318 lines
10 KiB
C++
318 lines
10 KiB
C++
/*
|
|
Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
|
|
|
|
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 BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H
|
|
#define BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H
|
|
|
|
#include "btSoftMultiBodyDynamicsWorld.h"
|
|
#include "btDeformableLagrangianForce.h"
|
|
#include "btDeformableMassSpringForce.h"
|
|
// #include "btDeformableBodySolver.h"
|
|
#include "btDeformableMultiBodyConstraintSolver.h"
|
|
#include "btSoftBodyHelpers.h"
|
|
#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
|
|
#include <functional>
|
|
typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
|
|
|
|
class btDeformableBodySolver;
|
|
class btDeformableLagrangianForce;
|
|
struct MultiBodyInplaceSolverIslandCallback;
|
|
struct DeformableBodyInplaceSolverIslandCallback;
|
|
class btDeformableMultiBodyConstraintSolver;
|
|
|
|
typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
|
|
|
|
class btDeformableMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld
|
|
{
|
|
typedef btAlignedObjectArray<btVector3> TVStack;
|
|
///Solver classes that encapsulate multiple deformable bodies for solving
|
|
btDeformableBodySolver* m_deformableBodySolver;
|
|
btSoftBodyArray m_softBodies;
|
|
int m_drawFlags;
|
|
bool m_drawNodeTree;
|
|
bool m_drawFaceTree;
|
|
bool m_drawClusterTree;
|
|
btSoftBodyWorldInfo m_sbi;
|
|
btScalar m_internalTime;
|
|
int m_ccdIterations;
|
|
bool m_implicit;
|
|
bool m_lineSearch;
|
|
bool m_useProjection;
|
|
DeformableBodyInplaceSolverIslandCallback* m_solverDeformableBodyIslandCallback;
|
|
|
|
typedef void (*btSolverCallback)(btScalar time, btDeformableMultiBodyDynamicsWorld* world);
|
|
btSolverCallback m_solverCallback;
|
|
|
|
protected:
|
|
virtual void internalSingleStepSimulation(btScalar timeStep);
|
|
|
|
virtual void integrateTransforms(btScalar timeStep);
|
|
|
|
void positionCorrection(btScalar timeStep);
|
|
|
|
void solveConstraints(btScalar timeStep);
|
|
|
|
void updateActivationState(btScalar timeStep);
|
|
|
|
void clearGravity();
|
|
|
|
public:
|
|
btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btDeformableMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0);
|
|
|
|
virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.));
|
|
|
|
virtual void debugDrawWorld();
|
|
|
|
void setSolverCallback(btSolverCallback cb)
|
|
{
|
|
m_solverCallback = cb;
|
|
}
|
|
|
|
virtual ~btDeformableMultiBodyDynamicsWorld();
|
|
|
|
virtual btMultiBodyDynamicsWorld* getMultiBodyDynamicsWorld()
|
|
{
|
|
return (btMultiBodyDynamicsWorld*)(this);
|
|
}
|
|
|
|
virtual const btMultiBodyDynamicsWorld* getMultiBodyDynamicsWorld() const
|
|
{
|
|
return (const btMultiBodyDynamicsWorld*)(this);
|
|
}
|
|
|
|
virtual btDynamicsWorldType getWorldType() const
|
|
{
|
|
return BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD;
|
|
}
|
|
|
|
virtual void predictUnconstraintMotion(btScalar timeStep);
|
|
|
|
virtual void addSoftBody(btSoftBody* body, int collisionFilterGroup = btBroadphaseProxy::DefaultFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter);
|
|
|
|
btSoftBodyArray& getSoftBodyArray()
|
|
{
|
|
return m_softBodies;
|
|
}
|
|
|
|
const btSoftBodyArray& getSoftBodyArray() const
|
|
{
|
|
return m_softBodies;
|
|
}
|
|
|
|
btSoftBodyWorldInfo& getWorldInfo()
|
|
{
|
|
return m_sbi;
|
|
}
|
|
|
|
const btSoftBodyWorldInfo& getWorldInfo() const
|
|
{
|
|
return m_sbi;
|
|
}
|
|
|
|
virtual void setGravity(const btVector3& gravity);
|
|
|
|
void reinitialize(btScalar timeStep);
|
|
|
|
void applyRigidBodyGravity(btScalar timeStep);
|
|
|
|
void beforeSolverCallbacks(btScalar timeStep);
|
|
|
|
void afterSolverCallbacks(btScalar timeStep);
|
|
|
|
void addForce(btSoftBody* psb, btDeformableLagrangianForce* force);
|
|
|
|
void removeForce(btSoftBody* psb, btDeformableLagrangianForce* force);
|
|
|
|
void removeSoftBodyForce(btSoftBody* psb);
|
|
|
|
void removeSoftBody(btSoftBody* body);
|
|
|
|
void removeCollisionObject(btCollisionObject* collisionObject);
|
|
|
|
int getDrawFlags() const { return (m_drawFlags); }
|
|
void setDrawFlags(int f) { m_drawFlags = f; }
|
|
|
|
void setupConstraints();
|
|
|
|
void performDeformableCollisionDetection();
|
|
|
|
void solveMultiBodyConstraints();
|
|
|
|
void solveContactConstraints();
|
|
|
|
void sortConstraints();
|
|
|
|
void softBodySelfCollision();
|
|
|
|
void setImplicit(bool implicit)
|
|
{
|
|
m_implicit = implicit;
|
|
}
|
|
|
|
void setLineSearch(bool lineSearch)
|
|
{
|
|
m_lineSearch = lineSearch;
|
|
}
|
|
|
|
void setUseProjection(bool useProjection)
|
|
{
|
|
m_useProjection = useProjection;
|
|
}
|
|
|
|
void applyRepulsionForce(btScalar timeStep);
|
|
|
|
void performGeometricCollisions(btScalar timeStep);
|
|
|
|
struct btDeformableSingleRayCallback : public btBroadphaseRayCallback
|
|
{
|
|
btVector3 m_rayFromWorld;
|
|
btVector3 m_rayToWorld;
|
|
btTransform m_rayFromTrans;
|
|
btTransform m_rayToTrans;
|
|
btVector3 m_hitNormal;
|
|
|
|
const btDeformableMultiBodyDynamicsWorld* m_world;
|
|
btCollisionWorld::RayResultCallback& m_resultCallback;
|
|
|
|
btDeformableSingleRayCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld, const btDeformableMultiBodyDynamicsWorld* world, btCollisionWorld::RayResultCallback& resultCallback)
|
|
: m_rayFromWorld(rayFromWorld),
|
|
m_rayToWorld(rayToWorld),
|
|
m_world(world),
|
|
m_resultCallback(resultCallback)
|
|
{
|
|
m_rayFromTrans.setIdentity();
|
|
m_rayFromTrans.setOrigin(m_rayFromWorld);
|
|
m_rayToTrans.setIdentity();
|
|
m_rayToTrans.setOrigin(m_rayToWorld);
|
|
|
|
btVector3 rayDir = (rayToWorld - rayFromWorld);
|
|
|
|
rayDir.normalize();
|
|
///what about division by zero? --> just set rayDirection[i] to INF/1e30
|
|
m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
|
|
m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
|
|
m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
|
|
m_signs[0] = m_rayDirectionInverse[0] < 0.0;
|
|
m_signs[1] = m_rayDirectionInverse[1] < 0.0;
|
|
m_signs[2] = m_rayDirectionInverse[2] < 0.0;
|
|
|
|
m_lambda_max = rayDir.dot(m_rayToWorld - m_rayFromWorld);
|
|
}
|
|
|
|
virtual bool process(const btBroadphaseProxy* proxy)
|
|
{
|
|
///terminate further ray tests, once the closestHitFraction reached zero
|
|
if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
|
|
return false;
|
|
|
|
btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
|
|
|
|
//only perform raycast if filterMask matches
|
|
if (m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
|
|
{
|
|
//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
|
|
//btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
|
|
#if 0
|
|
#ifdef RECALCULATE_AABB
|
|
btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
|
|
collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
|
|
#else
|
|
//getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax);
|
|
const btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin;
|
|
const btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax;
|
|
#endif
|
|
#endif
|
|
//btScalar hitLambda = m_resultCallback.m_closestHitFraction;
|
|
//culling already done by broadphase
|
|
//if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal))
|
|
{
|
|
m_world->rayTestSingle(m_rayFromTrans, m_rayToTrans,
|
|
collisionObject,
|
|
collisionObject->getCollisionShape(),
|
|
collisionObject->getWorldTransform(),
|
|
m_resultCallback);
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
};
|
|
|
|
void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
|
|
{
|
|
BT_PROFILE("rayTest");
|
|
/// use the broadphase to accelerate the search for objects, based on their aabb
|
|
/// and for each object with ray-aabb overlap, perform an exact ray test
|
|
btDeformableSingleRayCallback rayCB(rayFromWorld, rayToWorld, this, resultCallback);
|
|
|
|
#ifndef USE_BRUTEFORCE_RAYBROADPHASE
|
|
m_broadphasePairCache->rayTest(rayFromWorld, rayToWorld, rayCB);
|
|
#else
|
|
for (int i = 0; i < this->getNumCollisionObjects(); i++)
|
|
{
|
|
rayCB.process(m_collisionObjects[i]->getBroadphaseHandle());
|
|
}
|
|
#endif //USE_BRUTEFORCE_RAYBROADPHASE
|
|
}
|
|
|
|
void rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
|
|
btCollisionObject* collisionObject,
|
|
const btCollisionShape* collisionShape,
|
|
const btTransform& colObjWorldTransform,
|
|
RayResultCallback& resultCallback) const
|
|
{
|
|
if (collisionShape->isSoftBody())
|
|
{
|
|
btSoftBody* softBody = btSoftBody::upcast(collisionObject);
|
|
if (softBody)
|
|
{
|
|
btSoftBody::sRayCast softResult;
|
|
if (softBody->rayFaceTest(rayFromTrans.getOrigin(), rayToTrans.getOrigin(), softResult))
|
|
{
|
|
if (softResult.fraction <= resultCallback.m_closestHitFraction)
|
|
{
|
|
btCollisionWorld::LocalShapeInfo shapeInfo;
|
|
shapeInfo.m_shapePart = 0;
|
|
shapeInfo.m_triangleIndex = softResult.index;
|
|
// get the normal
|
|
btVector3 rayDir = rayToTrans.getOrigin() - rayFromTrans.getOrigin();
|
|
btVector3 normal = -rayDir;
|
|
normal.normalize();
|
|
{
|
|
normal = softBody->m_faces[softResult.index].m_normal;
|
|
if (normal.dot(rayDir) > 0)
|
|
{
|
|
// normal always point toward origin of the ray
|
|
normal = -normal;
|
|
}
|
|
}
|
|
|
|
btCollisionWorld::LocalRayResult rayResult(collisionObject,
|
|
&shapeInfo,
|
|
normal,
|
|
softResult.fraction);
|
|
bool normalInWorldSpace = true;
|
|
resultCallback.addSingleResult(rayResult, normalInWorldSpace);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
btCollisionWorld::rayTestSingle(rayFromTrans, rayToTrans, collisionObject, collisionShape, colObjWorldTransform, resultCallback);
|
|
}
|
|
}
|
|
};
|
|
|
|
#endif //BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H
|