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Diffstat (limited to 'examples/ReducedDeformableDemo/ModeVisualizer.cpp')
| -rw-r--r-- | examples/ReducedDeformableDemo/ModeVisualizer.cpp | 227 |
1 files changed, 227 insertions, 0 deletions
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); +} + + |