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diff --git a/examples/ReducedDeformableDemo/ConservationTest.cpp b/examples/ReducedDeformableDemo/ConservationTest.cpp
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-/*
- 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);
-}
-
-
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