diff options
| author | erwincoumans <erwin.coumans@gmail.com> | 2022-03-07 16:35:07 -0800 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2022-03-07 16:35:07 -0800 |
| commit | 4fbecfeddc448eba12da3b38b3449fa6c7a6ec19 (patch) | |
| tree | 221e6968b52467a0af06695932fe666ad143e986 | |
| parent | aee1ab63fe459ad0d6c209cc3c9cffacab2b5854 (diff) | |
| download | bullet3-revert-4194-revert-4069-master.tar.gz | |
Revert "Revert "Reduced Deformable Model""revert-4194-revert-4069-master
77 files changed, 30447 insertions, 114 deletions
diff --git a/.gitignore b/.gitignore index 636ce8302..baee1828b 100644 --- a/.gitignore +++ b/.gitignore @@ -36,3 +36,7 @@ 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 differnew file mode 100644 index 000000000..fab13e564 --- /dev/null +++ b/data/reduced_beam/K_r_diag_mat.bin diff --git a/data/reduced_beam/M_diag_mat.bin b/data/reduced_beam/M_diag_mat.bin Binary files differnew file mode 100644 index 000000000..9e505c373 --- /dev/null +++ b/data/reduced_beam/M_diag_mat.bin diff --git a/data/reduced_beam/M_r_diag_mat.bin b/data/reduced_beam/M_r_diag_mat.bin Binary files differnew file mode 100644 index 000000000..bb80034a4 --- /dev/null +++ b/data/reduced_beam/M_r_diag_mat.bin diff --git a/data/reduced_beam/beam_mesh.vtk b/data/reduced_beam/beam_mesh.vtk new file mode 100644 index 000000000..cbab3e1a2 --- /dev/null +++ b/data/reduced_beam/beam_mesh.vtk @@ -0,0 +1,83 @@ +#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 new file mode 100644 index 000000000..95d579d95 --- /dev/null +++ b/data/reduced_beam/beam_mesh_origin.vtk @@ -0,0 +1,83 @@ +#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 differnew file mode 100644 index 000000000..81e43677a --- /dev/null +++ b/data/reduced_beam/eigenvalues.bin diff --git a/data/reduced_beam/modes.bin b/data/reduced_beam/modes.bin Binary files differnew file mode 100644 index 000000000..6e8239b83 --- /dev/null +++ b/data/reduced_beam/modes.bin diff --git a/data/reduced_beam/reduced_beam.urdf b/data/reduced_beam/reduced_beam.urdf new file mode 100644 index 000000000..88381795e --- /dev/null +++ b/data/reduced_beam/reduced_beam.urdf @@ -0,0 +1,14 @@ +<?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 differnew file mode 100644 index 000000000..3894184a9 --- /dev/null +++ b/data/reduced_cube/K_r_diag_mat.bin diff --git a/data/reduced_cube/M_diag_mat.bin b/data/reduced_cube/M_diag_mat.bin Binary files differnew file mode 100644 index 000000000..fb6c5ce37 --- /dev/null +++ b/data/reduced_cube/M_diag_mat.bin diff --git a/data/reduced_cube/M_r_diag_mat.bin b/data/reduced_cube/M_r_diag_mat.bin Binary files differnew file mode 100644 index 000000000..62f64ba7b --- /dev/null +++ b/data/reduced_cube/M_r_diag_mat.bin diff --git a/data/reduced_cube/cube_mesh.vtk b/data/reduced_cube/cube_mesh.vtk new file mode 100644 index 000000000..ccec00b32 --- /dev/null +++ b/data/reduced_cube/cube_mesh.vtk @@ -0,0 +1,1134 @@ +#vtk DataFile Version 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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 new file mode 100644 index 000000000..3faef357a --- /dev/null +++ b/data/reduced_cube/deform_cube.urdf @@ -0,0 +1,14 @@ +<?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 differnew file mode 100644 index 000000000..5c378ccde --- /dev/null +++ b/data/reduced_cube/eigenvalues.bin diff --git a/data/reduced_cube/modes.bin b/data/reduced_cube/modes.bin Binary files differnew file mode 100644 index 000000000..d8fd6cea8 --- /dev/null +++ b/data/reduced_cube/modes.bin diff --git a/data/reduced_cube/reduced_cube.urdf b/data/reduced_cube/reduced_cube.urdf new file mode 100644 index 000000000..552cbd4a5 --- /dev/null +++ b/data/reduced_cube/reduced_cube.urdf @@ -0,0 +1,14 @@ +<?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 differnew file mode 100644 index 000000000..baa768f51 --- /dev/null +++ b/data/reduced_torus/K_r_diag_mat.bin diff --git a/data/reduced_torus/M_diag_mat.bin b/data/reduced_torus/M_diag_mat.bin Binary files differnew file mode 100644 index 000000000..e35822c49 --- /dev/null +++ b/data/reduced_torus/M_diag_mat.bin diff --git a/data/reduced_torus/M_r_diag_mat.bin b/data/reduced_torus/M_r_diag_mat.bin Binary files differnew file mode 100644 index 000000000..ddf8e5003 --- /dev/null +++ b/data/reduced_torus/M_r_diag_mat.bin diff --git a/data/reduced_torus/eigenvalues.bin b/data/reduced_torus/eigenvalues.bin Binary files differnew file mode 100644 index 000000000..208f1cf3e --- /dev/null +++ b/data/reduced_torus/eigenvalues.bin diff --git a/data/reduced_torus/modes.bin b/data/reduced_torus/modes.bin Binary files differnew file mode 100644 index 000000000..ae8b826db --- /dev/null +++ b/data/reduced_torus/modes.bin diff --git a/data/reduced_torus/reduced_torus.urdf b/data/reduced_torus/reduced_torus.urdf new file mode 100644 index 000000000..16b23470a --- /dev/null +++ b/data/reduced_torus/reduced_torus.urdf @@ -0,0 +1,15 @@ +<?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 new file mode 100644 index 000000000..a06ef2061 --- /dev/null +++ b/data/reduced_torus/torus_mesh.vtk @@ -0,0 +1,9917 @@ +# vtk DataFile Version 2.0 +torus_, Created by Gmsh +ASCII +DATASET 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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 ff4cf51e1..6271ca915 100644 --- a/examples/ExampleBrowser/CMakeLists.txt +++ b/examples/ExampleBrowser/CMakeLists.txt @@ -390,6 +390,24 @@ 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 6d147f0d8..715a4396d 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -73,6 +73,15 @@ #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 @@ -216,6 +225,18 @@ 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 cb7607b1a..e24437d7d 100644 --- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp +++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp @@ -1541,3 +1541,8 @@ 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 66bb908de..5fe7f8c5f 100644 --- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h +++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h @@ -93,6 +93,7 @@ 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 96f7538a2..aea391592 100644 --- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp +++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp @@ -1282,6 +1282,171 @@ 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; @@ -2126,9 +2291,16 @@ 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 b234fa66b..8256099a5 100644 --- a/examples/Importers/ImportURDFDemo/UrdfParser.h +++ b/examples/Importers/ImportURDFDemo/UrdfParser.h @@ -247,6 +247,37 @@ 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; @@ -256,6 +287,7 @@ 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; @@ -333,7 +365,7 @@ 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); @@ -413,6 +445,11 @@ 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 33f9e7a9f..6cd3a2c96 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), linkHalfExtents, baseHalfExtents, spherical, g_floatingBase); + btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(world, numLinks, btVector3(-0.4f, 3.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); diff --git a/examples/ReducedDeformableDemo/ConservationTest.cpp b/examples/ReducedDeformableDemo/ConservationTest.cpp new file mode 100644 index 000000000..05b7394da --- /dev/null +++ b/examples/ReducedDeformableDemo/ConservationTest.cpp @@ -0,0 +1,316 @@ +/* + 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 new file mode 100644 index 000000000..3528f1e15 --- /dev/null +++ b/examples/ReducedDeformableDemo/ConservationTest.h @@ -0,0 +1,19 @@ +/* + 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 new file mode 100644 index 000000000..f63db542d --- /dev/null +++ b/examples/ReducedDeformableDemo/FreeFall.cpp @@ -0,0 +1,276 @@ +/* + 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 new file mode 100644 index 000000000..b71d8027f --- /dev/null +++ b/examples/ReducedDeformableDemo/FreeFall.h @@ -0,0 +1,19 @@ +/* + 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 new file mode 100644 index 000000000..20eac36e8 --- /dev/null +++ b/examples/ReducedDeformableDemo/FrictionSlope.cpp @@ -0,0 +1,288 @@ +/* + 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 new file mode 100644 index 000000000..d2cdd737b --- /dev/null +++ b/examples/ReducedDeformableDemo/FrictionSlope.h @@ -0,0 +1,19 @@ +/* + 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 new file mode 100644 index 000000000..becf6bcee --- /dev/null +++ b/examples/ReducedDeformableDemo/ModeVisualizer.cpp @@ -0,0 +1,227 @@ +/* + 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 new file mode 100644 index 000000000..e6f292b73 --- /dev/null +++ b/examples/ReducedDeformableDemo/ModeVisualizer.h @@ -0,0 +1,19 @@ +/* + 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 new file mode 100644 index 000000000..05ddc0362 --- /dev/null +++ b/examples/ReducedDeformableDemo/ReducedBenchmark.cpp @@ -0,0 +1,349 @@ +/* + 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 new file mode 100644 index 000000000..ffaa4fcff --- /dev/null +++ b/examples/ReducedDeformableDemo/ReducedBenchmark.h @@ -0,0 +1,19 @@ +/* + 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 new file mode 100644 index 000000000..dd84946ae --- /dev/null +++ b/examples/ReducedDeformableDemo/ReducedCollide.cpp @@ -0,0 +1,522 @@ +/* + 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 new file mode 100644 index 000000000..cd2ed89f5 --- /dev/null +++ b/examples/ReducedDeformableDemo/ReducedCollide.h @@ -0,0 +1,19 @@ +/* + 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 new file mode 100644 index 000000000..c40e0c554 --- /dev/null +++ b/examples/ReducedDeformableDemo/ReducedGrasp.cpp @@ -0,0 +1,457 @@ +/* + 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 new file mode 100644 index 000000000..12d274849 --- /dev/null +++ b/examples/ReducedDeformableDemo/ReducedGrasp.h @@ -0,0 +1,19 @@ +/* + 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 new file mode 100644 index 000000000..5dda30f97 --- /dev/null +++ b/examples/ReducedDeformableDemo/ReducedMotorGrasp.cpp @@ -0,0 +1,558 @@ +/* + 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 new file mode 100644 index 000000000..52883ecf1 --- /dev/null +++ b/examples/ReducedDeformableDemo/ReducedMotorGrasp.h @@ -0,0 +1,19 @@ +/* + 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 new file mode 100644 index 000000000..58641365e --- /dev/null +++ b/examples/ReducedDeformableDemo/Springboard.cpp @@ -0,0 +1,264 @@ +/* + 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 new file mode 100644 index 000000000..2636d5623 --- /dev/null +++ b/examples/ReducedDeformableDemo/Springboard.h @@ -0,0 +1,19 @@ +/* + 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 bcd132a79..a7cf6d560 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -120,6 +120,10 @@ #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" @@ -1665,6 +1669,7 @@ struct PhysicsServerCommandProcessorInternalData btDeformableMousePickingForce* m_mouseForce; btScalar m_maxPickingForce; btDeformableBodySolver* m_deformablebodySolver; + btReducedDeformableBodySolver* m_reducedSoftBodySolver; btAlignedObjectArray<btDeformableLagrangianForce*> m_lf; #endif @@ -2721,16 +2726,26 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld(int flags) m_data->m_broadphase = bv; } +#ifndef SKIP_DEFORMABLE_BODY if (flags & RESET_USE_DEFORMABLE_WORLD) { -#ifndef SKIP_DEFORMABLE_BODY + // deformable 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); -#endif } + 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 @@ -2777,7 +2792,14 @@ 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; - m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 0; + 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_warmstartingFactor = 0.1; gDbvtMargin = btScalar(0); m_data->m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold = 1e-7; @@ -3651,6 +3673,11 @@ 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) { @@ -9412,6 +9439,10 @@ 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 @@ -9673,6 +9704,447 @@ 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; @@ -10906,7 +11378,8 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); if (deformWorld) { - deformWorld->getWorldInfo().m_gravity = grav; + // deformWorld->getWorldInfo().m_gravity = grav; + deformWorld->setGravity(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 2a2722132..fb23a1bb9 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.h +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.h @@ -110,6 +110,7 @@ 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 6085f4a0f..7541ddb5a 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -617,6 +617,7 @@ 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 new file mode 100644 index 000000000..cab91cfdb --- /dev/null +++ b/examples/pybullet/examples/reduced_deformable_cube.py @@ -0,0 +1,27 @@ +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 new file mode 100644 index 000000000..8f42e0372 --- /dev/null +++ b/examples/pybullet/examples/reduced_deformable_torus.py @@ -0,0 +1,32 @@ +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 db7246b5e..f78f464f9 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -13253,6 +13253,7 @@ 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 new file mode 100644 index 000000000..feb30d587 --- /dev/null +++ b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.cpp @@ -0,0 +1,792 @@ +#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 new file mode 100644 index 000000000..8968fb0cb --- /dev/null +++ b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h @@ -0,0 +1,257 @@ +#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 new file mode 100644 index 000000000..d7e4cc2b8 --- /dev/null +++ b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.cpp @@ -0,0 +1,215 @@ +#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 new file mode 100644 index 000000000..2b259a931 --- /dev/null +++ b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h @@ -0,0 +1,25 @@ +#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 new file mode 100644 index 000000000..1418cc247 --- /dev/null +++ b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.cpp @@ -0,0 +1,325 @@ +#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 new file mode 100644 index 000000000..04c171f31 --- /dev/null +++ b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h @@ -0,0 +1,61 @@ +#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 new file mode 100644 index 000000000..3c78d2d22 --- /dev/null +++ b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.cpp @@ -0,0 +1,579 @@ +#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 new file mode 100644 index 000000000..10d0938c5 --- /dev/null +++ b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.h @@ -0,0 +1,194 @@ +#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 945276801..c12eef5fe 100644 --- a/src/BulletSoftBody/CMakeLists.txt +++ b/src/BulletSoftBody/CMakeLists.txt @@ -24,6 +24,11 @@ SET(BulletSoftBody_SRCS btDeformableMultiBodyDynamicsWorld.cpp btDeformableContactConstraint.cpp poly34.cpp + + BulletReducedDeformableBody/btReducedDeformableBody.cpp + BulletReducedDeformableBody/btReducedDeformableBodyHelpers.cpp + BulletReducedDeformableBody/btReducedDeformableBodySolver.cpp + BulletReducedDeformableBody/btReducedDeformableContactConstraint.cpp ) @@ -63,6 +68,11 @@ 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 eb05b9f01..60b6fe388 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -25,12 +25,18 @@ #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 27f10a92f..4e9df5f83 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -23,6 +23,7 @@ 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() @@ -401,7 +402,7 @@ void btDeformableBodySolver::predictMotion(btScalar solverdt) } } } - m_objective->applyExplicitForce(m_residual); + applyExplicitForce(); for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; @@ -504,3 +505,89 @@ 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 ae674d6e8..68354f199 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 { @@ -46,6 +46,7 @@ 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; @@ -68,11 +69,18 @@ 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 - void reinitialize(const btAlignedObjectArray<btSoftBody*>& softBodies, btScalar dt); + virtual void reinitialize(const btAlignedObjectArray<btSoftBody*>& softBodies, btScalar dt); // set up contact constraints - void setConstraints(const btContactSolverInfo& infoGlobal); + virtual void setConstraints(const btContactSolverInfo& infoGlobal); // add in elastic forces and gravity to obtain v_{n+1}^* and calls predictDeformableMotion virtual void predictMotion(btScalar solverdt); @@ -85,7 +93,7 @@ public: void backupVelocity(); // set m_dv and m_backupVelocity to desired value to prepare for momentum solve - void setupDeformableSolve(bool implicit); + virtual void setupDeformableSolve(bool implicit); // set the current velocity to that backed up in m_backupVelocity void revertVelocity(); @@ -150,6 +158,62 @@ 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 631fd5fbe..2a0e5ec34 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp @@ -14,11 +14,16 @@ */ #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); @@ -37,6 +42,10 @@ 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 @@ -51,6 +60,9 @@ 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; } } @@ -78,6 +90,12 @@ 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); @@ -94,6 +112,12 @@ 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; @@ -105,6 +129,53 @@ 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 94aabce83..28733fa49 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h @@ -43,6 +43,9 @@ 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 bc7b31273..030cbaf90 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); @@ -298,83 +298,7 @@ void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) BT_PROFILE("integrateTransforms"); positionCorrection(timeStep); btMultiBodyDynamicsWorld::integrateTransforms(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(); - } + m_deformableBodySolver->applyTransforms(timeStep); } void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep) @@ -391,9 +315,9 @@ 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->m_objective->m_projection.setProjection(); + m_deformableBodySolver->setProjection(); else - m_deformableBodySolver->m_objective->m_projection.setLagrangeMultiplier(); + m_deformableBodySolver->setLagrangeMultiplier(); // for explicit scheme, m_backupVelocity = v_{n+1}^* // for implicit scheme, m_backupVelocity = v_n @@ -519,6 +443,12 @@ 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; @@ -533,14 +463,14 @@ void btDeformableMultiBodyDynamicsWorld::reinitialize(btScalar timeStep) if (m_useProjection) { m_deformableBodySolver->m_useProjection = true; - m_deformableBodySolver->m_objective->m_projection.m_useStrainLimiting = true; - m_deformableBodySolver->m_objective->m_preconditioner = m_deformableBodySolver->m_objective->m_massPreconditioner; + m_deformableBodySolver->setStrainLimiting(true); + m_deformableBodySolver->setPreconditioner(btDeformableBackwardEulerObjective::Mass_preconditioner); } else { m_deformableBodySolver->m_useProjection = false; - m_deformableBodySolver->m_objective->m_projection.m_useStrainLimiting = false; - m_deformableBodySolver->m_objective->m_preconditioner = m_deformableBodySolver->m_objective->m_KKTPreconditioner; + m_deformableBodySolver->setStrainLimiting(false); + m_deformableBodySolver->setPreconditioner(btDeformableBackwardEulerObjective::KKT_preconditioner); } } @@ -682,7 +612,7 @@ void btDeformableMultiBodyDynamicsWorld::afterSolverCallbacks(btScalar timeStep) void btDeformableMultiBodyDynamicsWorld::addForce(btSoftBody* psb, btDeformableLagrangianForce* force) { - btAlignedObjectArray<btDeformableLagrangianForce*>& forces = m_deformableBodySolver->m_objective->m_lf; + btAlignedObjectArray<btDeformableLagrangianForce*>& forces = *m_deformableBodySolver->getLagrangianForceArray(); bool added = false; for (int i = 0; i < forces.size(); ++i) { @@ -696,14 +626,14 @@ void btDeformableMultiBodyDynamicsWorld::addForce(btSoftBody* psb, btDeformableL if (!added) { force->addSoftBody(psb); - force->setIndices(m_deformableBodySolver->m_objective->getIndices()); + force->setIndices(m_deformableBodySolver->getIndices()); forces.push_back(force); } } void btDeformableMultiBodyDynamicsWorld::removeForce(btSoftBody* psb, btDeformableLagrangianForce* force) { - btAlignedObjectArray<btDeformableLagrangianForce*>& forces = m_deformableBodySolver->m_objective->m_lf; + btAlignedObjectArray<btDeformableLagrangianForce*>& forces = *m_deformableBodySolver->getLagrangianForceArray(); int removed_index = -1; for (int i = 0; i < forces.size(); ++i) { @@ -721,7 +651,7 @@ void btDeformableMultiBodyDynamicsWorld::removeForce(btSoftBody* psb, btDeformab void btDeformableMultiBodyDynamicsWorld::removeSoftBodyForce(btSoftBody* psb) { - btAlignedObjectArray<btDeformableLagrangianForce*>& forces = m_deformableBodySolver->m_objective->m_lf; + btAlignedObjectArray<btDeformableLagrangianForce*>& forces = *m_deformableBodySolver->getLagrangianForceArray(); 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 4b7069aac..5971ecd9a 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" @@ -121,6 +121,8 @@ 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 eafde0d22..933f3edc5 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -231,6 +231,9 @@ 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 043f27db0..f91640acb 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -799,6 +799,7 @@ public: typedef btAlignedObjectArray<Material*> tMaterialArray; typedef btAlignedObjectArray<Joint*> tJointArray; typedef btAlignedObjectArray<btSoftBody*> tSoftBodyArray; + typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > tDenseMatrix; // // Fields @@ -857,6 +858,8 @@ public: btScalar m_restLengthScale; + bool m_reducedModel; // Reduced deformable model flag + // // Api // @@ -1003,15 +1006,15 @@ public: /* Get best fit rigid transform */ btTransform getRigidTransform(); /* Transform to given pose */ - void transformTo(const btTransform& trs); + virtual void transformTo(const btTransform& trs); /* Transform */ - void transform(const btTransform& trs); + virtual void transform(const btTransform& trs); /* Translate */ - void translate(const btVector3& trs); + virtual void translate(const btVector3& trs); /* Rotate */ - void rotate(const btQuaternion& rot); + virtual void rotate(const btQuaternion& rot); /* Scale */ - void scale(const btVector3& scl); + virtual void scale(const btVector3& scl); /* Get link resting lengths scale */ btScalar getRestLengthScale(); /* Scale resting length of all springs */ @@ -1101,6 +1104,13 @@ 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 ec052a206..137258675 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -1691,12 +1691,19 @@ struct btSoftColliders if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) { const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform(); - static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0); - const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic; 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); + 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); + } c.m_c1 = ra; } else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) @@ -1724,7 +1731,16 @@ 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 = (n.m_effectiveMass_inv + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse(); + + 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(); + } 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 cdd069849..7eafc6c31 100644 --- a/src/BulletSoftBody/btSoftBodySolvers.h +++ b/src/BulletSoftBody/btSoftBodySolvers.h @@ -36,7 +36,8 @@ public: CL_SIMD_SOLVER, DX_SOLVER, DX_SIMD_SOLVER, - DEFORMABLE_SOLVER + DEFORMABLE_SOLVER, + REDUCED_DEFORMABLE_SOLVER }; protected: |