刚体碰撞
1、刚体碰撞
案例位置：examples/Cuda/Rigidbody/GL_CollisionDetectionIn3D
功能介绍：该案例主要用于测试刚体系统的碰撞功能。
案例说明：案例展示了三个场景，分别是正方体与正方体的碰撞、四面体与四面体的碰撞，以及四面体与正方体的碰撞。通过不同形状的刚体间的碰撞，测试刚体碰撞功能是否正确。
2、程序实现
接下来介绍案例的实现过程：
- 创建场景图及渲染节点:
std::shared_ptr<SceneGraph> scn = std::make_shared<SceneGraph>();
auto rigid = scn->addNode(std::make_shared<RigidBodySystem<DataType3f>>());
auto mapper = std::make_shared<DiscreteElementsToTriangleSet<DataType3f>>();
rigid->stateTopology()->connect(mapper->inDiscreteElements());
rigid->graphicsPipeline()->pushModule(mapper);
auto sRender = std::make_shared<GLSurfaceVisualModule>();
sRender->setColor(Vec3f(1, 1, 0));
sRender->setAlpha(0.8f);
mapper->outTriangleSet()->connect(sRender->inTriangleSet());
rigid->graphicsPipeline()->pushModule(sRender);
//TODO: to enable using internal modules inside a node
auto elementQuery = std::make_shared<NeighborElementQuery<DataType3f>>();
rigid->stateTopology()->connect(elementQuery->inDiscreteElements());
rigid->stateCollisionMask()->connect(elementQuery->inCollisionMask());
rigid->graphicsPipeline()->pushModule(elementQuery);
//Visualize contact normals
auto contactMapper = std::make_shared<ContactsToEdgeSet<DataType3f>>();
elementQuery->outContacts()->connect(contactMapper->inContacts());
contactMapper->varScale()->setValue(0.02);
rigid->graphicsPipeline()->pushModule(contactMapper);
auto wireRender = std::make_shared<GLWireframeVisualModule>();
wireRender->setColor(Vec3f(0, 0, 1));
contactMapper->outEdgeSet()->connect(wireRender->inEdgeSet());
rigid->graphicsPipeline()->pushModule(wireRender);
//Visualize contact points
auto contactPointMapper = std::make_shared<ContactsToPointSet<DataType3f>>();
elementQuery->outContacts()->connect(contactPointMapper->inContacts());
rigid->graphicsPipeline()->pushModule(contactPointMapper);
auto pointRender = std::make_shared<GLPointVisualModule>();
pointRender->setColor(Vec3f(1, 0, 0));
contactPointMapper->outPointSet()->connect(pointRender->inPointSet());
rigid->graphicsPipeline()->pushModule(pointRender);
createTwoBoxes(rigid);//调用两个正方体碰撞
createTwoTets(rigid);//调用两个四面体碰撞
createTetBox(rigid);//调用四面体和正方体碰撞
- 创建两个刚体碰撞场景：
void createTwoBoxes(std::shared_ptr<RigidBodySystem<DataType3f>> rigid)
{
RigidBodyInfo rigidBody;
rigidBody.linearVelocity = Vec3f(0.0, 0, 0);
BoxInfo box;
box.center = Vec3f(-0.3, 0.1, 0.5);
box.halfLength = Vec3f(0.1, 0.1, 0.1);
rigid->addBox(box, rigidBody);
rigidBody.linearVelocity = Vec3f(0.0, 0, 0);
box.center = Vec3f(-0.3, 0.3, 0.59);
box.halfLength = Vec3f(0.1, 0.1, 0.1);
rigid->addBox(box, rigidBody);
}
- 创建两个四面体碰撞场景：
void createTwoTets(std::shared_ptr<RigidBodySystem<DataType3f>> rigid)
{
RigidBodyInfo rigidBody;
rigidBody.linearVelocity = Vec3f(0.0, 0, 0);
TetInfo tet0;
tet0.v[0] = Vec3f(0.45f, 0.3f, 0.45f);
tet0.v[1] = Vec3f(0.45f, 0.55f, 0.45f);
tet0.v[2] = Vec3f(0.7f, 0.3f, 0.45f);
tet0.v[3] = Vec3f(0.45f, 0.3f, 0.7f);
rigid->addTet(tet0, rigidBody);
TetInfo tet1;
tet1.v[0] = Vec3f(0.45f, 0.0f, 0.45f);
tet1.v[1] = Vec3f(0.45f, 0.25f, 0.45f);
tet1.v[2] = Vec3f(0.7f, 0.0f, 0.45f);
tet1.v[3] = Vec3f(0.45f, 0.0f, 0.7f);
rigid->addTet(tet1, rigidBody);
}
- 创建四面体和正方体碰撞场景：
void createTetBox(std::shared_ptr<RigidBodySystem<DataType3f>> rigid) {
RigidBodyInfo rigidBody;
rigidBody.linearVelocity = Vec3f(0.0, 0, 0);
BoxInfo box;
box.center = Vec3f(1.3, 0.1, 0.5);
box.halfLength = Vec3f(0.1, 0.1, 0.1);
rigid->addBox(box, rigidBody);
TetInfo tet0;
tet0.v[0] = Vec3f(1.25f, 0.25f, 0.45f);
tet0.v[1] = Vec3f(1.25f, 0.5f, 0.45f);
tet0.v[2] = Vec3f(1.5f, 0.25f, 0.45f);
tet0.v[3] = Vec3f(1.25f, 0.25f, 0.7f);
rigid->addTet(tet0, rigidBody);
}