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diff --git a/examples/ReducedDeformableDemo/ReducedBenchmark.cpp b/examples/ReducedDeformableDemo/ReducedBenchmark.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 "ReducedBenchmark.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 btScalar damping_alpha = 0.0;
-static btScalar damping_beta = 0.0001;
-static btScalar COLLIDING_VELOCITY = 0;
-static int num_modes = 20;
-static bool run_reduced = true;
-
-class ReducedBenchmark : public CommonDeformableBodyBase
-{
- btVector3 m_gravity;
-public:
- ReducedBenchmark(struct GUIHelperInterface* helper)
- : CommonDeformableBodyBase(helper)
- {
- }
- virtual ~ReducedBenchmark()
- {
- }
- 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 = 6;
- // float pitch = -10;
- // float yaw = 90;
- // float targetPos[3] = {0, 2, 0};
- float dist = 10;
- float pitch = -30;
- float yaw = 125;
- float targetPos[3] = {0, 2, 0};
- m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
- }
-
- void Ctor_RbUpStack(const btVector3& origin)
- {
- float mass = 10;
- btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.5, 0.5));
- // btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 1));
- btTransform startTransform;
- startTransform.setIdentity();
- // startTransform.setOrigin(btVector3(0, 12, 0));
- // btRigidBody* rb0 = createRigidBody(mass, startTransform, shape);
- // rb0->setLinearVelocity(btVector3(0, 0, 0));
-
- startTransform.setOrigin(origin);
- // startTransform.setRotation(btQuaternion(btVector3(1, 0, 1), SIMD_PI / 4.0));
- btRigidBody* rb1 = createRigidBody(mass, startTransform, shape);
- rb1->setActivationState(DISABLE_DEACTIVATION);
- // rb1->setLinearVelocity(btVector3(0, 0, 4));
- }
-
- void createDeform(const btVector3& origin, const btQuaternion& rotation)
- {
-
- if (run_reduced)
- {
- std::string file_path("../../../data/reduced_torus/");
- std::string vtk_file("torus_mesh.vtk");
- btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedDeformableObject(
- getDeformableDynamicsWorld()->getWorldInfo(),
- file_path,
- vtk_file,
- num_modes,
- false);
-
- getDeformableDynamicsWorld()->addSoftBody(rsb);
- rsb->getCollisionShape()->setMargin(0.01);
- // rsb->scale(btVector3(1, 1, 0.5));
-
- rsb->setTotalMass(10);
-
- btTransform init_transform;
- init_transform.setIdentity();
- init_transform.setOrigin(origin);
- init_transform.setRotation(rotation);
- rsb->transformTo(init_transform);
-
- rsb->setStiffnessScale(5);
- rsb->setDamping(damping_alpha, damping_beta);
- // rsb->scale(btVector3(0.5, 0.5, 0.5));
-
- 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);
-
- std::cout << "Running reduced deformable\n";
- }
- else // create full deformable cube
- {
- std::string filepath("../../../data/reduced_torus/");
- std::string filename = filepath + "torus_mesh.vtk";
- btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), filename.c_str());
-
- btTransform init_transform;
- init_transform.setIdentity();
- init_transform.setOrigin(origin);
- init_transform.setRotation(rotation);
- psb->transform(init_transform);
- psb->getCollisionShape()->setMargin(0.015);
- psb->setTotalMass(10);
- psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
- psb->m_cfg.kCHR = 1; // collision hardness with rigid body
- psb->m_cfg.kDF = .5;
- psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
- psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
- getDeformableDynamicsWorld()->addSoftBody(psb);
- btSoftBodyHelpers::generateBoundaryFaces(psb);
-
- btDeformableGravityForce* gravity_force = new btDeformableGravityForce(m_gravity);
- getDeformableDynamicsWorld()->addForce(psb, gravity_force);
- m_forces.push_back(gravity_force);
-
- btScalar E = 10000;
- btScalar nu = 0.3;
- btScalar lambda = E * nu / ((1 + nu) * (1 - 2 * nu));
- btScalar mu = E / (2 * (1 + nu));
- btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(lambda, mu, 0.01);
- // neohookean->setPoissonRatio(0.3);
- // neohookean->setYoungsModulus(25);
- neohookean->setDamping(0.01);
- psb->m_cfg.drag = 0.001;
- getDeformableDynamicsWorld()->addForce(psb, neohookean);
- m_forces.push_back(neohookean);
-
- std::cout << "Running full deformable\n";
- }
-
- // btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedTorus(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
-
- // getDeformableDynamicsWorld()->addSoftBody(rsb);
- // rsb->getCollisionShape()->setMargin(0.01);
- // // rsb->scale(btVector3(1, 1, 0.5));
-
- // rsb->setTotalMass(10);
-
- // btTransform init_transform;
- // init_transform.setIdentity();
- // init_transform.setOrigin(origin);
- // init_transform.setRotation(rotation);
- // rsb->transformTo(init_transform);
-
- // rsb->setStiffnessScale(5);
- // rsb->setDamping(damping_alpha, damping_beta);
- // // rsb->scale(btVector3(0.5, 0.5, 0.5));
-
- // 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);
- }
-
- void stepSimulation(float deltaTime)
- {
- float internalTimeStep = 1. / 240.f;
- m_dynamicsWorld->stepSimulation(deltaTime, 4, 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(), deformableWorld->getDrawFlags());
- }
- }
- }
-};
-
-void ReducedBenchmark::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();
-
- if (run_reduced)
- {
- btReducedDeformableBodySolver* solver = new btReducedDeformableBodySolver();
-
- btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
- sol->setDeformableSolver(solver);
- m_solver = sol;
- m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, solver);
- }
- else
- {
- btDeformableBodySolver* solver = new btDeformableBodySolver();
-
- btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
- sol->setDeformableSolver(solver);
- m_solver = sol;
- m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, solver);
- }
-
- // m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, solver);
- btVector3 gravity = btVector3(0, -10, 0);
- m_gravity = gravity;
- m_dynamicsWorld->setGravity(gravity);
- getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
- m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
-
- // 3x3 torus
- createDeform(btVector3(4, 4, -4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
- createDeform(btVector3(4, 4, 0), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
- createDeform(btVector3(4, 4, 4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
- createDeform(btVector3(0, 4, -4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
- createDeform(btVector3(0, 4, 0), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
- createDeform(btVector3(0, 4, 4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
- createDeform(btVector3(-4, 4, -4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
- createDeform(btVector3(-4, 4, 0), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
- createDeform(btVector3(-4, 4, 4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
-
- // create a static rigid box as the ground
- {
- // btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
- btBoxShape* groundShape = createBoxShape(btVector3(btScalar(20), btScalar(2), btScalar(20)));
- m_collisionShapes.push_back(groundShape);
-
- btTransform groundTransform;
- groundTransform.setIdentity();
- // groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
- // groundTransform.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_PI / 6.0));
- groundTransform.setOrigin(btVector3(0, 0, 0));
- // groundTransform.setOrigin(btVector3(0, 0, 6));
- // groundTransform.setOrigin(btVector3(0, -50, 0));
- {
- btScalar mass(0.);
- createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0));
- }
- }
-
- getDeformableDynamicsWorld()->setImplicit(false);
- getDeformableDynamicsWorld()->setLineSearch(false);
- getDeformableDynamicsWorld()->setUseProjection(false);
- getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2;
- getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0.2;
- getDeformableDynamicsWorld()->getSolverInfo().m_friction = 0.5;
- 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);
- m_dynamicsWorld->setGravity(gravity);
-}
-
-void ReducedBenchmark::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* ReducedBenchmarkCreateFunc(struct CommonExampleOptions& options)
-{
- return new ReducedBenchmark(options.m_guiHelper);
-}
-
-
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