar velocity_error = btDot(v_rel, m_contactTangent); - m_rhs_tangent = velocity_error * m_tangentImpulseFactorInv; - - if (m_collideMultibody) - { - btScalar velocity_error2 = btDot(v_rel, m_contactTangent2); - m_rhs_tangent2 = velocity_error2 * m_tangentImpulseFactorInv2; - } - } - - // warm starting - // applyImpulse(m_rhs * m_contactNormalA); - // if (!m_collideStatic) - // { - // const btSoftBody::sCti& cti = m_contact->m_cti; - // if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) - // { - // m_solverBody->internalApplyImpulse(m_linearComponentNormal, m_angularComponentNormal, -m_rhs); - // } - // } -} - -btVector3 btReducedDeformableNodeRigidContactConstraint::getVb() const -{ - return m_node->m_v; -} - -btVector3 btReducedDeformableNodeRigidContactConstraint::getDeltaVa() const -{ - btVector3 deltaVa(0, 0, 0); - if (!m_collideStatic) - { - if (!m_collideMultibody) // for rigid body - { - deltaVa = m_solverBody->internalGetDeltaLinearVelocity() + m_solverBody->internalGetDeltaAngularVelocity().cross(m_relPosA); - } - else // for multibody - { - btMultiBodyLinkCollider* multibodyLinkCol = 0; - multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(m_contact->m_cti.m_colObj); - if (multibodyLinkCol) - { - const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; - const btScalar* J_n = &m_contact->jacobianData_normal.m_jacobians[0]; - const btScalar* J_t1 = &m_contact->jacobianData_t1.m_jacobians[0]; - const btScalar* J_t2 = &m_contact->jacobianData_t2.m_jacobians[0]; - const btScalar* local_dv = multibodyLinkCol->m_multiBody->getDeltaVelocityVector(); - // add in the normal component of the va - btScalar vel = 0; - for (int k = 0; k < ndof; ++k) - { - vel += local_dv[k] * J_n[k]; - } - deltaVa = m_contact->m_cti.m_normal * vel; - - // add in the tangential components of the va - vel = 0; - for (int k = 0; k < ndof; ++k) - { - vel += local_dv[k] * J_t1[k]; - } - deltaVa += m_contact->t1 * vel; - - vel = 0; - for (int k = 0; k < ndof; ++k) - { - vel += local_dv[k] * J_t2[k]; - } - deltaVa += m_contact->t2 * vel; - } - } - } - return deltaVa; -} - -btVector3 btReducedDeformableNodeRigidContactConstraint::getDeltaVb() const -{ - // std::cout << "node: " << m_node->index << '\n'; - return m_rsb->internalComputeNodeDeltaVelocity(m_rsb->getInterpolationWorldTransform(), m_nodeQueryIndex); -} - -btVector3 btReducedDeformableNodeRigidContactConstraint::getSplitVb() const -{ - return m_node->m_splitv; -} - -btVector3 btReducedDeformableNodeRigidContactConstraint::getDv(const btSoftBody::Node* node) const -{ - return m_total_normal_dv + m_total_tangent_dv; -} - -void btReducedDeformableNodeRigidContactConstraint::applyImpulse(const btVector3& impulse) -{ - m_rsb->internalApplyFullSpaceImpulse(impulse, m_relPosB, m_nodeQueryIndex, m_dt); - // m_rsb->applyFullSpaceImpulse(impulse, m_relPosB, m_node->index, m_dt); - // m_rsb->mapToFullVelocity(m_rsb->getInterpolationWorldTransform()); - // if (!m_collideStatic) - // { - // // std::cout << "impulse applied: " << impulse[0] << '\t' << impulse[1] << '\t' << impulse[2] << '\n'; - // // std::cout << "node: " << m_node->index << " vel: " << m_node->m_v[0] << '\t' << m_node->m_v[1] << '\t' << m_node->m_v[2] << '\n'; - // btVector3 v_after = getDeltaVb() + m_node->m_v; - // // std::cout << "vel after: " << v_after[0] << '\t' << v_after[1] << '\t' << v_after[2] << '\n'; - // } - // std::cout << "node: " << m_node->index << " pos: " << m_node->m_x[0] << '\t' << m_node->m_x[1] << '\t' << m_node->m_x[2] << '\n'; -} - -// ================= face vs rigid constraints =================== -btReducedDeformableFaceRigidContactConstraint::btReducedDeformableFaceRigidContactConstraint( - btReducedDeformableBody* rsb, - const btSoftBody::DeformableFaceRigidContact& contact, - const btContactSolverInfo& infoGlobal, - btScalar dt, - bool useStrainLimiting) - : m_face(contact.m_face), m_useStrainLimiting(useStrainLimiting), btReducedDeformableRigidContactConstraint(rsb, contact, infoGlobal, dt) -{} - -btVector3 btReducedDeformableFaceRigidContactConstraint::getVb() const -{ - const btSoftBody::DeformableFaceRigidContact* contact = getContact(); - btVector3 vb = m_face->m_n[0]->m_v * contact->m_bary[0] + m_face->m_n[1]->m_v * contact->m_bary[1] + m_face->m_n[2]->m_v * contact->m_bary[2]; - return vb; -} - -btVector3 btReducedDeformableFaceRigidContactConstraint::getSplitVb() const -{ - const btSoftBody::DeformableFaceRigidContact* contact = getContact(); - btVector3 vb = (m_face->m_n[0]->m_splitv) * contact->m_bary[0] + (m_face->m_n[1]->m_splitv) * contact->m_bary[1] + (m_face->m_n[2]->m_splitv) * contact->m_bary[2]; - return vb; -} - -btVector3 btReducedDeformableFaceRigidContactConstraint::getDv(const btSoftBody::Node* node) const -{ - btVector3 face_dv = m_total_normal_dv + m_total_tangent_dv; - const btSoftBody::DeformableFaceRigidContact* contact = getContact(); - if (m_face->m_n[0] == node) - { - return face_dv * contact->m_weights[0]; - } - if (m_face->m_n[1] == node) - { - return face_dv * contact->m_weights[1]; - } - btAssert(node == m_face->m_n[2]); - return face_dv * contact->m_weights[2]; -} - -void btReducedDeformableFaceRigidContactConstraint::applyImpulse(const btVector3& impulse) -{ - // -}
\ No newline at end of file diff --git a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.h b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.h deleted file mode 100644 index 10d0938c5..000000000 --- a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.h +++ /dev/null @@ -1,194 +0,0 @@ -#include "../btDeformableContactConstraint.h" -#include "btReducedDeformableBody.h" - -// ================= static constraints =================== -class btReducedDeformableStaticConstraint : public btDeformableStaticConstraint -{ - public: - btReducedDeformableBody* m_rsb; - btScalar m_dt; - btVector3 m_ri; - btVector3 m_targetPos; - btVector3 m_impulseDirection; - btMatrix3x3 m_impulseFactorMatrix; - btScalar m_impulseFactor; - btScalar m_rhs; - btScalar m_appliedImpulse; - btScalar m_erp; - - btReducedDeformableStaticConstraint(btReducedDeformableBody* rsb, - btSoftBody::Node* node, - const btVector3& ri, - const btVector3& x0, - const btVector3& dir, - const btContactSolverInfo& infoGlobal, - btScalar dt); - // btReducedDeformableStaticConstraint(const btReducedDeformableStaticConstraint& other); - btReducedDeformableStaticConstraint() {} - virtual ~btReducedDeformableStaticConstraint() {} - - virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal); - - // this calls reduced deformable body's applyFullSpaceImpulse - virtual void applyImpulse(const btVector3& impulse); - - btVector3 getDeltaVa() const; - - // virtual void applySplitImpulse(const btVector3& impulse) {} -}; - -// ================= base contact constraints =================== -class btReducedDeformableRigidContactConstraint : public btDeformableRigidContactConstraint -{ - public: - bool m_collideStatic; // flag for collision with static object - bool m_collideMultibody; // flag for collision with multibody - - int m_nodeQueryIndex; - int m_solverBodyId; // for debugging - - btReducedDeformableBody* m_rsb; - btSolverBody* m_solverBody; - btScalar m_dt; - - btScalar m_appliedNormalImpulse; - btScalar m_appliedTangentImpulse; - btScalar m_appliedTangentImpulse2; - btScalar m_normalImpulseFactor; - btScalar m_tangentImpulseFactor; - btScalar m_tangentImpulseFactor2; - btScalar m_tangentImpulseFactorInv; - btScalar m_tangentImpulseFactorInv2; - btScalar m_rhs; - btScalar m_rhs_tangent; - btScalar m_rhs_tangent2; - - btScalar m_cfm; - btScalar m_cfm_friction; - btScalar m_erp; - btScalar m_erp_friction; - btScalar m_friction; - - btVector3 m_contactNormalA; // surface normal for rigid body (opposite direction as impulse) - btVector3 m_contactNormalB; // surface normal for reduced deformable body (opposite direction as impulse) - btVector3 m_contactTangent; // tangential direction of the relative velocity - btVector3 m_contactTangent2; // 2nd tangential direction of the relative velocity - btVector3 m_relPosA; // relative position of the contact point for A (rigid) - btVector3 m_relPosB; // relative position of the contact point for B - btMatrix3x3 m_impulseFactor; // total impulse matrix - - btVector3 m_bufferVelocityA; // velocity at the beginning of the iteration - btVector3 m_bufferVelocityB; - btVector3 m_linearComponentNormal; // linear components for the solver body - btVector3 m_angularComponentNormal; // angular components for the solver body - // since 2nd contact direction only applies to multibody, these components will never be used - btVector3 m_linearComponentTangent; - btVector3 m_angularComponentTangent; - - btReducedDeformableRigidContactConstraint(btReducedDeformableBody* rsb, - const btSoftBody::DeformableRigidContact& c, - const btContactSolverInfo& infoGlobal, - btScalar dt); - // btReducedDeformableRigidContactConstraint(const btReducedDeformableRigidContactConstraint& other); - btReducedDeformableRigidContactConstraint() {} - virtual ~btReducedDeformableRigidContactConstraint() {} - - void setSolverBody(const int bodyId, btSolverBody& solver_body); - - virtual void warmStarting() {} - - virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal); - - void calculateTangentialImpulse(btScalar& deltaImpulse_tangent, - btScalar& appliedImpulse, - const btScalar rhs_tangent, - const btScalar tangentImpulseFactorInv, - const btVector3& tangent, - const btScalar lower_limit, - const btScalar upper_limit, - const btVector3& deltaV_rel); - - virtual void applyImpulse(const btVector3& impulse) {} - - virtual void applySplitImpulse(const btVector3& impulse) {} // TODO: may need later - - virtual btVector3 getVa() const; - virtual btVector3 getDeltaVa() const = 0; - virtual btVector3 getDeltaVb() const = 0; -}; - -// ================= node vs rigid constraints =================== -class btReducedDeformableNodeRigidContactConstraint : public btReducedDeformableRigidContactConstraint -{ - public: - btSoftBody::Node* m_node; - - btReducedDeformableNodeRigidContactConstraint(btReducedDeformableBody* rsb, - const btSoftBody::DeformableNodeRigidContact& contact, - const btContactSolverInfo& infoGlobal, - btScalar dt); - // btReducedDeformableNodeRigidContactConstraint(const btReducedDeformableNodeRigidContactConstraint& other); - btReducedDeformableNodeRigidContactConstraint() {} - virtual ~btReducedDeformableNodeRigidContactConstraint() {} - - virtual void warmStarting(); - - // get the velocity of the deformable node in contact - virtual btVector3 getVb() const; - - // get the velocity change of the rigid body - virtual btVector3 getDeltaVa() const; - - // get velocity change of the node in contat - virtual btVector3 getDeltaVb() const; - - // get the split impulse velocity of the deformable face at the contact point - virtual btVector3 getSplitVb() const; - - // get the velocity change of the input soft body node in the constraint - virtual btVector3 getDv(const btSoftBody::Node*) const; - - // cast the contact to the desired type - const btSoftBody::DeformableNodeRigidContact* getContact() const - { - return static_cast<const btSoftBody::DeformableNodeRigidContact*>(m_contact); - } - - // this calls reduced deformable body's applyFullSpaceImpulse - virtual void applyImpulse(const btVector3& impulse); -}; - -// ================= face vs rigid constraints =================== -class btReducedDeformableFaceRigidContactConstraint : public btReducedDeformableRigidContactConstraint -{ - public: - btSoftBody::Face* m_face; - bool m_useStrainLimiting; - - btReducedDeformableFaceRigidContactConstraint(btReducedDeformableBody* rsb, - const btSoftBody::DeformableFaceRigidContact& contact, - const btContactSolverInfo& infoGlobal, - btScalar dt, - bool useStrainLimiting); - // btReducedDeformableFaceRigidContactConstraint(const btReducedDeformableFaceRigidContactConstraint& other); - btReducedDeformableFaceRigidContactConstraint() {} - virtual ~btReducedDeformableFaceRigidContactConstraint() {} - - // get the velocity of the deformable face at the contact point - virtual btVector3 getVb() const; - - // get the split impulse velocity of the deformable face at the contact point - virtual btVector3 getSplitVb() const; - - // get the velocity change of the input soft body node in the constraint - virtual btVector3 getDv(const btSoftBody::Node*) const; - - // cast the contact to the desired type - const btSoftBody::DeformableFaceRigidContact* getContact() const - { - return static_cast<const btSoftBody::DeformableFaceRigidContact*>(m_contact); - } - - // this calls reduced deformable body's applyFullSpaceImpulse - virtual void applyImpulse(const btVector3& impulse); -};
\ No newline at end of file diff --git a/src/BulletSoftBody/CMakeLists.txt b/src/BulletSoftBody/CMakeLists.txt index c12eef5fe..945276801 100644 --- a/src/BulletSoftBody/CMakeLists.txt +++ b/src/BulletSoftBody/CMakeLists.txt @@ -24,11 +24,6 @@ SET(BulletSoftBody_SRCS btDeformableMultiBodyDynamicsWorld.cpp btDeformableContactConstraint.cpp poly34.cpp - - BulletReducedDeformableBody/btReducedDeformableBody.cpp - BulletReducedDeformableBody/btReducedDeformableBodyHelpers.cpp - BulletReducedDeformableBody/btReducedDeformableBodySolver.cpp - BulletReducedDeformableBody/btReducedDeformableContactConstraint.cpp ) @@ -68,11 +63,6 @@ SET(BulletSoftBody_HDRS poly34.h btSoftBodySolverVertexBuffer.h - - BulletReducedDeformableBody/btReducedDeformableBody.h - BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h - BulletReducedDeformableBody/btReducedDeformableBodySolver.h - BulletReducedDeformableBody/btReducedDeformableContactConstraint.h ) diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index 60b6fe388..eb05b9f01 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -25,18 +25,12 @@ #include "btDeformableNeoHookeanForce.h" #include "btDeformableContactProjection.h" #include "btPreconditioner.h" -// #include "btDeformableMultiBodyDynamicsWorld.h" +#include "btDeformableMultiBodyDynamicsWorld.h" #include "LinearMath/btQuickprof.h" class btDeformableBackwardEulerObjective { public: - enum _ - { - Mass_preconditioner, - KKT_preconditioner - }; - typedef btAlignedObjectArray<btVector3> TVStack; btScalar m_dt; btAlignedObjectArray<btDeformableLagrangianForce*> m_lf; diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 4e9df5f83..27f10a92f 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -23,7 +23,6 @@ btDeformableBodySolver::btDeformableBodySolver() : m_numNodes(0), m_cg(kMaxConjugateGradientIterations), m_cr(kMaxConjugateGradientIterations), m_maxNewtonIterations(1), m_newtonTolerance(1e-4), m_lineSearch(false), m_useProjection(false) { m_objective = new btDeformableBackwardEulerObjective(m_softBodies, m_backupVelocity); - m_reducedSolver = false; } btDeformableBodySolver::~btDeformableBodySolver() @@ -402,7 +401,7 @@ void btDeformableBodySolver::predictMotion(btScalar solverdt) } } } - applyExplicitForce(); + m_objective->applyExplicitForce(m_residual); for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; @@ -505,89 +504,3 @@ void btDeformableBodySolver::setLineSearch(bool lineSearch) { m_lineSearch = lineSearch; } - -void btDeformableBodySolver::applyExplicitForce() -{ - m_objective->applyExplicitForce(m_residual); -} - -void btDeformableBodySolver::applyTransforms(btScalar timeStep) -{ - for (int i = 0; i < m_softBodies.size(); ++i) - { - btSoftBody* psb = m_softBodies[i]; - for (int j = 0; j < psb->m_nodes.size(); ++j) - { - btSoftBody::Node& node = psb->m_nodes[j]; - btScalar maxDisplacement = psb->getWorldInfo()->m_maxDisplacement; - btScalar clampDeltaV = maxDisplacement / timeStep; - for (int c = 0; c < 3; c++) - { - if (node.m_v[c] > clampDeltaV) - { - node.m_v[c] = clampDeltaV; - } - if (node.m_v[c] < -clampDeltaV) - { - node.m_v[c] = -clampDeltaV; - } - } - node.m_x = node.m_x + timeStep * (node.m_v + node.m_splitv); - node.m_q = node.m_x; - node.m_vn = node.m_v; - } - // enforce anchor constraints - for (int j = 0; j < psb->m_deformableAnchors.size(); ++j) - { - btSoftBody::DeformableNodeRigidAnchor& a = psb->m_deformableAnchors[j]; - btSoftBody::Node* n = a.m_node; - n->m_x = a.m_cti.m_colObj->getWorldTransform() * a.m_local; - - // update multibody anchor info - if (a.m_cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) - { - btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(a.m_cti.m_colObj); - if (multibodyLinkCol) - { - btVector3 nrm; - const btCollisionShape* shp = multibodyLinkCol->getCollisionShape(); - const btTransform& wtr = multibodyLinkCol->getWorldTransform(); - psb->m_worldInfo->m_sparsesdf.Evaluate( - wtr.invXform(n->m_x), - shp, - nrm, - 0); - a.m_cti.m_normal = wtr.getBasis() * nrm; - btVector3 normal = a.m_cti.m_normal; - btVector3 t1 = generateUnitOrthogonalVector(normal); - btVector3 t2 = btCross(normal, t1); - btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2; - findJacobian(multibodyLinkCol, jacobianData_normal, a.m_node->m_x, normal); - findJacobian(multibodyLinkCol, jacobianData_t1, a.m_node->m_x, t1); - findJacobian(multibodyLinkCol, jacobianData_t2, a.m_node->m_x, t2); - - btScalar* J_n = &jacobianData_normal.m_jacobians[0]; - btScalar* J_t1 = &jacobianData_t1.m_jacobians[0]; - btScalar* J_t2 = &jacobianData_t2.m_jacobians[0]; - - btScalar* u_n = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; - btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; - btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; - - btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(), - t1.getX(), t1.getY(), t1.getZ(), - t2.getX(), t2.getY(), t2.getZ()); // world frame to local frame - const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; - btMatrix3x3 local_impulse_matrix = (Diagonal(n->m_im) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse(); - a.m_c0 = rot.transpose() * local_impulse_matrix * rot; - a.jacobianData_normal = jacobianData_normal; - a.jacobianData_t1 = jacobianData_t1; - a.jacobianData_t2 = jacobianData_t2; - a.t1 = t1; - a.t2 = t2; - } - } - } - psb->interpolateRenderMesh(); - } -}
\ No newline at end of file diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index 68354f199..ae674d6e8 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -24,8 +24,8 @@ #include "btConjugateResidual.h" #include "btConjugateGradient.h" struct btCollisionObjectWrapper; -// class btDeformableBackwardEulerObjective; -// class btDeformableMultiBodyDynamicsWorld; +class btDeformableBackwardEulerObjective; +class btDeformableMultiBodyDynamicsWorld; class btDeformableBodySolver : public btSoftBodySolver { @@ -46,7 +46,6 @@ protected: int m_maxNewtonIterations; // max number of newton iterations btScalar m_newtonTolerance; // stop newton iterations if f(x) < m_newtonTolerance bool m_lineSearch; // If true, use newton's method with line search under implicit scheme - bool m_reducedSolver; // flag for reduced soft body solver public: // handles data related to objective function btDeformableBackwardEulerObjective* m_objective; @@ -69,18 +68,11 @@ public: // solve the momentum equation virtual void solveDeformableConstraints(btScalar solverdt); - // set gravity (get from deformable world) - virtual void setGravity(const btVector3& gravity) - { - // for full deformable object, we don't store gravity in the solver - // this function is overriden in the reduced deformable object - } - // resize/clear data structures - virtual void reinitialize(const btAlignedObjectArray<btSoftBody*>& softBodies, btScalar dt); + void reinitialize(const btAlignedObjectArray<btSoftBody*>& softBodies, btScalar dt); // set up contact constraints - virtual void setConstraints(const btContactSolverInfo& infoGlobal); + void setConstraints(const btContactSolverInfo& infoGlobal); // add in elastic forces and gravity to obtain v_{n+1}^* and calls predictDeformableMotion virtual void predictMotion(btScalar solverdt); @@ -93,7 +85,7 @@ public: void backupVelocity(); // set m_dv and m_backupVelocity to desired value to prepare for momentum solve - virtual void setupDeformableSolve(bool implicit); + void setupDeformableSolve(bool implicit); // set the current velocity to that backed up in m_backupVelocity void revertVelocity(); @@ -158,62 +150,6 @@ public: // used in line search btScalar kineticEnergy(); - // add explicit force to the velocity in the objective class - virtual void applyExplicitForce(); - - // execute position/velocity update and apply anchor constraints in the integrateTransforms from the Dynamics world - virtual void applyTransforms(btScalar timeStep); - - virtual void setStrainLimiting(bool opt) - { - m_objective->m_projection.m_useStrainLimiting = opt; - } - - virtual void setPreconditioner(int opt) - { - switch (opt) - { - case btDeformableBackwardEulerObjective::Mass_preconditioner: - m_objective->m_preconditioner = m_objective->m_massPreconditioner; - break; - - case btDeformableBackwardEulerObjective::KKT_preconditioner: - m_objective->m_preconditioner = m_objective->m_KKTPreconditioner; - break; - - default: - btAssert(false); - break; - } - } - - virtual btAlignedObjectArray<btDeformableLagrangianForce*>* getLagrangianForceArray() - { - return &(m_objective->m_lf); - } - - virtual const btAlignedObjectArray<btSoftBody::Node*>* getIndices() - { - return m_objective->getIndices(); - } - - virtual void setProjection() - { - m_objective->m_projection.setProjection(); - } - - virtual void setLagrangeMultiplier() - { - m_objective->m_projection.setLagrangeMultiplier(); - } - - virtual bool isReducedSolver() - { - return m_reducedSolver; - } - - virtual void deformableBodyInternalWriteBack() {} - // unused functions virtual void optimize(btAlignedObjectArray<btSoftBody*>& softBodies, bool forceUpdate = false) {} virtual void solveConstraints(btScalar dt) {} diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp index 2a0e5ec34..631fd5fbe 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp @@ -14,16 +14,11 @@ */ #include "btDeformableMultiBodyConstraintSolver.h" -#include "BulletReducedDeformableBody/btReducedDeformableBodySolver.h" #include <iostream> -#include <thread> // override the iterations method to include deformable/multibody contact btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations(btCollisionObject** bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) { { - // pair deformable body with solver body - pairDeformableAndSolverBody(bodies, numBodies, numDeformableBodies, infoGlobal); - ///this is a special step to resolve penetrations (just for contacts) solveGroupCacheFriendlySplitImpulseIterations(bodies, numBodies, deformableBodies, numDeformableBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); @@ -42,10 +37,6 @@ btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations(b // solver body velocity <- rigid body velocity writeToSolverBody(bodies, numBodies, infoGlobal); - - // std::cout << "------------Iteration " << iteration << "------------\n"; - // std::cout << "m_leastSquaresResidual: " << m_leastSquaresResidual << "\n"; - if (m_leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || (iteration >= (maxIterations - 1))) { #ifdef VERBOSE_RESIDUAL_PRINTF @@ -60,9 +51,6 @@ btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations(b m_analyticsData.m_numBodies = numBodies; m_analyticsData.m_numContactManifolds = numManifolds; m_analyticsData.m_remainingLeastSquaresResidual = m_leastSquaresResidual; - - m_deformableSolver->deformableBodyInternalWriteBack(); - // std::cout << "[===================Next Step===================]\n"; break; } } @@ -90,12 +78,6 @@ void btDeformableMultiBodyConstraintSolver::solveDeformableBodyGroup(btCollision void btDeformableMultiBodyConstraintSolver::writeToSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) { - // reduced soft body solver directly modifies the solver body - if (m_deformableSolver->isReducedSolver()) - { - return; - } - for (int i = 0; i < numBodies; i++) { int bodyId = getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep); @@ -112,12 +94,6 @@ void btDeformableMultiBodyConstraintSolver::writeToSolverBody(btCollisionObject* void btDeformableMultiBodyConstraintSolver::solverBodyWriteBack(const btContactSolverInfo& infoGlobal) { - // reduced soft body solver directly modifies the solver body - if (m_deformableSolver->isReducedSolver()) - { - return; - } - for (int i = 0; i < m_tmpSolverBodyPool.size(); i++) { btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody; @@ -129,53 +105,6 @@ void btDeformableMultiBodyConstraintSolver::solverBodyWriteBack(const btContactS } } - -void btDeformableMultiBodyConstraintSolver::pairDeformableAndSolverBody(btCollisionObject** bodies, int numBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal) -{ - if (!m_deformableSolver->isReducedSolver()) - { - return; - } - - btReducedDeformableBodySolver* solver = static_cast<btReducedDeformableBodySolver*>(m_deformableSolver); - - for (int i = 0; i < numDeformableBodies; ++i) - { - for (int k = 0; k < solver->m_nodeRigidConstraints[i].size(); ++k) - { - btReducedDeformableNodeRigidContactConstraint& constraint = solver->m_nodeRigidConstraints[i][k]; - - if (!constraint.m_contact->m_cti.m_colObj->isStaticObject()) - { - btCollisionObject& col_obj = const_cast<btCollisionObject&>(*constraint.m_contact->m_cti.m_colObj); - - // object index in the solver body pool - int bodyId = getOrInitSolverBody(col_obj, infoGlobal.m_timeStep); - - const btRigidBody* body = btRigidBody::upcast(bodies[bodyId]); - if (body && body->getInvMass()) - { - // std::cout << "Node: " << constraint.m_node->index << ", body: " << bodyId << "\n"; - btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId]; - constraint.setSolverBody(bodyId, solverBody); - } - } - } - - // for (int j = 0; j < numBodies; j++) - // { - // int bodyId = getOrInitSolverBody(*bodies[j], infoGlobal.m_timeStep); - - // btRigidBody* body = btRigidBody::upcast(bodies[j]); - // if (body && body->getInvMass()) - // { - // btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId]; - // m_deformableSolver->pairConstraintWithSolverBody(i, bodyId, solverBody); - // } - // } - } -} - void btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) { BT_PROFILE("solveGroupCacheFriendlySplitImpulseIterations"); diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h index 28733fa49..94aabce83 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h @@ -43,9 +43,6 @@ protected: // write the velocity of the underlying rigid body to the the the solver body void writeToSolverBody(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal); - // let each deformable body knows which solver body is in constact - void pairDeformableAndSolverBody(btCollisionObject** bodies, int numBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal); - virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject * *bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); virtual btScalar solveDeformableGroupIterations(btCollisionObject * *bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 030cbaf90..bc7b31273 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -94,7 +94,7 @@ void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar t beforeSolverCallbacks(timeStep); - // ///solve contact constraints and then deformable bodies momemtum equation + ///solve contact constraints and then deformable bodies momemtum equation solveConstraints(timeStep); afterSolverCallbacks(timeStep); @@ -298,7 +298,83 @@ void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) BT_PROFILE("integrateTransforms"); positionCorrection(timeStep); btMultiBodyDynamicsWorld::integrateTransforms(timeStep); - m_deformableBodySolver->applyTransforms(timeStep); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + btSoftBody::Node& node = psb->m_nodes[j]; + btScalar maxDisplacement = psb->getWorldInfo()->m_maxDisplacement; + btScalar clampDeltaV = maxDisplacement / timeStep; + for (int c = 0; c < 3; c++) + { + if (node.m_v[c] > clampDeltaV) + { + node.m_v[c] = clampDeltaV; + } + if (node.m_v[c] < -clampDeltaV) + { + node.m_v[c] = -clampDeltaV; + } + } + node.m_x = node.m_x + timeStep * (node.m_v + node.m_splitv); + node.m_q = node.m_x; + node.m_vn = node.m_v; + } + // enforce anchor constraints + for (int j = 0; j < psb->m_deformableAnchors.size(); ++j) + { + btSoftBody::DeformableNodeRigidAnchor& a = psb->m_deformableAnchors[j]; + btSoftBody::Node* n = a.m_node; + n->m_x = a.m_cti.m_colObj->getWorldTransform() * a.m_local; + + // update multibody anchor info + if (a.m_cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(a.m_cti.m_colObj); + if (multibodyLinkCol) + { + btVector3 nrm; + const btCollisionShape* shp = multibodyLinkCol->getCollisionShape(); + const btTransform& wtr = multibodyLinkCol->getWorldTransform(); + psb->m_worldInfo->m_sparsesdf.Evaluate( + wtr.invXform(n->m_x), + shp, + nrm, + 0); + a.m_cti.m_normal = wtr.getBasis() * nrm; + btVector3 normal = a.m_cti.m_normal; + btVector3 t1 = generateUnitOrthogonalVector(normal); + btVector3 t2 = btCross(normal, t1); + btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2; + findJacobian(multibodyLinkCol, jacobianData_normal, a.m_node->m_x, normal); + findJacobian(multibodyLinkCol, jacobianData_t1, a.m_node->m_x, t1); + findJacobian(multibodyLinkCol, jacobianData_t2, a.m_node->m_x, t2); + + btScalar* J_n = &jacobianData_normal.m_jacobians[0]; + btScalar* J_t1 = &jacobianData_t1.m_jacobians[0]; + btScalar* J_t2 = &jacobianData_t2.m_jacobians[0]; + + btScalar* u_n = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + + btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(), + t1.getX(), t1.getY(), t1.getZ(), + t2.getX(), t2.getY(), t2.getZ()); // world frame to local frame + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + btMatrix3x3 local_impulse_matrix = (Diagonal(n->m_im) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse(); + a.m_c0 = rot.transpose() * local_impulse_matrix * rot; + a.jacobianData_normal = jacobianData_normal; + a.jacobianData_t1 = jacobianData_t1; + a.jacobianData_t2 = jacobianData_t2; + a.t1 = t1; + a.t2 = t2; + } + } + } + psb->interpolateRenderMesh(); + } } void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep) @@ -315,9 +391,9 @@ void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep) // set up the directions in which the velocity does not change in the momentum solve if (m_useProjection) - m_deformableBodySolver->setProjection(); + m_deformableBodySolver->m_objective->m_projection.setProjection(); else - m_deformableBodySolver->setLagrangeMultiplier(); + m_deformableBodySolver->m_objective->m_projection.setLagrangeMultiplier(); // for explicit scheme, m_backupVelocity = v_{n+1}^* // for implicit scheme, m_backupVelocity = v_n @@ -443,12 +519,6 @@ void btDeformableMultiBodyDynamicsWorld::predictUnconstraintMotion(btScalar time m_deformableBodySolver->predictMotion(timeStep); } -void btDeformableMultiBodyDynamicsWorld::setGravity(const btVector3& gravity) -{ - btDiscreteDynamicsWorld::setGravity(gravity); - m_deformableBodySolver->setGravity(gravity); -} - void btDeformableMultiBodyDynamicsWorld::reinitialize(btScalar timeStep) { m_internalTime += timeStep; @@ -463,14 +533,14 @@ void btDeformableMultiBodyDynamicsWorld::reinitialize(btScalar timeStep) if (m_useProjection) { m_deformableBodySolver->m_useProjection = true; - m_deformableBodySolver->setStrainLimiting(true); - m_deformableBodySolver->setPreconditioner(btDeformableBackwardEulerObjective::Mass_preconditioner); + m_deformableBodySolver->m_objective->m_projection.m_useStrainLimiting = true; + m_deformableBodySolver->m_objective->m_preconditioner = m_deformableBodySolver->m_objective->m_massPreconditioner; } else { m_deformableBodySolver->m_useProjection = false; - m_deformableBodySolver->setStrainLimiting(false); - m_deformableBodySolver->setPreconditioner(btDeformableBackwardEulerObjective::KKT_preconditioner); + m_deformableBodySolver->m_objective->m_projection.m_useStrainLimiting = false; + m_deformableBodySolver->m_objective->m_preconditioner = m_deformableBodySolver->m_objective->m_KKTPreconditioner; } } @@ -612,7 +682,7 @@ void btDeformableMultiBodyDynamicsWorld::afterSolverCallbacks(btScalar timeStep) void btDeformableMultiBodyDynamicsWorld::addForce(btSoftBody* psb, btDeformableLagrangianForce* force) { - btAlignedObjectArray<btDeformableLagrangianForce*>& forces = *m_deformableBodySolver->getLagrangianForceArray(); + btAlignedObjectArray<btDeformableLagrangianForce*>& forces = m_deformableBodySolver->m_objective->m_lf; bool added = false; for (int i = 0; i < forces.size(); ++i) { @@ -626,14 +696,14 @@ void btDeformableMultiBodyDynamicsWorld::addForce(btSoftBody* psb, btDeformableL if (!added) { force->addSoftBody(psb); - force->setIndices(m_deformableBodySolver->getIndices()); + force->setIndices(m_deformableBodySolver->m_objective->getIndices()); forces.push_back(force); } } void btDeformableMultiBodyDynamicsWorld::removeForce(btSoftBody* psb, btDeformableLagrangianForce* force) { - btAlignedObjectArray<btDeformableLagrangianForce*>& forces = *m_deformableBodySolver->getLagrangianForceArray(); + btAlignedObjectArray<btDeformableLagrangianForce*>& forces = m_deformableBodySolver->m_objective->m_lf; int removed_index = -1; for (int i = 0; i < forces.size(); ++i) { @@ -651,7 +721,7 @@ void btDeformableMultiBodyDynamicsWorld::removeForce(btSoftBody* psb, btDeformab void btDeformableMultiBodyDynamicsWorld::removeSoftBodyForce(btSoftBody* psb) { - btAlignedObjectArray<btDeformableLagrangianForce*>& forces = *m_deformableBodySolver->getLagrangianForceArray(); + btAlignedObjectArray<btDeformableLagrangianForce*>& forces = m_deformableBodySolver->m_objective->m_lf; for (int i = 0; i < forces.size(); ++i) { forces[i]->removeSoftBody(psb); diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h index 5971ecd9a..4b7069aac 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h @@ -19,7 +19,7 @@ #include "btSoftMultiBodyDynamicsWorld.h" #include "btDeformableLagrangianForce.h" #include "btDeformableMassSpringForce.h" -// #include "btDeformableBodySolver.h" +#include "btDeformableBodySolver.h" #include "btDeformableMultiBodyConstraintSolver.h" #include "btSoftBodyHelpers.h" #include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h" @@ -121,8 +121,6 @@ public: return m_sbi; } - virtual void setGravity(const btVector3& gravity); - void reinitialize(btScalar timeStep); void applyRigidBodyGravity(btScalar timeStep); diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 933f3edc5..eafde0d22 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -231,9 +231,6 @@ void btSoftBody::initDefaults() m_gravityFactor = 1; m_cacheBarycenter = false; m_fdbvnt = 0; - - // reduced flag - m_reducedModel = false; } // diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index f91640acb..043f27db0 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -799,7 +799,6 @@ public: typedef btAlignedObjectArray<Material*> tMaterialArray; typedef btAlignedObjectArray<Joint*> tJointArray; typedef btAlignedObjectArray<btSoftBody*> tSoftBodyArray; - typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > tDenseMatrix; // // Fields @@ -858,8 +857,6 @@ public: btScalar m_restLengthScale; - bool m_reducedModel; // Reduced deformable model flag - // // Api // @@ -1006,15 +1003,15 @@ public: /* Get best fit rigid transform */ btTransform getRigidTransform(); /* Transform to given pose */ - virtual void transformTo(const btTransform& trs); + void transformTo(const btTransform& trs); /* Transform */ - virtual void transform(const btTransform& trs); + void transform(const btTransform& trs); /* Translate */ - virtual void translate(const btVector3& trs); + void translate(const btVector3& trs); /* Rotate */ - virtual void rotate(const btQuaternion& rot); + void rotate(const btQuaternion& rot); /* Scale */ - virtual void scale(const btVector3& scl); + void scale(const btVector3& scl); /* Get link resting lengths scale */ btScalar getRestLengthScale(); /* Scale resting length of all springs */ @@ -1104,13 +1101,6 @@ public: void setZeroVelocity(); bool wantsSleeping(); - virtual btMatrix3x3 getImpulseFactor(int n_node) - { - btMatrix3x3 tmp; - tmp.setIdentity(); - return tmp; - } - // // Functionality to deal with new accelerated solvers. // diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index 137258675..ec052a206 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -1691,19 +1691,12 @@ struct btSoftColliders if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) { const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform(); - const btVector3 ra = n.m_x - wtr.getOrigin(); - static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0); const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic; - if (psb->m_reducedModel) - { - c.m_c0 = MassMatrix(imb, iwi, ra); //impulse factor K of the rigid body only (not the inverse) - } - else - { - c.m_c0 = ImpulseMatrix(1, n.m_effectiveMass_inv, imb, iwi, ra); - // c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra); - } + const btVector3 ra = n.m_x - wtr.getOrigin(); + + c.m_c0 = ImpulseMatrix(1, n.m_effectiveMass_inv, imb, iwi, ra); + // c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra); c.m_c1 = ra; } else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) @@ -1731,16 +1724,7 @@ struct btSoftColliders t1.getX(), t1.getY(), t1.getZ(), t2.getX(), t2.getY(), t2.getZ()); // world frame to local frame const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; - - btMatrix3x3 local_impulse_matrix; - if (psb->m_reducedModel) - { - local_impulse_matrix = OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof); - } - else - { - local_impulse_matrix = (n.m_effectiveMass_inv + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse(); - } + btMatrix3x3 local_impulse_matrix = (n.m_effectiveMass_inv + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse(); c.m_c0 = rot.transpose() * local_impulse_matrix * rot; c.jacobianData_normal = jacobianData_normal; c.jacobianData_t1 = jacobianData_t1; diff --git a/src/BulletSoftBody/btSoftBodySolvers.h b/src/BulletSoftBody/btSoftBodySolvers.h index 7eafc6c31..cdd069849 100644 --- a/src/BulletSoftBody/btSoftBodySolvers.h +++ b/src/BulletSoftBody/btSoftBodySolvers.h @@ -36,8 +36,7 @@ public: CL_SIMD_SOLVER, DX_SOLVER, DX_SIMD_SOLVER, - DEFORMABLE_SOLVER, - REDUCED_DEFORMABLE_SOLVER + DEFORMABLE_SOLVER }; protected: |