diff options
Diffstat (limited to 'examples/ReducedDeformableDemo/FrictionSlope.cpp')
| -rw-r--r-- | examples/ReducedDeformableDemo/FrictionSlope.cpp | 288 |
1 files changed, 288 insertions, 0 deletions
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); +} + + |