194 lines
8.2 KiB
C++
194 lines
8.2 KiB
C++
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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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// SPDX-FileCopyrightText: 2024 Jorrit Rouwe
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// SPDX-License-Identifier: MIT
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#include <TestFramework.h>
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#include <Tests/SoftBody/SoftBodyBendConstraintTest.h>
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#include <Jolt/Physics/SoftBody/SoftBodyCreationSettings.h>
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#include <Utils/SoftBodyCreator.h>
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#include <Layers.h>
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#include <Renderer/DebugRendererImp.h>
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JPH_IMPLEMENT_RTTI_VIRTUAL(SoftBodyBendConstraintTest)
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{
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JPH_ADD_BASE_CLASS(SoftBodyBendConstraintTest, Test)
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}
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void SoftBodyBendConstraintTest::Initialize()
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{
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CreateFloor();
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default_random_engine random;
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uniform_real_distribution<float> random_float(-0.1f, 0.1f);
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auto inv_mass = [](uint, uint inZ) { return inZ < 2? 0.0f : 1.0f; };
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auto perturbation = [&random, &random_float](uint, uint inZ) { return Vec3(random_float(random), (inZ & 1)? 0.1f : -0.1f, random_float(random)); };
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{
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random.seed(1234);
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// Cloth without bend constraints
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Ref<SoftBodySharedSettings> cloth_settings = SoftBodyCreator::CreateCloth(cNumVerticesX, cNumVerticesZ, cVertexSpacing, inv_mass, perturbation, SoftBodySharedSettings::EBendType::None);
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SoftBodyCreationSettings cloth(cloth_settings, RVec3(-5.0f, 5.0f, 0), Quat::sIdentity(), Layers::MOVING);
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mBodyInterface->CreateAndAddSoftBody(cloth, EActivation::Activate);
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}
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{
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random.seed(1234);
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// Cloth with distance bend constraints
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Ref<SoftBodySharedSettings> cloth_settings = SoftBodyCreator::CreateCloth(cNumVerticesX, cNumVerticesZ, cVertexSpacing, inv_mass, perturbation, SoftBodySharedSettings::EBendType::Distance);
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SoftBodyCreationSettings cloth(cloth_settings, RVec3(0.0f, 5.0f, 0), Quat::sIdentity(), Layers::MOVING);
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mBodyInterface->CreateAndAddSoftBody(cloth, EActivation::Activate);
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}
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{
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random.seed(1234);
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// Cloth with dihedral bend constraints
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Ref<SoftBodySharedSettings> cloth_settings = SoftBodyCreator::CreateCloth(cNumVerticesX, cNumVerticesZ, cVertexSpacing, inv_mass, perturbation, SoftBodySharedSettings::EBendType::Dihedral);
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SoftBodyCreationSettings cloth(cloth_settings, RVec3(5.0f, 5.0f, 0), Quat::sIdentity(), Layers::MOVING);
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mBodyInterface->CreateAndAddSoftBody(cloth, EActivation::Activate);
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}
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{
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random.seed(1234);
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// Cloth with Cosserat rod constraints
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Ref<SoftBodySharedSettings> cloth_settings = SoftBodyCreator::CreateCloth(cNumVerticesX, cNumVerticesZ, cVertexSpacing, inv_mass, perturbation, SoftBodySharedSettings::EBendType::None);
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// Get rid of created edges, we're replacing them with rods
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cloth_settings->mEdgeConstraints.clear();
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// Copy of SoftBodyCreator::CreateCloth: Function to get the vertex index of a point on the cloth
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auto vertex_index = [](uint inX, uint inY)
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{
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return inX + inY * cNumVerticesX;
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};
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// Create bend twist constraints
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constexpr float cCompliance = 1.0e-5f;
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auto get_rod = [&constraints = cloth_settings->mRodStretchShearConstraints, vertex_index, cCompliance](uint inX1, uint inZ1, uint inX2, uint inZ2)
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{
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uint32 v0 = vertex_index(inX1, inZ1);
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uint32 v1 = vertex_index(inX2, inZ2);
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JPH_ASSERT(v0 < v1);
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for (uint i = 0; i < uint(constraints.size()); ++i)
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if (constraints[i].mVertex[0] == v0 && constraints[i].mVertex[1] == v1)
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return i;
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constraints.emplace_back(v0, v1, cCompliance);
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return uint(constraints.size() - 1);
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};
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for (uint z = 1; z < cNumVerticesZ - 1; ++z)
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for (uint x = 0; x < cNumVerticesX - 1; ++x)
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{
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if (z > 1 && x < cNumVerticesX - 2)
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cloth_settings->mRodBendTwistConstraints.emplace_back(get_rod(x, z, x + 1, z), get_rod(x + 1, z, x + 2, z), cCompliance);
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if (z < cNumVerticesZ - 2)
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cloth_settings->mRodBendTwistConstraints.emplace_back(get_rod(x, z, x, z + 1), get_rod(x, z + 1, x, z + 2), cCompliance);
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if (x < cNumVerticesX - 2 && z < cNumVerticesZ - 2)
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{
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cloth_settings->mRodBendTwistConstraints.emplace_back(get_rod(x, z, x + 1, z + 1), get_rod(x + 1, z + 1, x + 2, z + 2), cCompliance);
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cloth_settings->mRodBendTwistConstraints.emplace_back(get_rod(x + 2, z, x + 1, z + 1), get_rod(x + 1, z + 1, x, z + 2), cCompliance);
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}
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}
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cloth_settings->CalculateRodProperties();
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// Optimize the settings
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cloth_settings->Optimize();
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SoftBodyCreationSettings cloth(cloth_settings, RVec3(10.0f, 5.0f, 0), Quat::sIdentity(), Layers::MOVING);
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mBodyInterface->CreateAndAddSoftBody(cloth, EActivation::Activate);
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}
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{
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// Create sphere
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SoftBodyCreationSettings sphere(SoftBodyCreator::CreateSphere(1.0f, 10, 20, SoftBodySharedSettings::EBendType::None), RVec3(-5.0f, 5.0f, 10.0f), Quat::sIdentity(), Layers::MOVING);
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mBodyInterface->CreateAndAddSoftBody(sphere, EActivation::Activate);
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}
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{
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// Create sphere with distance bend constraints
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SoftBodyCreationSettings sphere(SoftBodyCreator::CreateSphere(1.0f, 10, 20, SoftBodySharedSettings::EBendType::Distance), RVec3(0.0f, 5.0f, 10.0f), Quat::sIdentity(), Layers::MOVING);
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mBodyInterface->CreateAndAddSoftBody(sphere, EActivation::Activate);
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}
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{
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// Create sphere with dihedral bend constraints
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SoftBodyCreationSettings sphere(SoftBodyCreator::CreateSphere(1.0f, 10, 20, SoftBodySharedSettings::EBendType::Dihedral), RVec3(5.0f, 5.0f, 10.0f), Quat::sIdentity(), Layers::MOVING);
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mBodyInterface->CreateAndAddSoftBody(sphere, EActivation::Activate);
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}
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{
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// Create sphere with Cosserat rod constraints
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uint cNumTheta = 10;
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uint cNumPhi = 20;
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Ref<SoftBodySharedSettings> sphere_settings = SoftBodyCreator::CreateSphere(1.0f, cNumTheta, cNumPhi, SoftBodySharedSettings::EBendType::None);
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// Get rid of created edges, we're replacing them with rods
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sphere_settings->mEdgeConstraints.clear();
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// Copy of SoftBodyCreator::CreateSphere: Function to get the vertex index of a point on the sphere
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auto vertex_index = [cNumTheta, cNumPhi](uint inTheta, uint inPhi) -> uint
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{
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if (inTheta == 0)
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return 0;
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else if (inTheta == cNumTheta - 1)
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return 1;
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else
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return 2 + (inTheta - 1) * cNumPhi + inPhi % cNumPhi;
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};
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// Create bend twist constraints
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constexpr float cCompliance = 1.0e-4f;
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auto get_rod = [&constraints = sphere_settings->mRodStretchShearConstraints, vertex_index, cCompliance](uint inTheta1, uint inPhi1, uint inTheta2, uint inPhi2)
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{
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uint32 v0 = vertex_index(inTheta1, inPhi1);
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uint32 v1 = vertex_index(inTheta2, inPhi2);
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JPH_ASSERT(v0 != v1);
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for (uint i = 0; i < uint(constraints.size()); ++i)
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if ((constraints[i].mVertex[0] == v0 && constraints[i].mVertex[1] == v1)
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|| (constraints[i].mVertex[0] == v1 && constraints[i].mVertex[1] == v0))
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return i;
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constraints.emplace_back(v0, v1, cCompliance);
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return uint(constraints.size() - 1);
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};
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// Rings along the side
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for (uint phi = 0; phi < cNumPhi; ++phi)
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for (uint theta = 0; theta < cNumTheta - 1; ++theta)
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{
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if (theta < cNumTheta - 2)
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sphere_settings->mRodBendTwistConstraints.emplace_back(get_rod(theta, phi, theta + 1, phi), get_rod(theta + 1, phi, theta + 2, phi), cCompliance);
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if (theta > 0 && phi < cNumPhi - 1)
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sphere_settings->mRodBendTwistConstraints.emplace_back(get_rod(theta, phi, theta, phi + 1), get_rod(theta, phi + 1, theta, (phi + 2) % cNumPhi), cCompliance);
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}
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// Close the caps
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for (uint phi1 = 0, phi2 = cNumPhi / 2; phi1 < cNumPhi / 2; ++phi1, phi2 = (phi2 + 1) % cNumPhi)
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{
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sphere_settings->mRodBendTwistConstraints.emplace_back(get_rod(0, phi1, 1, phi1), get_rod(0, phi2, 1, phi2), cCompliance);
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sphere_settings->mRodBendTwistConstraints.emplace_back(get_rod(cNumTheta - 2, phi1, cNumTheta - 1, phi1), get_rod(cNumTheta - 2, phi2, cNumTheta - 1, phi2), cCompliance);
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}
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sphere_settings->CalculateRodProperties();
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// Optimize the settings
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sphere_settings->Optimize();
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SoftBodyCreationSettings sphere(sphere_settings, RVec3(10.0f, 5.0f, 10.0f), Quat::sIdentity(), Layers::MOVING);
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mBodyInterface->CreateAndAddSoftBody(sphere, EActivation::Activate);
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}
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}
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void SoftBodyBendConstraintTest::PrePhysicsUpdate(const PreUpdateParams &inParams)
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{
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mDebugRenderer->DrawText3D(RVec3(-5.0f, 7.5f, 0), "No bend constraints", Color::sWhite);
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mDebugRenderer->DrawText3D(RVec3(0.0f, 7.5f, 0), "Distance bend constraints", Color::sWhite);
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mDebugRenderer->DrawText3D(RVec3(5.0f, 7.5f, 0), "Dihedral angle bend constraints", Color::sWhite);
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mDebugRenderer->DrawText3D(RVec3(10.0f, 7.5f, 0), "Cosserat rod constraints", Color::sWhite);
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}
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