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Diffstat (limited to 'examples/ReducedDeformableDemo/ReducedCollide.cpp')
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diff --git a/examples/ReducedDeformableDemo/ReducedCollide.cpp b/examples/ReducedDeformableDemo/ReducedCollide.cpp new file mode 100644 index 000000000..dd84946ae --- /dev/null +++ b/examples/ReducedDeformableDemo/ReducedCollide.cpp @@ -0,0 +1,522 @@ +/* + 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 "ReducedCollide.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 = 0.0; +static btScalar COLLIDING_VELOCITY = 4; +static int num_modes = 20; + +class ReducedCollide : public CommonDeformableBodyBase +{ +public: + ReducedCollide(struct GUIHelperInterface* helper) + : CommonDeformableBodyBase(helper) + { + } + virtual ~ReducedCollide() + { + } + void initPhysics(); + + void exitPhysics(); + + btMultiBody* createFeatherstoneMultiBody_testMultiDof(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical = false, bool floating = false); + void addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents); + + // 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 = -10; + float dist = 10; + float pitch = -5; + float yaw = 90; + float targetPos[3] = {0, 0, 0}; + + // float dist = 5; + // float pitch = -35; + // float yaw = 50; + // float targetPos[3] = {-3, 2.8, -2.5}; + m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]); + } + + void Ctor_RbUpStack() + { + float mass = 10; + + btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.5, 0.5)); + // btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 1)); + btVector3 localInertia(0, 0, 0); + if (mass != 0.f) + shape->calculateLocalInertia(mass, localInertia); + + btTransform startTransform; + startTransform.setIdentity(); + startTransform.setOrigin(btVector3(0,-2,0)); + // startTransform.setRotation(btQuaternion(btVector3(1, 0, 1), SIMD_PI / 3.0)); + btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform); + + btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, shape, localInertia); + btRigidBody* body = new btRigidBody(rbInfo); + + m_dynamicsWorld->addRigidBody(body, 1, 1+2); + + body->setActivationState(DISABLE_DEACTIVATION); + body->setLinearVelocity(btVector3(0, COLLIDING_VELOCITY, 0)); + // body->setFriction(1); + } + + void rigidBar() + { + float mass = 10; + + btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.25, 2)); + btVector3 localInertia(0, 0, 0); + if (mass != 0.f) + shape->calculateLocalInertia(mass, localInertia); + + btTransform startTransform; + startTransform.setIdentity(); + startTransform.setOrigin(btVector3(0,10,0)); + // startTransform.setRotation(btQuaternion(btVector3(1, 0, 1), SIMD_PI / 3.0)); + btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform); + + btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, shape, localInertia); + btRigidBody* body = new btRigidBody(rbInfo); + + m_dynamicsWorld->addRigidBody(body, 1, 1+2); + + body->setActivationState(DISABLE_DEACTIVATION); + body->setLinearVelocity(btVector3(0, 0, 0)); + // body->setFriction(0); + } + + void createGround() + { + // float mass = 55; + float mass = 0; + + btCollisionShape* shape = new btBoxShape(btVector3(10, 2, 10)); + btVector3 localInertia(0, 0, 0); + if (mass != 0.f) + shape->calculateLocalInertia(mass, localInertia); + + btTransform startTransform; + startTransform.setIdentity(); + startTransform.setOrigin(btVector3(0,-2,0)); + // startTransform.setRotation(btQuaternion(btVector3(1, 0, 1), SIMD_PI / 3.0)); + btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform); + + btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, shape, localInertia); + btRigidBody* body = new btRigidBody(rbInfo); + + m_dynamicsWorld->addRigidBody(body, 1, 1+2); + + body->setActivationState(DISABLE_DEACTIVATION); + body->setLinearVelocity(btVector3(0, 0, 0)); + // body->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(), deformableWorld->getDrawFlags()); + } + + for (int p = 0; p < rsb->m_contactNodesList.size(); ++p) + { + int index = rsb->m_contactNodesList[p]; + deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[index].m_x, 0.2, btVector3(0, 1, 0)); + } + } + } +}; + +void ReducedCollide::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, 0, 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_dynamicsWorld->setGravity(gravity); + m_dynamicsWorld->getSolverInfo().m_globalCfm = 1e-3; + m_dynamicsWorld->getSolverInfo().m_solverMode |= SOLVER_RANDMIZE_ORDER; + m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); + + // create volumetric reduced deformable 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); + // rsb->scale(btVector3(0.5, 0.5, 0.5)); + + rsb->setStiffnessScale(100); + rsb->setDamping(damping_alpha, damping_beta); + + rsb->setTotalMass(15); + + btTransform init_transform; + init_transform.setIdentity(); + init_transform.setOrigin(btVector3(0, 4, 0)); + // init_transform.setRotation(btQuaternion(0, SIMD_PI / 2.0, SIMD_PI / 2.0)); + rsb->transformTo(init_transform); + + 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); + + rsb->setRigidVelocity(btVector3(0, -COLLIDING_VELOCITY, 0)); + // rsb->setRigidAngularVelocity(btVector3(1, 0, 0)); + b3Printf("total mass: %e", rsb->getTotalMass()); + } + // rigidBar(); + + // add a few rigid bodies + Ctor_RbUpStack(); + + // create ground + // createGround(); + + // create multibody + // { + // bool damping = false; + // bool gyro = true; + // int numLinks = 0; + // bool spherical = true; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals + // bool multibodyOnly = true; + // bool canSleep = false; + // bool selfCollide = true; + // bool multibodyConstraint = false; + // btVector3 linkHalfExtents(0.05, 0.37, 0.1); + // btVector3 baseHalfExtents(1, 1, 1); + // // btVector3 baseHalfExtents(2.5, 0.5, 2.5); + // // btVector3 baseHalfExtents(0.05, 0.37, 0.1); + + // bool g_floatingBase = true; + // // btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(m_dynamicsWorld, numLinks, btVector3(0, 4, 0), linkHalfExtents, baseHalfExtents, spherical, g_floatingBase); + // btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(m_dynamicsWorld, numLinks, btVector3(0.f, 4.f, 0.f), baseHalfExtents, linkHalfExtents, spherical, g_floatingBase); + // //mbC->forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm + + // mbC->setCanSleep(canSleep); + // mbC->setHasSelfCollision(selfCollide); + // mbC->setUseGyroTerm(gyro); + // // + // if (!damping) + // { + // mbC->setLinearDamping(0.f); + // mbC->setAngularDamping(0.f); + // } + // else + // { + // mbC->setLinearDamping(0.1f); + // mbC->setAngularDamping(0.9f); + // } + // // + // ////////////////////////////////////////////// + // // if (numLinks > 0) + // // { + // // btScalar q0 = 45.f * SIMD_PI / 180.f; + // // if (!spherical) + // // { + // // mbC->setJointPosMultiDof(0, &q0); + // // } + // // else + // // { + // // btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0); + // // quat0.normalize(); + // // mbC->setJointPosMultiDof(0, quat0); + // // } + // // } + // /// + // addColliders_testMultiDof(mbC, m_dynamicsWorld, baseHalfExtents, linkHalfExtents); + // } + + getDeformableDynamicsWorld()->setImplicit(false); + getDeformableDynamicsWorld()->setLineSearch(false); + getDeformableDynamicsWorld()->setUseProjection(false); + getDeformableDynamicsWorld()->getSolverInfo().m_friction = 1; + getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2; + getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0.2; + 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); + + // { + // SliderParams slider("Young's Modulus", &E); + // slider.m_minVal = 0; + // slider.m_maxVal = 2000; + // if (m_guiHelper->getParameterInterface()) + // m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); + // } + // { + // SliderParams slider("Poisson Ratio", &nu); + // slider.m_minVal = 0.05; + // slider.m_maxVal = 0.49; + // if (m_guiHelper->getParameterInterface()) + // m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); + // } + // { + // SliderParams slider("Mass Damping", &damping_alpha); + // slider.m_minVal = 0; + // slider.m_maxVal = 1; + // if (m_guiHelper->getParameterInterface()) + // m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); + // } + // { + // SliderParams slider("Stiffness Damping", &damping_beta); + // slider.m_minVal = 0; + // slider.m_maxVal = 0.1; + // if (m_guiHelper->getParameterInterface()) + // m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); + // } +} + +void ReducedCollide::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; +} + +btMultiBody* ReducedCollide::createFeatherstoneMultiBody_testMultiDof(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool floating) +{ + //init the base + btVector3 baseInertiaDiag(0.f, 0.f, 0.f); + float baseMass = 10; + + if (baseMass) + { + btCollisionShape* pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2])); + pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag); + delete pTempBox; + } + + bool canSleep = false; + + btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep); + + btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f); + // btQuaternion baseOriQuat(btVector3(0, 0, 1), -SIMD_PI / 6.0); + pMultiBody->setBasePos(basePosition); + pMultiBody->setWorldToBaseRot(baseOriQuat); + btVector3 vel(0, 0, 0); + + //init the links + btVector3 hingeJointAxis(1, 0, 0); + float linkMass = 1.f; + btVector3 linkInertiaDiag(0.f, 0.f, 0.f); + + btCollisionShape* pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2])); + pTempBox->calculateLocalInertia(linkMass, linkInertiaDiag); + delete pTempBox; + + //y-axis assumed up + btVector3 parentComToCurrentCom(0, -linkHalfExtents[1] * 2.f, 0); //par body's COM to cur body's COM offset + btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1], 0); //cur body's COM to cur body's PIV offset + btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset + + ////// + btScalar q0 = 0.f * SIMD_PI / 180.f; + btQuaternion quat0(btVector3(0, 1, 0).normalized(), q0); + quat0.normalize(); + ///// + + for (int i = 0; i < numLinks; ++i) + { + if (!spherical) + pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, true); + else + //pMultiBody->setupPlanar(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f)/*quat0*/, btVector3(1, 0, 0), parentComToCurrentPivot*2, false); + pMultiBody->setupSpherical(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), parentComToCurrentPivot, currentPivotToCurrentCom, true); + } + + pMultiBody->finalizeMultiDof(); + pMultiBody->setBaseVel(vel); + + /// + pWorld->addMultiBody(pMultiBody); + /// + return pMultiBody; +} + +void ReducedCollide::addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents) +{ + btAlignedObjectArray<btQuaternion> world_to_local; + world_to_local.resize(pMultiBody->getNumLinks() + 1); + + btAlignedObjectArray<btVector3> local_origin; + local_origin.resize(pMultiBody->getNumLinks() + 1); + world_to_local[0] = pMultiBody->getWorldToBaseRot(); + local_origin[0] = pMultiBody->getBasePos(); + + { + // float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1}; + btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()}; + + if (1) + { + btCollisionShape* box = new btBoxShape(baseHalfExtents); + btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1); + col->setCollisionShape(box); + + btTransform tr; + tr.setIdentity(); + tr.setOrigin(local_origin[0]); + tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3])); + col->setWorldTransform(tr); + + pWorld->addCollisionObject(col, 2, 1 + 2); + + col->setFriction(1); + pMultiBody->setBaseCollider(col); + } + } + + for (int i = 0; i < pMultiBody->getNumLinks(); ++i) + { + const int parent = pMultiBody->getParent(i); + world_to_local[i + 1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent + 1]; + local_origin[i + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[i + 1].inverse(), pMultiBody->getRVector(i))); + } + + for (int i = 0; i < pMultiBody->getNumLinks(); ++i) + { + btVector3 posr = local_origin[i + 1]; + // float pos[4]={posr.x(),posr.y(),posr.z(),1}; + + btScalar quat[4] = {-world_to_local[i + 1].x(), -world_to_local[i + 1].y(), -world_to_local[i + 1].z(), world_to_local[i + 1].w()}; + + btCollisionShape* box = new btBoxShape(linkHalfExtents); + btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i); + + col->setCollisionShape(box); + btTransform tr; + tr.setIdentity(); + tr.setOrigin(posr); + tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3])); + col->setWorldTransform(tr); + col->setFriction(1); + pWorld->addCollisionObject(col, 2, 1 + 2); + + pMultiBody->getLink(i).m_collider = col; + } +} + + + +class CommonExampleInterface* ReducedCollideCreateFunc(struct CommonExampleOptions& options) +{ + return new ReducedCollide(options.m_guiHelper); +} + + |