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Diffstat (limited to 'examples/ReducedDeformableDemo/Springboard.cpp')
| -rw-r--r-- | examples/ReducedDeformableDemo/Springboard.cpp | 264 |
1 files changed, 0 insertions, 264 deletions
diff --git a/examples/ReducedDeformableDemo/Springboard.cpp b/examples/ReducedDeformableDemo/Springboard.cpp deleted file mode 100644 index 58641365e..000000000 --- a/examples/ReducedDeformableDemo/Springboard.cpp +++ /dev/null @@ -1,264 +0,0 @@ -/* - 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 "Springboard.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 int num_modes = 20; - -class Springboard : public CommonDeformableBodyBase -{ - btScalar sim_time; - bool first_step; - -public: - Springboard(struct GUIHelperInterface* helper) - : CommonDeformableBodyBase(helper) - { - sim_time = 0; - first_step = true; - } - virtual ~Springboard() - { - } - 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 = 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 Ctor_RbUpStack() - { - float mass = 2; - btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 1)); - btTransform startTransform; - startTransform.setIdentity(); - startTransform.setOrigin(btVector3(0,8,1)); - btRigidBody* rb1 = createRigidBody(mass, startTransform, shape); - rb1->setActivationState(DISABLE_DEACTIVATION); - } - - void stepSimulation(float deltaTime) - { - float internalTimeStep = 1. / 60.f; - m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep); - - { - sim_time += internalTimeStep; - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(getDeformableDynamicsWorld()->getSoftBodyArray()[0]); - - // std::ofstream myfile("fixed_node.txt", std::ios_base::app); - // myfile << sim_time << "\t" << rsb->m_nodes[0].m_x[0] - rsb->m_x0[0][0] << "\t" - // << rsb->m_nodes[0].m_x[1] - rsb->m_x0[0][1] << "\t" - // << rsb->m_nodes[0].m_x[2] - rsb->m_x0[0][2] << "\n"; - // myfile.close(); - } - } - - 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_fixedNodes.size(); ++p) - { - deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_fixedNodes[p]].m_x, 0.2, btVector3(1, 0, 0)); - // std::cout << rsb->m_nodes[rsb->m_fixedNodes[p]].m_x[0] << "\t" << rsb->m_nodes[rsb->m_fixedNodes[p]].m_x[1] << "\t" << rsb->m_nodes[rsb->m_fixedNodes[p]].m_x[2] << "\n"; - } - // deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 0, 0), 0.1, btVector3(1, 1, 1)); - // deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 2, 0), 0.1, btVector3(1, 1, 1)); - // deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 4, 0), 0.1, btVector3(1, 1, 1)); - } - } - } -}; - -void Springboard::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, -10, 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_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); - - // create volumetric reduced deformable body - { - std::string file_path("../../../data/reduced_beam/"); - std::string vtk_file("beam_mesh_origin.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, 4, 0)); - // init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0)); - rsb->transform(init_transform); - - rsb->setStiffnessScale(200); - rsb->setDamping(damping_alpha, damping_beta); - - // set fixed nodes - rsb->setFixedNodes(0); - rsb->setFixedNodes(1); - rsb->setFixedNodes(2); - rsb->setFixedNodes(3); - - 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->setVelocity(btVector3(0, -COLLIDING_VELOCITY, 0)); - // rsb->setRigidVelocity(btVector3(0, 1, 0)); - // rsb->setRigidAngularVelocity(btVector3(1, 0, 0)); - } - getDeformableDynamicsWorld()->setImplicit(false); - getDeformableDynamicsWorld()->setLineSearch(false); - getDeformableDynamicsWorld()->setUseProjection(false); - getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.3; - 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; - // add a few rigid bodies - Ctor_RbUpStack(); - - // create a static rigid box as the ground - { - // btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50))); - btBoxShape* groundShape = createBoxShape(btVector3(btScalar(10), btScalar(2), btScalar(10))); - m_collisionShapes.push_back(groundShape); - - btTransform groundTransform; - groundTransform.setIdentity(); - groundTransform.setOrigin(btVector3(0, 0, 0)); - { - btScalar mass(0.); - createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0)); - } - } - - m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); -} - -void Springboard::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* ReducedSpringboardCreateFunc(struct CommonExampleOptions& options) -{ - return new Springboard(options.m_guiHelper); -} - - |