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diff --git a/examples/ReducedDeformableDemo/FrictionSlope.cpp b/examples/ReducedDeformableDemo/FrictionSlope.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 "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);
-}
-
-
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