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Merge pull request bulletphysics#2872 from xhan0619/implicit-contact
Corotated Linear Elasticity
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,273 @@ | ||
| /* | ||
| 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 "Collide.h" | ||
| ///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. | ||
| #include "btBulletDynamicsCommon.h" | ||
| #include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" | ||
| #include "BulletSoftBody/btSoftBody.h" | ||
| #include "BulletSoftBody/btSoftBodyHelpers.h" | ||
| #include "BulletSoftBody/btDeformableBodySolver.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 Collide shows the contact between volumetric deformable objects and rigid objects. | ||
| static btScalar E = 50; | ||
| static btScalar nu = 0.3; | ||
| static btScalar damping_alpha = 0.1; | ||
| static btScalar damping_beta = 0.01; | ||
| static btScalar COLLIDING_VELOCITY = 15; | ||
|
|
||
| struct TetraCube | ||
| { | ||
| #include "../SoftDemo/cube.inl" | ||
| }; | ||
|
|
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| class Collide : public CommonDeformableBodyBase | ||
| { | ||
| btDeformableLinearElasticityForce* m_linearElasticity; | ||
|
|
||
| public: | ||
| Collide(struct GUIHelperInterface* helper) | ||
| : CommonDeformableBodyBase(helper) | ||
| { | ||
| m_linearElasticity = 0; | ||
| } | ||
| virtual ~Collide() | ||
| { | ||
| } | ||
| void initPhysics(); | ||
|
|
||
| void exitPhysics(); | ||
|
|
||
| void resetCamera() | ||
| { | ||
| float dist = 20; | ||
| 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 = 0.5; | ||
| btCollisionShape* shape = new btBoxShape(btVector3(2, 2, 2)); | ||
| btTransform startTransform; | ||
| startTransform.setIdentity(); | ||
| startTransform.setOrigin(btVector3(0,-2,0)); | ||
| btRigidBody* rb = createRigidBody(mass, startTransform, shape); | ||
| rb->setLinearVelocity(btVector3(0,+COLLIDING_VELOCITY, 0)); | ||
| } | ||
|
|
||
| void stepSimulation(float deltaTime) | ||
| { | ||
| m_linearElasticity->setPoissonRatio(nu); | ||
| m_linearElasticity->setYoungsModulus(E); | ||
| m_linearElasticity->setDamping(damping_alpha, damping_beta); | ||
| 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++) | ||
| { | ||
| btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i]; | ||
| { | ||
| btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer()); | ||
| btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); | ||
| } | ||
| } | ||
| } | ||
| }; | ||
|
|
||
| void Collide::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* deformableBodySolver = new btDeformableBodySolver(); | ||
|
|
||
| btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver(); | ||
| sol->setDeformableSolver(deformableBodySolver); | ||
| m_solver = sol; | ||
|
|
||
| m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); | ||
| btVector3 gravity = btVector3(0, 0, 0); | ||
| m_dynamicsWorld->setGravity(gravity); | ||
| m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); | ||
|
|
||
| // create volumetric soft body | ||
| { | ||
| btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(), | ||
| TetraCube::getElements(), | ||
| 0, | ||
| TetraCube::getNodes(), | ||
| false, true, true); | ||
| getDeformableDynamicsWorld()->addSoftBody(psb); | ||
| psb->scale(btVector3(2, 2, 2)); | ||
| psb->translate(btVector3(0, 7, 0)); | ||
| psb->getCollisionShape()->setMargin(0.1); | ||
| psb->setTotalMass(0.5); | ||
| psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects | ||
| psb->m_cfg.kCHR = 1; // collision hardness with rigid body | ||
| psb->m_cfg.kDF = 0; | ||
| psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; | ||
| psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN; | ||
| psb->m_sleepingThreshold = 0; | ||
| btSoftBodyHelpers::generateBoundaryFaces(psb); | ||
|
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| psb->setVelocity(btVector3(0, -COLLIDING_VELOCITY, 0)); | ||
|
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| btDeformableLinearElasticityForce* linearElasticity = new btDeformableLinearElasticityForce(100,100,0.01); | ||
| m_linearElasticity = linearElasticity; | ||
| getDeformableDynamicsWorld()->addForce(psb, linearElasticity); | ||
| m_forces.push_back(linearElasticity); | ||
| } | ||
| getDeformableDynamicsWorld()->setImplicit(true); | ||
| getDeformableDynamicsWorld()->setLineSearch(false); | ||
| getDeformableDynamicsWorld()->setUseProjection(true); | ||
| getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.3; | ||
| getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200); | ||
| getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3; | ||
| getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = true; | ||
| getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100; | ||
| // add a few rigid bodies | ||
| Ctor_RbUpStack(); | ||
| 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 = 0.001; | ||
| // slider.m_maxVal = 0.01; | ||
| // if (m_guiHelper->getParameterInterface()) | ||
| // m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); | ||
| // } | ||
| // { | ||
| // SliderParams slider("Stiffness Damping", &damping_beta); | ||
| // slider.m_minVal = 0.001; | ||
| // slider.m_maxVal = 0.01; | ||
| // if (m_guiHelper->getParameterInterface()) | ||
| // m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); | ||
| // } | ||
| { | ||
| 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 Collide::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(); | ||
|
|
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| delete m_dynamicsWorld; | ||
|
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| delete m_solver; | ||
|
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| delete m_broadphase; | ||
|
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| delete m_dispatcher; | ||
|
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| delete m_collisionConfiguration; | ||
| } | ||
|
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|
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| class CommonExampleInterface* CollideCreateFunc(struct CommonExampleOptions& options) | ||
| { | ||
| return new Collide(options.m_guiHelper); | ||
| } | ||
|
|
||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -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 _COLLIDE_H | ||
| #define _COLLIDE_H | ||
|
|
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| class CommonExampleInterface* CollideCreateFunc(struct CommonExampleOptions& options); | ||
|
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| #endif //_COLLIDE_H |
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