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Diffstat (limited to 'examples/ReducedDeformableDemo')
18 files changed, 3428 insertions, 0 deletions
diff --git a/examples/ReducedDeformableDemo/ConservationTest.cpp b/examples/ReducedDeformableDemo/ConservationTest.cpp new file mode 100644 index 000000000..05b7394da --- /dev/null +++ b/examples/ReducedDeformableDemo/ConservationTest.cpp @@ -0,0 +1,316 @@ +/* + 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 "ConservationTest.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 <random> + +#include "../CommonInterfaces/CommonDeformableBodyBase.h" +#include "../Utils/b3ResourcePath.h" + +static btScalar damping_alpha = 0.0; +static btScalar damping_beta = 0.0; +static int start_mode = 6; +static int num_modes = 20; + +class ConservationTest : public CommonDeformableBodyBase +{ + btScalar sim_time; + bool first_step; + + // get deformed shape + void getDeformedShape(btReducedDeformableBody* rsb, const int mode_n, const btScalar scale = 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_modes[mode_n][3 * i + k] * scale; + + // rsb->m_reducedDofs[mode_n] = scale; + // rsb->m_reducedDofsBuffer[mode_n] = scale; + + srand(1); + for (int r = 0; r < rsb->m_nReduced; r++) + { + rsb->m_reducedDofs[r] = (btScalar(rand()) / btScalar(RAND_MAX) - 0.5); + rsb->m_reducedDofsBuffer[r] = rsb->m_reducedDofs[r]; + } + + rsb->mapToFullPosition(rsb->getRigidTransform()); + // std::cout << "-----------\n"; + // std::cout << rsb->m_nodes[0].m_x[0] << '\t' << rsb->m_nodes[0].m_x[1] << '\t' << rsb->m_nodes[0].m_x[2] << '\n'; + // std::cout << "-----------\n"; + } + +public: + ConservationTest(struct GUIHelperInterface* helper) + : CommonDeformableBodyBase(helper) + { + sim_time = 0; + first_step = true; + } + virtual ~ConservationTest() + { + } + 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 checkMomentum(btReducedDeformableBody* rsb) + { + btVector3 x_com(0, 0, 0); + btVector3 total_linear(0, 0, 0); + btVector3 total_angular(0, 0, 0); + { + std::ofstream myfile("center_of_mass.txt", std::ios_base::app); + for (int i = 0; i < rsb->m_nFull; ++i) + { + x_com += rsb->m_nodalMass[i] * rsb->m_nodes[i].m_x; + } + x_com /= rsb->getTotalMass(); + myfile << sim_time << "\t" << x_com[0] << "\t" << x_com[1] << "\t" << x_com[2] << "\n"; + myfile.close(); + } + { + std::ofstream myfile("linear_momentum.txt", std::ios_base::app); + for (int i = 0; i < rsb->m_nFull; ++i) + { + total_linear += rsb->m_nodalMass[i] * rsb->m_nodes[i].m_v; + } + myfile << sim_time << "\t" << total_linear[0] << "\t" << total_linear[1] << "\t" << total_linear[2] << "\n"; + myfile.close(); + } + { + std::ofstream myfile("angular_momentum.txt", std::ios_base::app); + // btVector3 ri(0, 0, 0); + // for (int i = 0; i < rsb->m_nFull; ++i) + // { + // ri = rsb->m_nodes[i].m_x - x_com; + // total_angular += rsb->m_nodalMass[i] * ri.cross(rsb->m_nodes[i].m_v); + // } + total_angular = rsb->computeTotalAngularMomentum(); + myfile << sim_time << "\t" << total_angular[0] << "\t" << total_angular[1] << "\t" << total_angular[2] << "\n"; + myfile.close(); + } + { + btVector3 angular_rigid(0, 0, 0); + std::ofstream myfile("angular_momentum_rigid.txt", std::ios_base::app); + btVector3 ri(0, 0, 0); + for (int i = 0; i < rsb->m_nFull; ++i) + { + ri = rsb->m_nodes[i].m_x - x_com; + btMatrix3x3 ri_star = Cross(ri); + angular_rigid += rsb->m_nodalMass[i] * (ri_star.transpose() * ri_star * rsb->getAngularVelocity()); + } + myfile << sim_time << "\t" << angular_rigid[0] << "\t" << angular_rigid[1] << "\t" << angular_rigid[2] << "\n"; + myfile.close(); + } + + { + std::ofstream myfile("reduced_velocity.txt", std::ios_base::app); + myfile << sim_time << "\t" << rsb->m_reducedVelocity[0] << "\t" << rsb->m_reducedDofs[0] << "\n"; + myfile.close(); + } + } + + void stepSimulation(float deltaTime) + { + // add initial deformation + btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(static_cast<btDeformableMultiBodyDynamicsWorld*>(m_dynamicsWorld)->getSoftBodyArray()[0]); + if (first_step /* && !rsb->m_bUpdateRtCst*/) + { + getDeformedShape(rsb, 0, 1); + first_step = false; + } + + float internalTimeStep = 1. / 240.f; + m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep); + + sim_time += internalTimeStep; + checkMomentum(rsb); + } + + 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()); + + btVector3 origin = rsb->getRigidTransform().getOrigin(); + btVector3 line_x = rsb->getRigidTransform().getBasis() * 2 * btVector3(1, 0, 0) + origin; + btVector3 line_y = rsb->getRigidTransform().getBasis() * 2 * btVector3(0, 1, 0) + origin; + btVector3 line_z = rsb->getRigidTransform().getBasis() * 2 * btVector3(0, 0, 1) + origin; + + deformableWorld->getDebugDrawer()->drawLine(origin, line_x, btVector3(1, 0, 0)); + deformableWorld->getDebugDrawer()->drawLine(origin, line_y, btVector3(0, 1, 0)); + deformableWorld->getDebugDrawer()->drawLine(origin, line_z, btVector3(0, 0, 1)); + + 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 ConservationTest::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_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->transformTo(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); + + // 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; + + m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); +} + +void ConservationTest::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* ReducedConservationTestCreateFunc(struct CommonExampleOptions& options) +{ + return new ConservationTest(options.m_guiHelper); +} + + diff --git a/examples/ReducedDeformableDemo/ConservationTest.h b/examples/ReducedDeformableDemo/ConservationTest.h new file mode 100644 index 000000000..3528f1e15 --- /dev/null +++ b/examples/ReducedDeformableDemo/ConservationTest.h @@ -0,0 +1,19 @@ +/* + 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. + */ + +#ifndef _REDUCED_CONSERVATION_TEST_H +#define _REDUCED_CONSERVATION_TEST_H + +class CommonExampleInterface* ReducedConservationTestCreateFunc(struct CommonExampleOptions& options); + +#endif //_REDUCED_CONSERVATION_TEST_H diff --git a/examples/ReducedDeformableDemo/FreeFall.cpp b/examples/ReducedDeformableDemo/FreeFall.cpp new file mode 100644 index 000000000..f63db542d --- /dev/null +++ b/examples/ReducedDeformableDemo/FreeFall.cpp @@ -0,0 +1,276 @@ +/* + 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 "FreeFall.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 btScalar COLLIDING_VELOCITY = 0; +static int num_modes = 40; + +class FreeFall : public CommonDeformableBodyBase +{ +public: + FreeFall(struct GUIHelperInterface* helper) + : CommonDeformableBodyBase(helper) + { + } + virtual ~FreeFall() + { + } + 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 = 8; + 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, 0)); + } + + void createReducedDeformableObject(const btVector3& origin, const btQuaternion& rotation) + { + 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(0.01); + // 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(25); + 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. / 60.f; + m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep); + } + + virtual void renderScene() + { + CommonDeformableBodyBase::renderScene(); + btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); + // int flag = 0; + + 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(), flag); + 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)); + // } + // for (int p = 0; p < rsb->m_nodeRigidContacts.size(); ++p) + // { + // deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_contactNodesList[p]].m_x, 0.2, btVector3(0, 1, 0)); + // } + + // deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 0, 0), 0.1, btVector3(1, 1, 1)); + // deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 5, 0), 0.1, btVector3(1, 1, 1)); + // deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 10, 0), 0.1, btVector3(1, 1, 1)); + } + } + } +}; + +void FreeFall::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); + btVector3 gravity = btVector3(0, -9.8, 0); + m_dynamicsWorld->setGravity(gravity); + m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); + // m_dynamicsWorld->getSolverInfo().m_solverMode |= SOLVER_RANDMIZE_ORDER; + + // 2 reduced deformable cubes + createReducedDeformableObject(btVector3(0, 4, -2), btQuaternion(0, 0, 0)); + createReducedDeformableObject(btVector3(0, 4, 2), btQuaternion(0, 0, 0)); + + // 2 rigid cubes + Ctor_RbUpStack(btVector3(0, 10, -2)); + Ctor_RbUpStack(btVector3(0, 10, 2)); + + // 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.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, -2, 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 FreeFall::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* ReducedFreeFallCreateFunc(struct CommonExampleOptions& options) +{ + return new FreeFall(options.m_guiHelper); +} + + diff --git a/examples/ReducedDeformableDemo/FreeFall.h b/examples/ReducedDeformableDemo/FreeFall.h new file mode 100644 index 000000000..b71d8027f --- /dev/null +++ b/examples/ReducedDeformableDemo/FreeFall.h @@ -0,0 +1,19 @@ +/* + 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. + */ + +#ifndef _REDUCED_FREE_FALL_H +#define _REDUCED_FREE_FALL_H + +class CommonExampleInterface* ReducedFreeFallCreateFunc(struct CommonExampleOptions& options); + +#endif //_REDUCED_FREE_FALL_H diff --git a/examples/ReducedDeformableDemo/FrictionSlope.cpp b/examples/ReducedDeformableDemo/FrictionSlope.cpp new file mode 100644 index 000000000..20eac36e8 --- /dev/null +++ b/examples/ReducedDeformableDemo/FrictionSlope.cpp @@ -0,0 +1,288 @@ +/* + 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 "FrictionSlope.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 = 0.001; +static btScalar COLLIDING_VELOCITY = 0; +static int num_modes = 20; + +class FrictionSlope : public CommonDeformableBodyBase +{ +public: + FrictionSlope(struct GUIHelperInterface* helper) + : CommonDeformableBodyBase(helper) + {} + virtual ~FrictionSlope() + { + } + 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 = 20; + float pitch = -20; + float yaw = 90; + float targetPos[3] = {0, 0, 0.5}; + m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]); + } + + void Ctor_RbUpStack() + { + float mass = 1; + btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 1)); + // btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.5, 0.5)); + // btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.25, 2)); + btTransform startTransform; + startTransform.setIdentity(); + + startTransform.setOrigin(btVector3(0,4,0)); + btRigidBody* rb1 = createRigidBody(mass, startTransform, shape); + rb1->setLinearVelocity(btVector3(0, 0, 0)); + } + + void createGround() + { + btBoxShape* groundShape = createBoxShape(btVector3(btScalar(10), btScalar(2), btScalar(10))); + m_collisionShapes.push_back(groundShape); + + btTransform groundTransform; + groundTransform.setIdentity(); + // groundTransform.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_PI / 6.0)); + groundTransform.setOrigin(btVector3(0, 0, 0)); + btScalar mass(1e6); + btRigidBody* ground = createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0)); + // ground->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(), flag); + 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)); + // } + // for (int p = 0; p < rsb->m_nodeRigidContacts.size(); ++p) + // { + // deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_contactNodesList[p]].m_x, 0.2, btVector3(0, 1, 0)); + // } + } + } + } +}; + +namespace FrictionSlopeHelper +{ + void groundMotion(btScalar time, btDeformableMultiBodyDynamicsWorld* world) + { + btAlignedObjectArray<btRigidBody*>& rbs = world->getNonStaticRigidBodies(); + + btRigidBody* ground = rbs[0]; + btAssert(ground->getMass() > 1e5); + + btScalar start_time = 2; + btScalar end_time = 8; + btScalar start_angle = 0; + btScalar end_angle = SIMD_PI / 6; + btScalar current_angle = 0; + btScalar turn_speed = (end_angle - start_angle) / (end_time - start_time); + + if (time >= start_time) + { + current_angle = (time - start_time) * turn_speed; + if (time > end_time) + { + current_angle = end_angle; + turn_speed = 0; + } + } + else + { + current_angle = start_angle; + turn_speed = 0; + } + + btTransform groundTransform; + groundTransform.setIdentity(); + // groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0)); + groundTransform.setRotation(btQuaternion(btVector3(0, 0, 1), current_angle)); + + ground->setCenterOfMassTransform(groundTransform); + ground->setLinearVelocity(btVector3(0, 0, 0)); + ground->setAngularVelocity(btVector3(0, 0, 0)); + } +}; + +void FrictionSlope::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_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(0.01); + + btTransform init_transform; + init_transform.setIdentity(); + init_transform.setOrigin(btVector3(0, 4, 0)); + init_transform.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_PI / 2.0)); + rsb->transform(init_transform); + rsb->setStiffnessScale(50); + 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); + } + + createGround(); + // add a few rigid bodies + // Ctor_RbUpStack(); + + getDeformableDynamicsWorld()->setImplicit(false); + getDeformableDynamicsWorld()->setLineSearch(false); + getDeformableDynamicsWorld()->setUseProjection(false); + getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 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; + getDeformableDynamicsWorld()->setSolverCallback(FrictionSlopeHelper::groundMotion); + m_dynamicsWorld->setGravity(gravity); + m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); +} + +void FrictionSlope::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* FrictionSlopeCreateFunc(struct CommonExampleOptions& options) +{ + return new FrictionSlope(options.m_guiHelper); +} + + diff --git a/examples/ReducedDeformableDemo/FrictionSlope.h b/examples/ReducedDeformableDemo/FrictionSlope.h new file mode 100644 index 000000000..d2cdd737b --- /dev/null +++ b/examples/ReducedDeformableDemo/FrictionSlope.h @@ -0,0 +1,19 @@ +/* + 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. + */ + +#ifndef _FRICTION_SLOPE_H +#define _FRICTION_SLOPE_H + +class CommonExampleInterface* FrictionSlopeCreateFunc(struct CommonExampleOptions& options); + +#endif //_REDUCED_FREE_FALL_H 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); +} + + diff --git a/examples/ReducedDeformableDemo/ModeVisualizer.h b/examples/ReducedDeformableDemo/ModeVisualizer.h new file mode 100644 index 000000000..e6f292b73 --- /dev/null +++ b/examples/ReducedDeformableDemo/ModeVisualizer.h @@ -0,0 +1,19 @@ +/* + 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. + */ + +#ifndef _REDUCED_MODE_VISUALIZER_H +#define _REDUCED_MODE_VISUALIZER_H + +class CommonExampleInterface* ReducedModeVisualizerCreateFunc(struct CommonExampleOptions& options); + +#endif //_REDUCED_MODE_VISUALIZER_H diff --git a/examples/ReducedDeformableDemo/ReducedBenchmark.cpp b/examples/ReducedDeformableDemo/ReducedBenchmark.cpp new file mode 100644 index 000000000..05ddc0362 --- /dev/null +++ b/examples/ReducedDeformableDemo/ReducedBenchmark.cpp @@ -0,0 +1,349 @@ +/* + 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); +} + + diff --git a/examples/ReducedDeformableDemo/ReducedBenchmark.h b/examples/ReducedDeformableDemo/ReducedBenchmark.h new file mode 100644 index 000000000..ffaa4fcff --- /dev/null +++ b/examples/ReducedDeformableDemo/ReducedBenchmark.h @@ -0,0 +1,19 @@ +/* + 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. + */ + +#ifndef _REDUCED_BENCHMARK_H +#define _REDUCED_BENCHMARK_H + +class CommonExampleInterface* ReducedBenchmarkCreateFunc(struct CommonExampleOptions& options); + +#endif //_REDUCED_BENCHMARK_H 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); +} + + diff --git a/examples/ReducedDeformableDemo/ReducedCollide.h b/examples/ReducedDeformableDemo/ReducedCollide.h new file mode 100644 index 000000000..cd2ed89f5 --- /dev/null +++ b/examples/ReducedDeformableDemo/ReducedCollide.h @@ -0,0 +1,19 @@ +/* + 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. + */ + +#ifndef _REDUCED_COLLIDE_H +#define _REDUCED_COLLIDE_H + +class CommonExampleInterface* ReducedCollideCreateFunc(struct CommonExampleOptions& options); + +#endif //_REDUCED_COLLIDE_H 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); +} + + diff --git a/examples/ReducedDeformableDemo/ReducedGrasp.h b/examples/ReducedDeformableDemo/ReducedGrasp.h new file mode 100644 index 000000000..12d274849 --- /dev/null +++ b/examples/ReducedDeformableDemo/ReducedGrasp.h @@ -0,0 +1,19 @@ +/* + 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. + */ + +#ifndef _REDUCED_GRASP_H +#define _REDUCED_GRASP_H + +class CommonExampleInterface* ReducedGraspCreateFunc(struct CommonExampleOptions& options); + +#endif //_REDUCED_GRASP_H diff --git a/examples/ReducedDeformableDemo/ReducedMotorGrasp.cpp b/examples/ReducedDeformableDemo/ReducedMotorGrasp.cpp new file mode 100644 index 000000000..5dda30f97 --- /dev/null +++ b/examples/ReducedDeformableDemo/ReducedMotorGrasp.cpp @@ -0,0 +1,558 @@ +/* + 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 "ReducedMotorGrasp.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 "BulletDynamics/Featherstone/btMultiBodyJointMotor.h" +#include <stdio.h> //printf debugging + +#include "../CommonInterfaces/CommonDeformableBodyBase.h" +#include "../Utils/b3ResourcePath.h" +#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h" +#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h" +#include "../Importers/ImportURDFDemo/URDF2Bullet.h" +#include "../Utils/b3BulletDefaultFileIO.h" +#include "../CommonInterfaces/CommonMultiBodyBase.h" +#include "../CommonInterfaces/CommonGraphicsAppInterface.h" +#include "../CommonInterfaces/CommonParameterInterface.h" +#include "../CommonInterfaces/CommonFileIOInterface.h" +#include "Bullet3Common/b3FileUtils.h" + +///The ReducedMotorGrasp shows grasping a volumetric deformable objects with multibody gripper with moter constraints. +static btScalar sGripperVerticalVelocity = 0.f; +static btScalar sGripperClosingTargetVelocity = 0.f; +static btScalar damping_alpha = 0.0; +static btScalar damping_beta = 0.0001; +static int num_modes = 20; +static float friction = 1.; +struct TetraCube +{ +#include "../SoftDemo/cube.inl" +}; + +struct TetraBunny +{ +#include "../SoftDemo/bunny.inl" +}; + +static bool supportsJointMotor(btMultiBody* mb, int mbLinkIndex) +{ + bool canHaveMotor = (mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::eRevolute + || mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::ePrismatic); + return canHaveMotor; +} + +class ReducedMotorGrasp : public CommonDeformableBodyBase +{ + btAlignedObjectArray<btDeformableLagrangianForce*> m_forces; +public: + ReducedMotorGrasp(struct GUIHelperInterface* helper) + :CommonDeformableBodyBase(helper) + { + } + virtual ~ReducedMotorGrasp() + { + } + void initPhysics(); + + void exitPhysics(); + + void Ctor_RbUpStack() + { + float mass = 8; + btCollisionShape* shape = new btBoxShape(btVector3(2, 0.25, 0.5)); + btTransform startTransform; + startTransform.setIdentity(); + + startTransform.setOrigin(btVector3(0,0.25,0)); + btRigidBody* rb1 = createRigidBody(mass, startTransform, shape); + rb1->setLinearVelocity(btVector3(0, 0, 0)); + rb1->setFriction(0.7); + } + + void resetCamera() + { + // float dist = 0.3; + // float pitch = -45; + // float yaw = 100; + // float targetPos[3] = {0, -0.1, 0}; + float dist = 0.4; + float pitch = -25; + float yaw = 90; + float targetPos[3] = {0, 0, 0}; + m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]); + } + + btMultiBody* createFeatherstoneMultiBody(btMultiBodyDynamicsWorld* pWorld,const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool floating); + + void addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents); + + btMultiBody* createFeatherstoneMultiBody_testMultiDof(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool floating); + + void stepSimulation(float deltaTime) + { + double fingerTargetVelocities[2] = {sGripperVerticalVelocity, sGripperClosingTargetVelocity}; + int num_multiBody = getDeformableDynamicsWorld()->getNumMultibodies(); + for (int i = 0; i < num_multiBody; ++i) + { + btMultiBody* mb = getDeformableDynamicsWorld()->btMultiBodyDynamicsWorld::getMultiBody(i); + mb->setBaseVel(btVector3(0,sGripperVerticalVelocity, 0)); + int dofIndex = 6; //skip the 3 linear + 3 angular degree of freedom entries of the base + for (int link = 0; link < mb->getNumLinks(); link++) + { + if (supportsJointMotor(mb, link)) + { + btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)mb->getLink(link).m_userPtr; + if (motor) + { + if (dofIndex == 6) + { + motor->setVelocityTarget(-fingerTargetVelocities[1], 1); + motor->setMaxAppliedImpulse(10); + } + if (dofIndex == 7) + { + motor->setVelocityTarget(fingerTargetVelocities[1], 1); + motor->setMaxAppliedImpulse(10); + } + motor->setMaxAppliedImpulse(25); + } + } + dofIndex += mb->getLink(link).m_dofCount; + } + } + + //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 = 2; + btCollisionShape* shape[] = { + new btBoxShape(btVector3(3, 3, 0.5)), + }; + static const int nshapes = sizeof(shape) / sizeof(shape[0]); + for (int i = 0; i < count; ++i) + { + btTransform startTransform; + startTransform.setIdentity(); + startTransform.setOrigin(btVector3(10, 0, 0)); + startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.)); + createRigidBody(mass, startTransform, shape[i % nshapes]); + } + } + + virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const + { + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; + } + + virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() + { + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; + } + + 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(), fDrawFlags::Faces);// 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)); + // } + } + } + + virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) + { + return false; + } + virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) + { + return false; + } + virtual void removePickingConstraint(){} +}; + + +void ReducedMotorGrasp::initPhysics() +{ + m_guiHelper->setUpAxis(1); + + m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration(); + + m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); + + m_broadphase = new btDbvtBroadphase(); + btReducedDeformableBodySolver* reducedSoftBodySolver = new btReducedDeformableBodySolver(); + // btVector3 gravity = btVector3(0, 0, 0); + btVector3 gravity = btVector3(0, -9.81, 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); + getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; + // getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.1; + // getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0; + // getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 150; + m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); + m_maxPickingForce = 0.001; + // build a gripper + { + bool damping = true; + bool gyro = false; + bool canSleep = false; + bool selfCollide = true; + int numLinks = 2; + // btVector3 linkHalfExtents(0.02, 0.018, .003); + // btVector3 baseHalfExtents(0.02, 0.002, .002); + btVector3 linkHalfExtents(0.03, 0.04, 0.006); + btVector3 baseHalfExtents(0.02, 0.015, 0.015); + btVector3 basePosition(0, 0.3, 0); + // btMultiBody* mbC = createFeatherstoneMultiBody(getDeformableDynamicsWorld(), btVector3(0.f, 0.05f,0.f), baseHalfExtents, linkHalfExtents, false); + btMultiBody* mbC = createFeatherstoneMultiBody(getDeformableDynamicsWorld(), basePosition, baseHalfExtents, linkHalfExtents, false); + + mbC->setCanSleep(canSleep); + mbC->setHasSelfCollision(selfCollide); + mbC->setUseGyroTerm(gyro); + + for (int i = 0; i < numLinks; i++) + { + int mbLinkIndex = i; + double maxMotorImpulse = 1; + + if (supportsJointMotor(mbC, mbLinkIndex)) + { + int dof = 0; + btScalar desiredVelocity = 0.f; + btMultiBodyJointMotor* motor = new btMultiBodyJointMotor(mbC, mbLinkIndex, dof, desiredVelocity, maxMotorImpulse); + motor->setPositionTarget(0, 0); + motor->setVelocityTarget(0, 1); + mbC->getLink(mbLinkIndex).m_userPtr = motor; + getDeformableDynamicsWorld()->addMultiBodyConstraint(motor); + motor->finalizeMultiDof(); + } + } + + if (!damping) + { + mbC->setLinearDamping(0.0f); + mbC->setAngularDamping(0.0f); + } + else + { + mbC->setLinearDamping(0.04f); + mbC->setAngularDamping(0.04f); + } + btScalar q0 = 0.f * SIMD_PI / 180.f; + if (numLinks > 0) + mbC->setJointPosMultiDof(0, &q0); + addColliders(mbC, getDeformableDynamicsWorld(), baseHalfExtents, linkHalfExtents); + } + + //create a ground + { + btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(10.), btScalar(5.), btScalar(10.))); + groundShape->setMargin(0.001); + m_collisionShapes.push_back(groundShape); + + btTransform groundTransform; + groundTransform.setIdentity(); + groundTransform.setOrigin(btVector3(0, -5.1, 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,1,1+2); + } + + // 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(0.001); + + rsb->setStiffnessScale(100); + rsb->setDamping(damping_alpha, damping_beta); + + rsb->scale(btVector3(0.075, 0.075, 0.075)); + rsb->setTotalMass(1); + + btTransform init_transform; + init_transform.setIdentity(); + init_transform.setOrigin(btVector3(0, 0.1, 0)); + // init_transform.setRotation(btQuaternion(SIMD_PI / 2.0, 0, SIMD_PI / 2.0)); + rsb->transform(init_transform); + + // rsb->setRigidVelocity(btVector3(0, 1, 0)); + + 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); + } + + // Ctor_RbUpStack(); + + 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-6; + getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false; + getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 200; + m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); + + { + SliderParams slider("Moving velocity", &sGripperVerticalVelocity); + // slider.m_minVal = -.02; + // slider.m_maxVal = .02; + slider.m_minVal = -.2; + slider.m_maxVal = .2; + m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); + } + + { + SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity); + slider.m_minVal = -1; + slider.m_maxVal = 1; + m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); + } + +} + +void ReducedMotorGrasp::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* ReducedMotorGrasp::createFeatherstoneMultiBody(btMultiBodyDynamicsWorld* pWorld, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool floating) +{ + //init the base + btVector3 baseInertiaDiag(0.f, 0.f, 0.f); + float baseMass = 55; + float linkMass = 55; + int numLinks = 2; + + 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); + pMultiBody->setBasePos(basePosition); + pMultiBody->setWorldToBaseRot(baseOriQuat); + + //init the links + btVector3 hingeJointAxis(1, 0, 0); + + 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 + btAlignedObjectArray<btVector3> parentComToCurrentCom; + parentComToCurrentCom.push_back(btVector3(0, -linkHalfExtents[1] * 2.f, -baseHalfExtents[2] * 2.f)); + parentComToCurrentCom.push_back(btVector3(0, -linkHalfExtents[1] * 2.f, +baseHalfExtents[2] * 2.f));//par body's COM to cur body's COM offset + + + btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1]*2.f, 0); //cur body's COM to cur body's PIV offset + + btAlignedObjectArray<btVector3> parentComToCurrentPivot; + parentComToCurrentPivot.push_back(btVector3(parentComToCurrentCom[0] - currentPivotToCurrentCom)); + parentComToCurrentPivot.push_back(btVector3(parentComToCurrentCom[1] - 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) + { + pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot[i], currentPivotToCurrentCom, true); + } + pMultiBody->finalizeMultiDof(); + /// + pWorld->addMultiBody(pMultiBody); + /// + return pMultiBody; +} + +void ReducedMotorGrasp::addColliders(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(); + + { + 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); + box->setMargin(0.001); + 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(friction); + 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]; + + 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); + box->setMargin(0.001); + 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(friction); + pWorld->addCollisionObject(col, 2, 1 + 2); + + pMultiBody->getLink(i).m_collider = col; + } +} + +class CommonExampleInterface* ReducedMotorGraspCreateFunc(struct CommonExampleOptions& options) +{ + return new ReducedMotorGrasp(options.m_guiHelper); +} + + diff --git a/examples/ReducedDeformableDemo/ReducedMotorGrasp.h b/examples/ReducedDeformableDemo/ReducedMotorGrasp.h new file mode 100644 index 000000000..52883ecf1 --- /dev/null +++ b/examples/ReducedDeformableDemo/ReducedMotorGrasp.h @@ -0,0 +1,19 @@ +/* + 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. + */ + +#ifndef _REDUCED_MOTOR_GRASP +#define _REDUCED_MOTOR_GRASP + +class CommonExampleInterface* ReducedMotorGraspCreateFunc(struct CommonExampleOptions& options); + +#endif //_REDUCED_MOTOR_GRASP diff --git a/examples/ReducedDeformableDemo/Springboard.cpp b/examples/ReducedDeformableDemo/Springboard.cpp new file mode 100644 index 000000000..58641365e --- /dev/null +++ b/examples/ReducedDeformableDemo/Springboard.cpp @@ -0,0 +1,264 @@ +/* + 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); +} + + diff --git a/examples/ReducedDeformableDemo/Springboard.h b/examples/ReducedDeformableDemo/Springboard.h new file mode 100644 index 000000000..2636d5623 --- /dev/null +++ b/examples/ReducedDeformableDemo/Springboard.h @@ -0,0 +1,19 @@ +/* + 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. + */ + +#ifndef _REDUCED_SPRINGBOARD_H +#define _REDUCED_SPRINGBOARD_H + +class CommonExampleInterface* ReducedSpringboardCreateFunc(struct CommonExampleOptions& options); + +#endif //_REDUCED_SPRINGBOARD_H |