215 lines
6.6 KiB
C++
215 lines
6.6 KiB
C++
#include "btReducedDeformableBodyHelpers.h"
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#include "../btSoftBodyHelpers.h"
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#include <iostream>
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#include <string>
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#include <sstream>
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btReducedDeformableBody* btReducedDeformableBodyHelpers::createReducedDeformableObject(btSoftBodyWorldInfo& worldInfo, const std::string& file_path, const std::string& vtk_file, const int num_modes, bool rigid_only) {
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std::string filename = file_path + vtk_file;
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btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createFromVtkFile(worldInfo, filename.c_str());
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rsb->setReducedModes(num_modes, rsb->m_nodes.size());
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btReducedDeformableBodyHelpers::readReducedDeformableInfoFromFiles(rsb, file_path.c_str());
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rsb->disableReducedModes(rigid_only);
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return rsb;
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}
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btReducedDeformableBody* btReducedDeformableBodyHelpers::createFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file)
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{
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std::ifstream fs;
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fs.open(vtk_file);
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btAssert(fs);
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typedef btAlignedObjectArray<int> Index;
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std::string line;
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btAlignedObjectArray<btVector3> X;
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btVector3 position;
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btAlignedObjectArray<Index> indices;
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bool reading_points = false;
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bool reading_tets = false;
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size_t n_points = 0;
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size_t n_tets = 0;
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size_t x_count = 0;
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size_t indices_count = 0;
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while (std::getline(fs, line))
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{
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std::stringstream ss(line);
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if (line.size() == (size_t)(0))
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{
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}
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else if (line.substr(0, 6) == "POINTS")
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{
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reading_points = true;
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reading_tets = false;
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ss.ignore(128, ' '); // ignore "POINTS"
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ss >> n_points;
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X.resize(n_points);
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}
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else if (line.substr(0, 5) == "CELLS")
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{
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reading_points = false;
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reading_tets = true;
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ss.ignore(128, ' '); // ignore "CELLS"
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ss >> n_tets;
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indices.resize(n_tets);
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}
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else if (line.substr(0, 10) == "CELL_TYPES")
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{
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reading_points = false;
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reading_tets = false;
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}
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else if (reading_points)
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{
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btScalar p;
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ss >> p;
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position.setX(p);
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ss >> p;
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position.setY(p);
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ss >> p;
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position.setZ(p);
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//printf("v %f %f %f\n", position.getX(), position.getY(), position.getZ());
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X[x_count++] = position;
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}
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else if (reading_tets)
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{
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int d;
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ss >> d;
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if (d != 4)
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{
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printf("Load deformable failed: Only Tetrahedra are supported in VTK file.\n");
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fs.close();
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return 0;
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}
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ss.ignore(128, ' '); // ignore "4"
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Index tet;
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tet.resize(4);
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for (size_t i = 0; i < 4; i++)
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{
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ss >> tet[i];
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//printf("%d ", tet[i]);
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}
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//printf("\n");
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indices[indices_count++] = tet;
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}
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}
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btReducedDeformableBody* rsb = new btReducedDeformableBody(&worldInfo, n_points, &X[0], 0);
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for (int i = 0; i < n_tets; ++i)
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{
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const Index& ni = indices[i];
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rsb->appendTetra(ni[0], ni[1], ni[2], ni[3]);
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{
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rsb->appendLink(ni[0], ni[1], 0, true);
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rsb->appendLink(ni[1], ni[2], 0, true);
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rsb->appendLink(ni[2], ni[0], 0, true);
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rsb->appendLink(ni[0], ni[3], 0, true);
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rsb->appendLink(ni[1], ni[3], 0, true);
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rsb->appendLink(ni[2], ni[3], 0, true);
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}
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}
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btSoftBodyHelpers::generateBoundaryFaces(rsb);
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rsb->initializeDmInverse();
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rsb->m_tetraScratches.resize(rsb->m_tetras.size());
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rsb->m_tetraScratchesTn.resize(rsb->m_tetras.size());
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printf("Nodes: %u\r\n", rsb->m_nodes.size());
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printf("Links: %u\r\n", rsb->m_links.size());
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printf("Faces: %u\r\n", rsb->m_faces.size());
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printf("Tetras: %u\r\n", rsb->m_tetras.size());
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fs.close();
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return rsb;
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}
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void btReducedDeformableBodyHelpers::readReducedDeformableInfoFromFiles(btReducedDeformableBody* rsb, const char* file_path)
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{
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// read in eigenmodes, stiffness and mass matrices
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std::string eigenvalues_file = std::string(file_path) + "eigenvalues.bin";
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btReducedDeformableBodyHelpers::readBinaryVec(rsb->m_eigenvalues, rsb->m_nReduced, eigenvalues_file.c_str());
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std::string Kr_file = std::string(file_path) + "K_r_diag_mat.bin";
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btReducedDeformableBodyHelpers::readBinaryVec(rsb->m_Kr, rsb->m_nReduced, Kr_file.c_str());
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// std::string Mr_file = std::string(file_path) + "M_r_diag_mat.bin";
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// btReducedDeformableBodyHelpers::readBinaryVec(rsb->m_Mr, rsb->m_nReduced, Mr_file.c_str());
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std::string modes_file = std::string(file_path) + "modes.bin";
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btReducedDeformableBodyHelpers::readBinaryMat(rsb->m_modes, rsb->m_nReduced, 3 * rsb->m_nFull, modes_file.c_str());
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// read in full nodal mass
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std::string M_file = std::string(file_path) + "M_diag_mat.bin";
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btAlignedObjectArray<btScalar> mass_array;
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btReducedDeformableBodyHelpers::readBinaryVec(mass_array, rsb->m_nFull, M_file.c_str());
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rsb->setMassProps(mass_array);
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// calculate the inertia tensor in the local frame
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rsb->setInertiaProps();
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// other internal initialization
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rsb->internalInitialization();
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}
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// read in a vector from the binary file
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void btReducedDeformableBodyHelpers::readBinaryVec(btReducedDeformableBody::tDenseArray& vec,
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const unsigned int n_size, // #entries read
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const char* file)
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{
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std::ifstream f_in(file, std::ios::in | std::ios::binary);
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// first get size
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unsigned int size=0;
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f_in.read((char*)&size, 4);//sizeof(unsigned int));
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btAssert(size >= n_size); // make sure the #requested mode is smaller than the #available modes
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// read data
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vec.resize(n_size);
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double temp;
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for (unsigned int i = 0; i < n_size; ++i)
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{
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f_in.read((char*)&temp, sizeof(double));
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vec[i] = btScalar(temp);
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}
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f_in.close();
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}
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// read in a matrix from the binary file
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void btReducedDeformableBodyHelpers::readBinaryMat(btReducedDeformableBody::tDenseMatrix& mat,
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const unsigned int n_modes, // #modes, outer array size
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const unsigned int n_full, // inner array size
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const char* file)
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{
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std::ifstream f_in(file, std::ios::in | std::ios::binary);
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// first get size
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unsigned int v_size=0;
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f_in.read((char*)&v_size, 4);//sizeof(unsigned int));
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btAssert(v_size >= n_modes * n_full); // make sure the #requested mode is smaller than the #available modes
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// read data
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mat.resize(n_modes);
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for (int i = 0; i < n_modes; ++i)
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{
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for (int j = 0; j < n_full; ++j)
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{
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double temp;
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f_in.read((char*)&temp, sizeof(double));
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if (mat[i].size() != n_modes)
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mat[i].resize(n_full);
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mat[i][j] = btScalar(temp);
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}
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}
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f_in.close();
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}
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void btReducedDeformableBodyHelpers::calculateLocalInertia(btVector3& inertia, const btScalar mass, const btVector3& half_extents, const btVector3& margin)
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{
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btScalar lx = btScalar(2.) * (half_extents[0] + margin[0]);
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btScalar ly = btScalar(2.) * (half_extents[1] + margin[1]);
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btScalar lz = btScalar(2.) * (half_extents[2] + margin[2]);
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inertia.setValue(mass / (btScalar(12.0)) * (ly * ly + lz * lz),
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mass / (btScalar(12.0)) * (lx * lx + lz * lz),
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mass / (btScalar(12.0)) * (lx * lx + ly * ly));
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}
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