Revert "Add deformable contact forces info"revert-3979-deformableForces

3 files changed, 39 insertions, 97 deletions

diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index e949f3e1f..0d826af41 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -8073,26 +8073,21 @@ bool PhysicsServerCommandProcessor::processRequestDeformableContactpointHelper(c
 	{
 		return false;
 	}
+	int numSoftbodyContact = 0;
+	for (int i = deformWorld->getSoftBodyArray().size() - 1; i >= 0; i--)
+	{
+		numSoftbodyContact += deformWorld->getSoftBodyArray()[i]->m_faceRigidContacts.size();
+	}
+	int num_contact_points = m_data->m_cachedContactPoints.size();
+	m_data->m_cachedContactPoints.reserve(num_contact_points + numSoftbodyContact);
 
 	for (int i = deformWorld->getSoftBodyArray().size() - 1; i >= 0; i--)
 	{
 		btSoftBody* psb = deformWorld->getSoftBodyArray()[i];
-		btAlignedObjectArray<b3ContactPointData> distinctContactPoints;
-		btAlignedObjectArray<btSoftBody::Node*> nodesInContact;
 		for (int c = 0; c < psb->m_faceRigidContacts.size(); c++)
 		{
-			const btSoftBody::DeformableFaceRigidContact* contact = &psb->m_faceRigidContacts[c];
-			// calculate normal and tangent impulse
-			btVector3 impulse = contact->m_cti.m_impulse;
-			btVector3 impulseNormal = impulse.dot(contact->m_cti.m_normal) * contact->m_cti.m_normal;
-			btVector3 impulseTangent = impulse - impulseNormal;
-			// get node in contact
-			int contactNodeIdx = contact->m_bary.maxAxis();
-			btSoftBody::Node* node = contact->m_face->m_n[contactNodeIdx];
-			// check if node is already in the list
-			int idx = nodesInContact.findLinearSearch2(node);
-
-			//apply the filter, if the user provides it
+			const btSoftBody::DeformableFaceRigidContact* contact = &psb->m_faceRigidContacts[i];
+			//convert rigidbody contact
 			int linkIndexA = -1;
 			int linkIndexB = -1;
 			int objectIndexA = psb->getUserIndex2();
@@ -8109,6 +8104,8 @@ bool PhysicsServerCommandProcessor::processRequestDeformableContactpointHelper(c
 				linkIndexB = mblB->m_link;
 				objectIndexB = mblB->m_multiBody->getUserIndex2();
 			}
+
+			//apply the filter, if the user provides it
 			bool swap = false;
 			if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter >= 0)
 			{
@@ -8154,87 +8151,37 @@ bool PhysicsServerCommandProcessor::processRequestDeformableContactpointHelper(c
 			{
 				continue;
 			}
-
-			if (idx < 0)
+			b3ContactPointData pt;
+			pt.m_bodyUniqueIdA = objectIndexA;
+			pt.m_bodyUniqueIdB = objectIndexB;
+			pt.m_contactDistance = contact->m_cti.m_offset;
+			pt.m_contactFlags = 0;
+			pt.m_linkIndexA = linkIndexA;
+			pt.m_linkIndexB = linkIndexB;
+			for (int j = 0; j < 3; j++)
 			{
-				// add new node and contact point
-				nodesInContact.push_back(node);
-				b3ContactPointData pt;
-				pt.m_bodyUniqueIdA = objectIndexA;
-				pt.m_bodyUniqueIdB = objectIndexB;
-				pt.m_contactDistance = -contact->m_cti.m_offset;
-				pt.m_contactFlags = 0;
-				pt.m_linkIndexA = linkIndexA;
-				pt.m_linkIndexB = linkIndexB;
-				for (int j = 0; j < 3; j++)
+				if (swap)
 				{
-					if (swap)
-					{
-						pt.m_contactNormalOnBInWS[j] = -contact->m_cti.m_normal[j];
-						pt.m_positionOnAInWS[j] = node->m_x[j] - pt.m_contactDistance * pt.m_contactNormalOnBInWS[j]; // not really precise because of margins in btSoftBody.cpp:line 2912
-						// node is force application point, therefore node position is contact point (not contact->m_contactPoint, because not equal to node)
-						pt.m_positionOnBInWS[j] = node->m_x[j];
-					}
-					else
-					{
-						pt.m_contactNormalOnBInWS[j] = contact->m_cti.m_normal[j];
-						// node is force application point, therefore node position is contact point (not contact->m_contactPoint, because not equal to node)
-						pt.m_positionOnAInWS[j] = node->m_x[j];
-						pt.m_positionOnBInWS[j] = node->m_x[j] - pt.m_contactDistance * pt.m_contactNormalOnBInWS[j]; // not really precise because of margins in btSoftBody.cpp:line 2912
-					}
+					pt.m_contactNormalOnBInWS[j] = -contact->m_cti.m_normal[j];
+					pt.m_positionOnAInWS[j] = contact->m_cti.m_normal[j];
+					pt.m_positionOnBInWS[j] = -contact->m_cti.m_normal[j];
 				}
-				pt.m_normalForce = (impulseNormal / m_data->m_physicsDeltaTime).norm();
-				pt.m_linearFrictionForce1 = (impulseTangent.dot(contact->t1) * contact->t1 / m_data->m_physicsDeltaTime).norm();
-				pt.m_linearFrictionForce2 = (impulseTangent.dot(contact->t2) * contact->t2 / m_data->m_physicsDeltaTime).norm();
-				for (int j = 0; j < 3; j++)
+				else
 				{
-					pt.m_linearFrictionDirection1[j] = contact->t1[j];
-					pt.m_linearFrictionDirection2[j] = contact->t2[j];
+					pt.m_contactNormalOnBInWS[j] = contact->m_cti.m_normal[j];
+					pt.m_positionOnAInWS[j] = -contact->m_cti.m_normal[j];
+					pt.m_positionOnBInWS[j] = contact->m_cti.m_normal[j];
 				}
-				distinctContactPoints.push_back(pt);
 			}
-			else
+			pt.m_normalForce = 1;
+			pt.m_linearFrictionForce1 = 0;
+			pt.m_linearFrictionForce2 = 0;
+			for (int j = 0; j < 3; j++)
 			{
-				// add values to existing contact point
-				b3ContactPointData* pt = &distinctContactPoints[idx];
-				// current normal force of node
-				btVector3 normalForce = btVector3(btScalar(pt->m_contactNormalOnBInWS[0]),
-												  btScalar(pt->m_contactNormalOnBInWS[1]),
-												  btScalar(pt->m_contactNormalOnBInWS[2])) * pt->m_normalForce;
-				// add normal force of additional node contact
-				btScalar swapFactor = swap ? -1.0 : 1.0;
-				normalForce += swapFactor * contact->m_cti.m_normal * (impulseNormal / m_data->m_physicsDeltaTime).norm();
-				// get magnitude of normal force
-				pt->m_normalForce = normalForce.norm();
-				// get direction of normal force
-				if (!normalForce.fuzzyZero())
-				{
-					// normalize for unit vectors if above numerical threshold
-					normalForce.normalize();
-					for (int j = 0; j < 3; j++)
-					{
-						pt->m_contactNormalOnBInWS[j] = normalForce[j];
-					}
-				}
-
-				// add magnitudes of tangential forces in existing directions
-				btVector3 linearFrictionDirection1 = btVector3(btScalar(pt->m_linearFrictionDirection1[0]),
-															   btScalar(pt->m_linearFrictionDirection1[1]),
-															   btScalar(pt->m_linearFrictionDirection1[2]));
-				btVector3 linearFrictionDirection2 = btVector3(btScalar(pt->m_linearFrictionDirection2[0]),
-															   btScalar(pt->m_linearFrictionDirection2[1]),
-															   btScalar(pt->m_linearFrictionDirection2[2]));
-				pt->m_linearFrictionForce1 = (impulseTangent.dot(linearFrictionDirection1) * linearFrictionDirection1 / m_data->m_physicsDeltaTime).norm();
-				pt->m_linearFrictionForce2 = (impulseTangent.dot(linearFrictionDirection2) * linearFrictionDirection2 / m_data->m_physicsDeltaTime).norm();
+				pt.m_linearFrictionDirection1[j] = 0;
+				pt.m_linearFrictionDirection2[j] = 0;
 			}
-		}
-
-		int num_contact_points = m_data->m_cachedContactPoints.size() + distinctContactPoints.size();
-		m_data->m_cachedContactPoints.reserve(num_contact_points);
-		// add points to contact points cache
-		for (int p = 0; p < distinctContactPoints.size(); p++)
-		{
-			m_data->m_cachedContactPoints.push_back(distinctContactPoints[p]);
+			m_data->m_cachedContactPoints.push_back(pt);
 		}
 	}
 #endif
diff --git a/src/BulletSoftBody/btDeformableContactConstraint.cpp b/src/BulletSoftBody/btDeformableContactConstraint.cpp
index 9c8e72f50..09398d79a 100644
--- a/src/BulletSoftBody/btDeformableContactConstraint.cpp
+++ b/src/BulletSoftBody/btDeformableContactConstraint.cpp
@@ -268,7 +268,7 @@ btScalar btDeformableRigidContactConstraint::solveConstraint(const btContactSolv
 	{
 		dn += m_penetration * infoGlobal.m_deformable_erp / infoGlobal.m_timeStep;
 	}
-	// dn is the normal component of velocity difference. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt
+	// dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt
 	btVector3 impulse = m_contact->m_c0 * (vr + m_total_normal_dv * infoGlobal.m_deformable_cfm + ((m_penetration > 0) ? m_penetration / infoGlobal.m_timeStep * cti.m_normal : btVector3(0, 0, 0)));
 	if (!infoGlobal.m_splitImpulse)
 	{
@@ -487,9 +487,6 @@ void btDeformableFaceRigidContactConstraint::applyImpulse(const btVector3& impul
 	btVector3 dv = impulse * contact->m_c2;
 	btSoftBody::Face* face = contact->m_face;
 
-	// save applied impulse
-	contact->m_cti.m_impulse = impulse;
-
 	btVector3& v0 = face->m_n[0]->m_v;
 	btVector3& v1 = face->m_n[1]->m_v;
 	btVector3& v2 = face->m_n[2]->m_v;
diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h
index cee3ae0f2..d5b01faf3 100644
--- a/src/BulletSoftBody/btSoftBody.h
+++ b/src/BulletSoftBody/btSoftBody.h
@@ -223,12 +223,10 @@ public:
 	/* sCti is Softbody contact info	*/
 	struct sCti
 	{
-		const btCollisionObject* m_colObj; /* Rigid body			        */
-		btVector3 m_normal;                /* Outward normal		        */
-		mutable btVector3 m_impulse;	   /* Applied impulse        	    */
-		btScalar m_offset;                 /* Offset from origin	        */
+		const btCollisionObject* m_colObj; /* Rigid body			*/
+		btVector3 m_normal;                /* Outward normal		*/
+		btScalar m_offset;                 /* Offset from origin	*/
 		btVector3 m_bary;                  /* Barycentric weights for faces */
-		sCti() : m_impulse(0, 0, 0) {}
 	};
 
 	/* sMedium		*/
@@ -894,7 +892,7 @@ public:
 				   int node1) const;
 	bool checkLink(const Node* node0,
 				   const Node* node1) const;
-	/* Check for existing face												*/
+	/* Check for existring face												*/
 	bool checkFace(int node0,
 				   int node1,
 				   int node2) const;