diff options
Diffstat (limited to 'examples/ReducedDeformableDemo/ReducedGrasp.cpp')
| -rw-r--r-- | examples/ReducedDeformableDemo/ReducedGrasp.cpp | 457 |
1 files changed, 457 insertions, 0 deletions
diff --git a/examples/ReducedDeformableDemo/ReducedGrasp.cpp b/examples/ReducedDeformableDemo/ReducedGrasp.cpp new file mode 100644 index 000000000..c40e0c554 --- /dev/null +++ b/examples/ReducedDeformableDemo/ReducedGrasp.cpp @@ -0,0 +1,457 @@ +/* + 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 "ReducedGrasp.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 = 0.0001; +static int num_modes = 20; + +class ReducedGrasp : public CommonDeformableBodyBase +{ +public: + ReducedGrasp(struct GUIHelperInterface* helper) + : CommonDeformableBodyBase(helper) + { + } + virtual ~ReducedGrasp() + { + } + void initPhysics(); + + void exitPhysics(); + + void resetCamera() + { + float dist = 10; + float pitch = -10; + float yaw = 90; + + // float dist = 25; + // float pitch = -30; + // float yaw = 100; + float targetPos[3] = {0, 0, 0}; + m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]); + } + + void stepSimulation(float deltaTime) + { + //use a smaller internal timestep, there are stability issues + float internalTimeStep = 1. / 240.f; + m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep); + // float internalTimeStep = 1. / 60.f; + // m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep); + } + + void createGrip() + { + int count = 2; + float mass = 1e6; + btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 0.25)); + { + btTransform startTransform; + startTransform.setIdentity(); + startTransform.setOrigin(btVector3(0,1,0)); + startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.)); + createRigidBody(mass, startTransform, shape); + } + { + btTransform startTransform; + startTransform.setIdentity(); + startTransform.setOrigin(btVector3(0,1,-4)); + startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.)); + createRigidBody(mass, startTransform, shape); + } + + } + + void Ctor_RbUpStack() + { + float mass = 8; + btCollisionShape* shape = new btBoxShape(btVector3(0.25, 2, 0.5)); + btTransform startTransform; + startTransform.setIdentity(); + + startTransform.setOrigin(btVector3(0,9.5,0)); + btRigidBody* rb1 = createRigidBody(mass, startTransform, shape); + rb1->setLinearVelocity(btVector3(0, 0, 0)); + rb1->setFriction(0.7); + } + + 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_nodeRigidContacts.size(); ++p) + // { + // deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_contactNodesList[p]].m_x, 0.1, btVector3(0, 1, 0)); + // } + + btSoftBody* psb = static_cast<btSoftBody*>(deformableWorld->getSoftBodyArray()[i]); + { + btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer()); + btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); + } + } + } + + static void GripperDynamics(btScalar time, btDeformableMultiBodyDynamicsWorld* world); +}; + +void ReducedGrasp::GripperDynamics(btScalar time, btDeformableMultiBodyDynamicsWorld* world) +{ + btAlignedObjectArray<btRigidBody*>& rbs = world->getNonStaticRigidBodies(); + if (rbs.size()<2) + return; + btRigidBody* rb0 = rbs[0]; + // btScalar pressTime = 0.9; + // btScalar pressTime = 0.96; + btScalar pressTime = 1.26; + btScalar liftTime = 2.5; + btScalar shiftTime = 6; + btScalar holdTime = 7; + btScalar dropTime = 10; + // btScalar holdTime = 500; + // btScalar dropTime = 1000; + btTransform rbTransform; + rbTransform.setIdentity(); + btVector3 translation; + btVector3 velocity; + + btVector3 initialTranslationLeft = btVector3(0,1,0); // inner face has z=2 + btVector3 initialTranslationRight = btVector3(0,1,-4); // inner face has z=-2 + btVector3 pinchVelocityLeft = btVector3(0,0,-1); + btVector3 pinchVelocityRight = btVector3(0,0,1); + btVector3 liftVelocity = btVector3(0,4,0); + btVector3 shiftVelocity = btVector3(0,0,2); + btVector3 holdVelocity = btVector3(0,0,0); + btVector3 openVelocityLeft = btVector3(0,0,4); + btVector3 openVelocityRight = btVector3(0,0,-4); + + if (time < pressTime) + { + velocity = pinchVelocityLeft; + translation = initialTranslationLeft + pinchVelocityLeft * time; + } + // else + // { + // velocity = btVector3(0, 0, 0); + // translation = initialTranslationLeft + pinchVelocityLeft * pressTime; + // } + else if (time < liftTime) + { + velocity = liftVelocity; + translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (time - pressTime); + } + else if (time < shiftTime) + { + velocity = shiftVelocity; + translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime); + } + else if (time < holdTime) + { + velocity = btVector3(0,0,0); + translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime); + } + else if (time < dropTime) + { + velocity = openVelocityLeft; + translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (time - holdTime); + } + else + { + velocity = holdVelocity; + translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (dropTime - holdTime); + } + rbTransform.setOrigin(translation); + rbTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0)); + rb0->setCenterOfMassTransform(rbTransform); + rb0->setAngularVelocity(btVector3(0,0,0)); + rb0->setLinearVelocity(velocity); + + btRigidBody* rb1 = rbs[1]; + if (time < pressTime) + { + velocity = pinchVelocityRight; + translation = initialTranslationRight + pinchVelocityRight * time; + } + // else + // { + // velocity = btVector3(0, 0, 0); + // translation = initialTranslationRight + pinchVelocityRight * pressTime; + // } + else if (time < liftTime) + { + velocity = liftVelocity; + translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (time - pressTime); + } + else if (time < shiftTime) + { + velocity = shiftVelocity; + translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime); + } + else if (time < holdTime) + { + velocity = btVector3(0,0,0); + translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime); + } + else if (time < dropTime) + { + velocity = openVelocityRight; + translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (time - holdTime); + } + else + { + velocity = holdVelocity; + translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (dropTime - holdTime); + } + rbTransform.setOrigin(translation); + rbTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0)); + rb1->setCenterOfMassTransform(rbTransform); + rb1->setAngularVelocity(btVector3(0,0,0)); + rb1->setLinearVelocity(velocity); + + rb0->setFriction(20); + rb1->setFriction(20); +} + +void ReducedGrasp::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(); + // btDeformableBodySolver* solver = new btDeformableBodySolver(); + 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); + btVector3 gravity = btVector3(0, -10, 0); + m_dynamicsWorld->setGravity(gravity); + getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; + getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25); + getDeformableDynamicsWorld()->setSolverCallback(GripperDynamics); + 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(0.015); + + btTransform init_transform; + init_transform.setIdentity(); + init_transform.setOrigin(btVector3(0, 1, -2)); + // init_transform.setRotation(btQuaternion(0, SIMD_PI / 2.0, SIMD_PI / 2.0)); + // init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0)); + rsb->transform(init_transform); + + rsb->setStiffnessScale(100); + 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); + } + + // create full deformable cube + { + // std::string filepath("../../../examples/SoftDemo/cube/"); + // std::string filename = filepath + "mesh.vtk"; + // btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), filename.c_str()); + + // // psb->scale(btVector3(2, 2, 2)); + // psb->translate(btVector3(0, 1, -2)); + // psb->getCollisionShape()->setMargin(0.05); + // psb->setTotalMass(28.6); + // 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(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, 0.02); + // // 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); + } + + 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 = 1; + getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200); + getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3; + getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false; + getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100; + + // grippers + createGrip(); + + // rigid block + // Ctor_RbUpStack(); + + // { + // float mass = 10; + // btCollisionShape* shape = new btBoxShape(btVector3(0.25, 2, 0.5)); + // btTransform startTransform; + // startTransform.setIdentity(); + // startTransform.setOrigin(btVector3(0,4,0)); + // btRigidBody* rb1 = createRigidBody(mass, startTransform, shape); + // rb1->setLinearVelocity(btVector3(0, 0, 0)); + // } + + //create a ground + { + btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(25.), btScalar(150.))); + + m_collisionShapes.push_back(groundShape); + + btTransform groundTransform; + groundTransform.setIdentity(); + groundTransform.setOrigin(btVector3(0, -25, 0)); + groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0)); + //We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here: + btScalar mass(0.); + + //rigidbody is dynamic if and only if mass is non zero, otherwise static + bool isDynamic = (mass != 0.f); + + btVector3 localInertia(0, 0, 0); + if (isDynamic) + groundShape->calculateLocalInertia(mass, localInertia); + + //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects + btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform); + btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia); + btRigidBody* body = new btRigidBody(rbInfo); + body->setFriction(0.5); + + //add the ground to the dynamics world + m_dynamicsWorld->addRigidBody(body); + } + + m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); +} + +void ReducedGrasp::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* ReducedGraspCreateFunc(struct CommonExampleOptions& options) +{ + return new ReducedGrasp(options.m_guiHelper); +} + + |