Further improvements to the Mohr-Coulomb theory feature

Author: KaiKostack

kk_bullet_constraints_builder.zip

@@ -1124,7 +1124,7 @@ def setConstraintSettings(objs, objsEGrp, emptyObjs, objsID, connectsPair, conne
  elif i == 1: vec = Vector((0, radius, -radius))
  elif i == 2: vec = Vector((0, -radius, 0))
  vec.rotate(rotN)
- locN = loc +vec
+ locN = Vector(loc) +vec
  ### Enable linear spring
  setConstParams(cData,cDatb,cDef, loc=locN,rotm=rotm, ct='GENERIC_SPRING')
  if CT != 7:
@@ -1160,7 +1160,7 @@ def setConstraintSettings(objs, objsEGrp, emptyObjs, objsID, connectsPair, conne
  elif i == 2: vec = Vector((0, -radius, -radius))
  elif i == 3: vec = Vector((0, -radius, radius))
  vec.rotate(rotN)
- locN = loc +vec
+ locN = Vector(loc) +vec
  ### Enable linear spring
  setConstParams(cData,cDatb,cDef, loc=locN,rotm=rotm, ct='GENERIC_SPRING')
  if CT != 8:
@@ -1225,7 +1225,7 @@ def setConstraintSettings(objs, objsEGrp, emptyObjs, objsID, connectsPair, conne
  elif j == 1: vec = Vector((0, radius, -radius))
  elif j == 2: vec = Vector((0, -radius, 0))
  vec.rotate(rotN)
- locN = loc +vec
+ locN = Vector(loc) +vec
  ### Lock direction for compressive force and enable linear spring
  setConstParams(cData,cDatb,cDef, loc=locN,rotm=rotm, ct='GENERIC_SPRING', ullx=1,ully=0,ullz=0, llxl=llxl,llxu=99999, ulax=0,ulay=0,ulaz=0)
  if props.asciiExport:
@@ -1242,7 +1242,7 @@ def setConstraintSettings(objs, objsEGrp, emptyObjs, objsID, connectsPair, conne
  elif j == 1: vec = Vector((0, radius, -radius))
  elif j == 2: vec = Vector((0, -radius, 0))
  vec.rotate(rotN)
- locN = loc +vec
+ locN = Vector(loc) +vec
  ### Lock direction for tensile force and enable linear spring
  setConstParams(cData,cDatb,cDef, loc=locN,rotm=rotm, ct='GENERIC_SPRING', ullx=1,ully=0,ullz=0, llxl=-99999,llxu=llxu, ulax=0,ulay=0,ulaz=0, uslx=1,usly=1,uslz=1, sdlx=springDamp,sdly=springDamp,sdlz=springDamp)
  if props.asciiExport:
@@ -1259,7 +1259,7 @@ def setConstraintSettings(objs, objsEGrp, emptyObjs, objsID, connectsPair, conne
  elif j == 1: vec = Vector((0, radius, -radius))
  elif j == 2: vec = Vector((0, -radius, 0))
  vec.rotate(rotN)
- locN = loc +vec
+ locN = Vector(loc) +vec
  ### Lock directions for shearing force and enable linear spring
  setConstParams(cData,cDatb,cDef, loc=locN,rotm=rotm, ct='GENERIC_SPRING', ullx=0,ully=1,ullz=1, llyl=llyl,llyu=llyu,llzl=llzl,llzu=llzu, ulax=0,ulay=0,ulaz=0, uslx=1,usly=1,uslz=1, sdlx=springDamp,sdly=springDamp,sdlz=springDamp)
  if props.asciiExport:
@@ -1295,7 +1295,7 @@ def setConstraintSettings(objs, objsEGrp, emptyObjs, objsID, connectsPair, conne
  elif j == 2: vec = Vector((0, -radius, -radius))
  elif j == 3: vec = Vector((0, -radius, radius))
  vec.rotate(rotN)
- locN = loc +vec
+ locN = Vector(loc) +vec
  ### Lock direction for compressive force and enable linear spring
  setConstParams(cData,cDatb,cDef, loc=locN,rotm=rotm, ct='GENERIC_SPRING', ullx=1,ully=0,ullz=0, llxl=llxl,llxu=99999, ulax=0,ulay=0,ulaz=0)
  if props.asciiExport:
@@ -1313,7 +1313,7 @@ def setConstraintSettings(objs, objsEGrp, emptyObjs, objsID, connectsPair, conne
  elif j == 2: vec = Vector((0, -radius, -radius))
  elif j == 3: vec = Vector((0, -radius, radius))
  vec.rotate(rotN)
- locN = loc +vec
+ locN = Vector(loc) +vec
  ### Lock direction for tensile force and enable linear spring
  setConstParams(cData,cDatb,cDef, loc=locN,rotm=rotm, ct='GENERIC_SPRING', ullx=1,ully=0,ullz=0, llxl=-99999,llxu=llxu, ulax=0,ulay=0,ulaz=0, uslx=1,usly=1,uslz=1, sdlx=springDamp,sdly=springDamp,sdlz=springDamp)
  if props.asciiExport:
@@ -1331,7 +1331,7 @@ def setConstraintSettings(objs, objsEGrp, emptyObjs, objsID, connectsPair, conne
  elif j == 2: vec = Vector((0, -radius, -radius))
  elif j == 3: vec = Vector((0, -radius, radius))
  vec.rotate(rotN)
- locN = loc +vec
+ locN = Vector(loc) +vec
  ### Lock directions for shearing force and enable linear spring
  setConstParams(cData,cDatb,cDef, loc=locN,rotm=rotm, ct='GENERIC_SPRING', ullx=0,ully=1,ullz=1, llyl=llyl,llyu=llyu,llzl=llzl,llzu=llzu, ulax=0,ulay=0,ulaz=0, uslx=1,usly=1,uslz=1, sdlx=springDamp,sdly=springDamp,sdlz=springDamp)
  if props.asciiExport:

kk_bullet_constraints_builder/builder_setc.py

@@ -498,6 +498,10 @@ def monitor_checkForChange(scene):
  rbw_steps_per_second = scene.rigidbody_world.steps_per_second
  rbw_time_scale = scene.rigidbody_world.time_scale
 
+ # Diagnostic verbose
+ if props.submenu_assistant_advanced:
+ brokenC, brokenT, brokenS, brokenB = 0, 0, 0, 0
+ 
  d = 0; e = 0; cntP = 0; cntB = 0
  for connect in connects:
  conMode = connect[12]
@@ -558,21 +562,30 @@ def monitor_checkForChange(scene):
 
  ### Dynamic change of breaking thresholds depending on pressure (Mohr-Coulomb theory)
  if qMohrCoulomb:
- # Find the maximum force of the compressive constraints in connection
- forceMax = 0
- for const in consts:
+ ### Diagnostic verbose
+ if props.submenu_assistant_advanced:
+ for i in range(0, len(consts)):
+ con = consts[i].rigid_body_constraint
+ if not con.isIntact():
+ if i == 0: brokenC += 1
+ elif i == 1: brokenT += 1
+ elif i == 2 or i == 3: brokenS += 1
+ elif i == 4 or i == 5: brokenB += 1
+ ### Determine force of the compressive constraints in connection
+ force = 0
+ for const in consts[:2]: # Only first two constraints can provide a compressive force for most CTs (except spring arrays)
  con = const.rigid_body_constraint
  ### For Point and Fixed costraints
  ### For Generic constraints
  # Compressive constraints
  if con.type != 'GENERIC' \
  or con.use_limit_lin_x:
- force = abs(con.appliedImpulse()) *rbw_steps_per_second /rbw_time_scale # Conversion from impulses to forces
- if force > forceMax: forceMax = force
+ forceCon = abs(con.appliedImpulse()) *rbw_steps_per_second /rbw_time_scale # Conversion from impulses to forces
+ force += forceCon
  # Compute new breaking threshold incease based on force
  # σ = F /A
  # τ = c +σ *tan(ϕ)
- brkThresInc = forceMax /contactArea *0.577 *mul
+ brkThresInc = abs(force) /contactArea *1 *mul
  # Modify constraints
  for i in range(1, len(consts)): # We know that first constraint is always pressure
  con = consts[i].rigid_body_constraint
@@ -584,7 +597,7 @@ def monitor_checkForChange(scene):
  if con.type != 'GENERIC' \
  or con.use_limit_lin_x \
  or con.use_limit_lin_y or con.use_limit_lin_z \
- or con.use_limit_ang_y or con.use_limit_ang_z:
+ or con.use_limit_ang_x or con.use_limit_ang_y or con.use_limit_ang_z:
  # Apply breaking threshold incease
  con.breaking_threshold = constsBrkThres[i] +(brkThresInc *rbw_time_scale /rbw_steps_per_second)
 
@@ -698,6 +711,9 @@ def monitor_checkForChange(scene):
  if cntP > 0: sys.stdout.write(" | Deformed: %d" %cntP)
  if cntB > 0: sys.stdout.write(" | Broken: %d" %cntB)
  print()
+ # Diagnostic verbose
+ if props.submenu_assistant_advanced and (brokenC or brokenT or brokenS or brokenB):
+ print("Individual constraints broken - C: %d, T: %d, S: %d, B: %d" %(brokenC, brokenT, brokenS, brokenB))
 
  return cntB
 
@@ -842,6 +858,10 @@ def monitor_checkForChange_fm(scene):
  if len(consts) > 0: consIntact.append(consts[0].isIntact())
  else: consIntact.append(0)
 
+ # Diagnostic verbose
+ if props.submenu_assistant_advanced:
+ brokenC, brokenT, brokenS, brokenB = 0, 0, 0, 0
+ 
  c = 0
  for connect in connects:
  consts = connect[2]
@@ -858,20 +878,29 @@ def monitor_checkForChange_fm(scene):
 
  ### Dynamic change of breaking thresholds depending on pressure (Mohr-Coulomb theory)
  if qMohrCoulomb:
- # Find the maximum force of the compressive constraints in connection
- forceMax = 0
- for con in consts:
+ ### Diagnostic verbose
+ if props.submenu_assistant_advanced:
+ for i in range(0, len(consts)):
+ con = consts[i]
+ if not con.isIntact():
+ if i == 0: brokenC += 1
+ elif i == 1: brokenT += 1
+ elif i == 2 or i == 3: brokenS += 1
+ elif i == 4 or i == 5: brokenB += 1
+ ### Determine force of the compressive constraints in connection
+ force = 0
+ for con in consts[:2]: # Only first two constraints can provide a compressive force for most CTs (except spring arrays)
  ### For Point and Fixed costraints
  ### For Generic constraints
  # Compressive constraints
  if con.type != 'GENERIC' \
  or con.use_limit_lin_x:
- force = abs(con.appliedImpulse()) *rbw_steps_per_second /rbw_time_scale # Conversion from impulses to forces
- if force > forceMax: forceMax = force
+ forceCon = abs(con.appliedImpulse()) *rbw_steps_per_second /rbw_time_scale # Conversion from impulses to forces
+ force += forceCon
  # Compute new breaking threshold incease based on force
  # σ = F /A
  # τ = c +σ *tan(ϕ)
- brkThresInc = forceMax /contactArea *0.577 *mul
+ brkThresInc = abs(force) /contactArea *1 *mul
  # Modify constraints
  for i in range(1, len(consts)): # First constraint is always pressure
  con = consts[i]
@@ -883,10 +912,14 @@ def monitor_checkForChange_fm(scene):
  if con.type != 'GENERIC' \
  or con.use_limit_lin_x \
  or con.use_limit_lin_y or con.use_limit_lin_z \
- or con.use_limit_ang_y or con.use_limit_ang_z:
+ or con.use_limit_ang_x or con.use_limit_ang_y or con.use_limit_ang_z:
  # Apply breaking threshold incease
  con.breaking_threshold = constsBrkThres[i] +(brkThresInc *rbw_time_scale /rbw_steps_per_second)
 
+ # Diagnostic verbose
+ if props.submenu_assistant_advanced and (brokenC or brokenT or brokenS or brokenB):
+ print("Individual constraints broken - C: %d, T: %d, S: %d, B: %d" %(brokenC, brokenT, brokenS, brokenB))
+
 ################################################################################
 
 def monitor_countIntactConnections_fm(scene):