Bullet Collision Detection & Physics Library: btReducedDeformableBodyHelpers.cpp Source File

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btReducedDeformableBodyHelpers.cpp
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1#include "btReducedDeformableBodyHelpers.h"
2#include "../btSoftBodyHelpers.h"
3#include <iostream>
4#include <string>
5#include <sstream>
6
7 btReducedDeformableBody* btReducedDeformableBodyHelpers::createReducedDeformableObject(btSoftBodyWorldInfo& worldInfo, const std::string& file_path, const std::string& vtk_file, const int num_modes, bool rigid_only) {
8 std::string filename = file_path + vtk_file;
9 btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createFromVtkFile(worldInfo, filename.c_str());
10
11 rsb->setReducedModes(num_modes, rsb->m_nodes.size());
12 btReducedDeformableBodyHelpers::readReducedDeformableInfoFromFiles(rsb, file_path.c_str());
13
14 rsb->disableReducedModes(rigid_only);
15
16 return rsb;
17}
18
19 btReducedDeformableBody* btReducedDeformableBodyHelpers::createFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file)
20{
21 std::ifstream fs;
22 fs.open(vtk_file);
23 btAssert(fs);
24
25 typedef btAlignedObjectArray<int> Index;
26 std::string line;
27 btAlignedObjectArray<btVector3> X;
28 btVector3 position;
29 btAlignedObjectArray<Index> indices;
30 bool reading_points = false;
31 bool reading_tets = false;
32 size_t n_points = 0;
33 size_t n_tets = 0;
34 size_t x_count = 0;
35 size_t indices_count = 0;
36 while (std::getline(fs, line))
37 {
38 std::stringstream ss(line);
39 if (line.size() == (size_t)(0))
40 {
41 }
42 else if (line.substr(0, 6) == "POINTS")
43 {
44 reading_points = true;
45 reading_tets = false;
46 ss.ignore(128, ' '); // ignore "POINTS"
47 ss >> n_points;
48 X.resize(n_points);
49 }
50 else if (line.substr(0, 5) == "CELLS")
51 {
52 reading_points = false;
53 reading_tets = true;
54 ss.ignore(128, ' '); // ignore "CELLS"
55 ss >> n_tets;
56 indices.resize(n_tets);
57 }
58 else if (line.substr(0, 10) == "CELL_TYPES")
59 {
60 reading_points = false;
61 reading_tets = false;
62 }
63 else if (reading_points)
64 {
65 btScalar p;
66 ss >> p;
67 position.setX(p);
68 ss >> p;
69 position.setY(p);
70 ss >> p;
71 position.setZ(p);
72 //printf("v %f %f %f\n", position.getX(), position.getY(), position.getZ());
73 X[x_count++] = position;
74 }
75 else if (reading_tets)
76 {
77 int d;
78 ss >> d;
79 if (d != 4)
80 {
81 printf("Load deformable failed: Only Tetrahedra are supported in VTK file.\n");
82 fs.close();
83 return 0;
84 }
85 ss.ignore(128, ' '); // ignore "4"
86 Index tet;
87 tet.resize(4);
88 for (size_t i = 0; i < 4; i++)
89 {
90 ss >> tet[i];
91 //printf("%d ", tet[i]);
92 }
93 //printf("\n");
94 indices[indices_count++] = tet;
95 }
96 }
97 btReducedDeformableBody* rsb = new btReducedDeformableBody(&worldInfo, n_points, &X[0], 0);
98
99 for (int i = 0; i < n_tets; ++i)
100 {
101 const Index& ni = indices[i];
102 rsb->appendTetra(ni[0], ni[1], ni[2], ni[3]);
103 {
104 rsb->appendLink(ni[0], ni[1], 0, true);
105 rsb->appendLink(ni[1], ni[2], 0, true);
106 rsb->appendLink(ni[2], ni[0], 0, true);
107 rsb->appendLink(ni[0], ni[3], 0, true);
108 rsb->appendLink(ni[1], ni[3], 0, true);
109 rsb->appendLink(ni[2], ni[3], 0, true);
110 }
111 }
112
113 btSoftBodyHelpers::generateBoundaryFaces(rsb);
114 rsb->initializeDmInverse();
115 rsb->m_tetraScratches.resize(rsb->m_tetras.size());
116 rsb->m_tetraScratchesTn.resize(rsb->m_tetras.size());
117 printf("Nodes: %u\r\n", rsb->m_nodes.size());
118 printf("Links: %u\r\n", rsb->m_links.size());
119 printf("Faces: %u\r\n", rsb->m_faces.size());
120 printf("Tetras: %u\r\n", rsb->m_tetras.size());
121
122 fs.close();
123
124 return rsb;
125}
126
127 void btReducedDeformableBodyHelpers::readReducedDeformableInfoFromFiles(btReducedDeformableBody* rsb, const char* file_path)
128{
129 // read in eigenmodes, stiffness and mass matrices
130 std::string eigenvalues_file = std::string(file_path) + "eigenvalues.bin";
131 btReducedDeformableBodyHelpers::readBinaryVec(rsb->m_eigenvalues, rsb->m_nReduced, eigenvalues_file.c_str());
132
133 std::string Kr_file = std::string(file_path) + "K_r_diag_mat.bin";
134 btReducedDeformableBodyHelpers::readBinaryVec(rsb->m_Kr, rsb->m_nReduced, Kr_file.c_str());
135
136 // std::string Mr_file = std::string(file_path) + "M_r_diag_mat.bin";
137 // btReducedDeformableBodyHelpers::readBinaryVec(rsb->m_Mr, rsb->m_nReduced, Mr_file.c_str());
138
139 std::string modes_file = std::string(file_path) + "modes.bin";
140 btReducedDeformableBodyHelpers::readBinaryMat(rsb->m_modes, rsb->m_nReduced, 3 * rsb->m_nFull, modes_file.c_str());
141
142 // read in full nodal mass
143 std::string M_file = std::string(file_path) + "M_diag_mat.bin";
144 btAlignedObjectArray<btScalar> mass_array;
145 btReducedDeformableBodyHelpers::readBinaryVec(mass_array, rsb->m_nFull, M_file.c_str());
146 rsb->setMassProps(mass_array);
147
148 // calculate the inertia tensor in the local frame
149 rsb->setInertiaProps();
150
151 // other internal initialization
152 rsb->internalInitialization();
153}
154
155// read in a vector from the binary file
156 void btReducedDeformableBodyHelpers::readBinaryVec(btReducedDeformableBody::tDenseArray& vec,
157 const unsigned int n_size, // #entries read
158 const char* file)
159{
160 std::ifstream f_in(file, std::ios::in | std::ios::binary);
161 // first get size
162 unsigned int size=0;
163 f_in.read((char*)&size, 4);//sizeof(unsigned int));
164 btAssert(size >= n_size); // make sure the #requested mode is smaller than the #available modes
165
166 // read data
167 vec.resize(n_size);
168 double temp;
169 for (unsigned int i = 0; i < n_size; ++i)
170 {
171 f_in.read((char*)&temp, sizeof(double));
172 vec[i] = btScalar(temp);
173 }
174 f_in.close();
175}
176
177// read in a matrix from the binary file
178 void btReducedDeformableBodyHelpers::readBinaryMat(btReducedDeformableBody::tDenseMatrix& mat,
179 const unsigned int n_modes, // #modes, outer array size
180 const unsigned int n_full, // inner array size
181 const char* file)
182{
183 std::ifstream f_in(file, std::ios::in | std::ios::binary);
184 // first get size
185 unsigned int v_size=0;
186 f_in.read((char*)&v_size, 4);//sizeof(unsigned int));
187 btAssert(v_size >= n_modes * n_full); // make sure the #requested mode is smaller than the #available modes
188
189 // read data
190 mat.resize(n_modes);
191 for (int i = 0; i < n_modes; ++i)
192 {
193 for (int j = 0; j < n_full; ++j)
194 {
195 double temp;
196 f_in.read((char*)&temp, sizeof(double));
197
198 if (mat[i].size() != n_modes)
199 mat[i].resize(n_full);
200 mat[i][j] = btScalar(temp);
201 }
202 }
203 f_in.close();
204}
205
206 void btReducedDeformableBodyHelpers::calculateLocalInertia(btVector3& inertia, const btScalar mass, const btVector3& half_extents, const btVector3& margin)
207{
208 btScalar lx = btScalar(2.) * (half_extents[0] + margin[0]);
209 btScalar ly = btScalar(2.) * (half_extents[1] + margin[1]);
210 btScalar lz = btScalar(2.) * (half_extents[2] + margin[2]);
211
212 inertia.setValue(mass / (btScalar(12.0)) * (ly * ly + lz * lz),
213 mass / (btScalar(12.0)) * (lx * lx + lz * lz),
214 mass / (btScalar(12.0)) * (lx * lx + ly * ly));
215}
size
static DBVT_INLINE btScalar size(const btDbvtVolume &a)
Definition: btDbvt.cpp:52
btReducedDeformableBodyHelpers.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btAssert
#define btAssert(x)
Definition: btScalar.h:153
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition: btAlignedObjectArray.h:46
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:142
btAlignedObjectArray::resize
void resize(int newsize, const T &fillData=T())
Definition: btAlignedObjectArray.h:203
btReducedDeformableBody
Definition: btReducedDeformableBody.h:12
btReducedDeformableBody::m_nFull
int m_nFull
Definition: btReducedDeformableBody.h:78
btReducedDeformableBody::setReducedModes
void setReducedModes(int num_modes, int full_size)
Definition: btReducedDeformableBody.cpp:45
btReducedDeformableBody::disableReducedModes
void disableReducedModes(const bool rigid_only)
Definition: btReducedDeformableBody.cpp:784
btReducedDeformableBody::m_nReduced
int m_nReduced
Definition: btReducedDeformableBody.h:77
btReducedDeformableBody::m_Kr
tDenseArray m_Kr
Definition: btReducedDeformableBody.h:88
btReducedDeformableBody::setInertiaProps
void setInertiaProps()
Definition: btReducedDeformableBody.cpp:80
btReducedDeformableBody::setMassProps
void setMassProps(const tDenseArray &mass_array)
Definition: btReducedDeformableBody.cpp:61
btReducedDeformableBody::m_modes
tDenseMatrix m_modes
Definition: btReducedDeformableBody.h:79
btReducedDeformableBody::m_eigenvalues
tDenseArray m_eigenvalues
Definition: btReducedDeformableBody.h:87
btReducedDeformableBody::internalInitialization
void internalInitialization()
Definition: btReducedDeformableBody.cpp:133
btSoftBody::m_tetraScratchesTn
btAlignedObjectArray< TetraScratch > m_tetraScratchesTn
Definition: btSoftBody.h:821
btSoftBody::appendTetra
void appendTetra(int model, Material *mat)
Definition: btSoftBody.cpp:472
btSoftBody::m_tetras
tTetraArray m_tetras
Definition: btSoftBody.h:819
btSoftBody::m_tetraScratches
btAlignedObjectArray< TetraScratch > m_tetraScratches
Definition: btSoftBody.h:820
btSoftBody::m_faces
tFaceArray m_faces
Definition: btSoftBody.h:817
btSoftBody::m_links
tLinkArray m_links
Definition: btSoftBody.h:816
btSoftBody::m_nodes
tNodeArray m_nodes
Definition: btSoftBody.h:814
btSoftBody::appendLink
void appendLink(int model=-1, Material *mat=0)
Definition: btSoftBody.cpp:392
btSoftBody::initializeDmInverse
void initializeDmInverse()
Definition: btSoftBody.cpp:3481
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btVector3::setZ
void setZ(btScalar _z)
Set the z value.
Definition: btVector3.h:571
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:640
btVector3::setY
void setY(btScalar _y)
Set the y value.
Definition: btVector3.h:569
btVector3::setX
void setX(btScalar _x)
Set the x value.
Definition: btVector3.h:567
btReducedDeformableBodyHelpers::readBinaryMat
static void readBinaryMat(btReducedDeformableBody::tDenseMatrix &mat, const unsigned int n_modes, const unsigned int n_full, const char *file)
Definition: btReducedDeformableBodyHelpers.cpp:178
btReducedDeformableBodyHelpers::readBinaryVec
static void readBinaryVec(btReducedDeformableBody::tDenseArray &vec, const unsigned int n_size, const char *file)
Definition: btReducedDeformableBodyHelpers.cpp:156
btReducedDeformableBodyHelpers::createFromVtkFile
static btReducedDeformableBody * createFromVtkFile(btSoftBodyWorldInfo &worldInfo, const char *vtk_file)
Definition: btReducedDeformableBodyHelpers.cpp:19
btReducedDeformableBodyHelpers::createReducedDeformableObject
static btReducedDeformableBody * createReducedDeformableObject(btSoftBodyWorldInfo &worldInfo, const std::string &file_path, const std::string &vtk_file, const int num_modes, bool rigid_only)
Definition: btReducedDeformableBodyHelpers.cpp:7
btReducedDeformableBodyHelpers::calculateLocalInertia
static void calculateLocalInertia(btVector3 &inertia, const btScalar mass, const btVector3 &half_extents, const btVector3 &margin)
Definition: btReducedDeformableBodyHelpers.cpp:206
btReducedDeformableBodyHelpers::readReducedDeformableInfoFromFiles
static void readReducedDeformableInfoFromFiles(btReducedDeformableBody *rsb, const char *file_path)
Definition: btReducedDeformableBodyHelpers.cpp:127
btSoftBodyHelpers::generateBoundaryFaces
static void generateBoundaryFaces(btSoftBody *psb)
Definition: btSoftBodyHelpers.cpp:1354
btSoftBodyWorldInfo
Definition: btSoftBody.h:48