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Diffstat (limited to 'examples/ReducedDeformableDemo/ModeVisualizer.cpp')
-rw-r--r-- | examples/ReducedDeformableDemo/ModeVisualizer.cpp | 227 |
1 files changed, 0 insertions, 227 deletions
diff --git a/examples/ReducedDeformableDemo/ModeVisualizer.cpp b/examples/ReducedDeformableDemo/ModeVisualizer.cpp deleted file mode 100644 index becf6bcee..000000000 --- a/examples/ReducedDeformableDemo/ModeVisualizer.cpp +++ /dev/null @@ -1,227 +0,0 @@ -/* - Bullet Continuous Collision Detection and Physics Library - Copyright (c) 2019 Google Inc. http://bulletphysics.org - This software is provided 'as-is', without any express or implied warranty. - In no event will the authors be held liable for any damages arising from the use of this software. - Permission is granted to anyone to use this software for any purpose, - including commercial applications, and to alter it and redistribute it freely, - subject to the following restrictions: - 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. - 3. This notice may not be removed or altered from any source distribution. - */ - -#include "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); -} - - |