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