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Diffstat (limited to 'src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h')
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1 files changed, 0 insertions, 257 deletions
diff --git a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h deleted file mode 100644 index 8968fb0cb..000000000 --- a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h +++ /dev/null @@ -1,257 +0,0 @@ -#ifndef BT_REDUCED_SOFT_BODY_H -#define BT_REDUCED_SOFT_BODY_H - -#include "../btSoftBody.h" -#include "LinearMath/btAlignedObjectArray.h" -#include "LinearMath/btVector3.h" -#include "LinearMath/btMatrix3x3.h" -#include "LinearMath/btTransform.h" - -// Reduced deformable body is a simplified deformable object embedded in a rigid frame. -class btReducedDeformableBody : public btSoftBody -{ - public: - // - // Typedefs - // - typedef btAlignedObjectArray<btVector3> TVStack; - // typedef btAlignedObjectArray<btMatrix3x3> tBlockDiagMatrix; - typedef btAlignedObjectArray<btScalar> tDenseArray; - typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > tDenseMatrix; - - private: - // flag to turn off the reduced modes - bool m_rigidOnly; - - // Flags for transform. Once transform is applied, users cannot scale the mesh or change its total mass. - bool m_transform_lock; - - // scaling factors - btScalar m_rhoScale; // mass density scale - btScalar m_ksScale; // stiffness scale - - // projection matrix - tDenseMatrix m_projPA; // Eqn. 4.11 from Rahul Sheth's thesis - tDenseMatrix m_projCq; - tDenseArray m_STP; - tDenseArray m_MrInvSTP; - - TVStack m_localMomentArm; // Sq + x0 - - btVector3 m_internalDeltaLinearVelocity; - btVector3 m_internalDeltaAngularVelocity; - tDenseArray m_internalDeltaReducedVelocity; - - btVector3 m_linearVelocityFromReduced; // contribution to the linear velocity from reduced velocity - btVector3 m_angularVelocityFromReduced; // contribution to the angular velocity from reduced velocity - btVector3 m_internalDeltaAngularVelocityFromReduced; - - protected: - // rigid frame - btScalar m_mass; // total mass of the rigid frame - btScalar m_inverseMass; // inverse of the total mass of the rigid frame - btVector3 m_linearVelocity; - btVector3 m_angularVelocity; - btScalar m_linearDamping; // linear damping coefficient - btScalar m_angularDamping; // angular damping coefficient - btVector3 m_linearFactor; - btVector3 m_angularFactor; - // btVector3 m_invInertiaLocal; - btMatrix3x3 m_invInertiaLocal; - btTransform m_rigidTransformWorld; - btMatrix3x3 m_invInertiaTensorWorldInitial; - btMatrix3x3 m_invInertiaTensorWorld; - btMatrix3x3 m_interpolateInvInertiaTensorWorld; - btVector3 m_initialCoM; // initial center of mass (original of the m_rigidTransformWorld) - - // damping - btScalar m_dampingAlpha; - btScalar m_dampingBeta; - - public: - // - // Fields - // - - // reduced space - int m_nReduced; - int m_nFull; - tDenseMatrix m_modes; // modes of the reduced deformable model. Each inner array is a mode, outer array size = n_modes - tDenseArray m_reducedDofs; // Reduced degree of freedom - tDenseArray m_reducedDofsBuffer; // Reduced degree of freedom at t^n - tDenseArray m_reducedVelocity; // Reduced velocity array - tDenseArray m_reducedVelocityBuffer; // Reduced velocity array at t^n - tDenseArray m_reducedForceExternal; // reduced external force - tDenseArray m_reducedForceElastic; // reduced internal elastic force - tDenseArray m_reducedForceDamping; // reduced internal damping force - tDenseArray m_eigenvalues; // eigenvalues of the reduce deformable model - tDenseArray m_Kr; // reduced stiffness matrix - - // full space - TVStack m_x0; // Rest position - tDenseArray m_nodalMass; // Mass on each node - btAlignedObjectArray<int> m_fixedNodes; // index of the fixed nodes - int m_nodeIndexOffset; // offset of the node index needed for contact solver when there are multiple reduced deformable body in the world. - - // contacts - btAlignedObjectArray<int> m_contactNodesList; - - // - // Api - // - btReducedDeformableBody(btSoftBodyWorldInfo* worldInfo, int node_count, const btVector3* x, const btScalar* m); - - ~btReducedDeformableBody() {} - - // - // initializing helpers - // - void internalInitialization(); - - void setReducedModes(int num_modes, int full_size); - - void setMassProps(const tDenseArray& mass_array); - - void setInertiaProps(); - - void setRigidVelocity(const btVector3& v); - - void setRigidAngularVelocity(const btVector3& omega); - - void setStiffnessScale(const btScalar ks); - - void setMassScale(const btScalar rho); - - void setFixedNodes(const int n_node); - - void setDamping(const btScalar alpha, const btScalar beta); - - void disableReducedModes(const bool rigid_only); - - virtual void setTotalMass(btScalar mass, bool fromfaces = false); - - // - // various internal updates - // - virtual void transformTo(const btTransform& trs); - virtual void transform(const btTransform& trs); - // caution: - // need to use scale before using transform, because the scale is performed in the local frame - // (i.e., may have some rotation already, but the m_rigidTransformWorld doesn't have this info) - virtual void scale(const btVector3& scl); - - private: - void updateRestNodalPositions(); - - void updateInitialInertiaTensor(const btMatrix3x3& rotation); - - void updateLocalInertiaTensorFromNodes(); - - void updateInertiaTensor(); - - void updateModesByRotation(const btMatrix3x3& rotation); - - public: - void updateLocalMomentArm(); - - void predictIntegratedTransform(btScalar dt, btTransform& predictedTransform); - - // update the external force projection matrix - void updateExternalForceProjectMatrix(bool initialized); - - void endOfTimeStepZeroing(); - - void applyInternalVelocityChanges(); - - // - // position and velocity update related - // - - // compute reduced degree of freedoms - void updateReducedDofs(btScalar solverdt); - - // compute reduced velocity update (for explicit time stepping) - void updateReducedVelocity(btScalar solverdt); - - // map to full degree of freedoms - void mapToFullPosition(const btTransform& ref_trans); - - // compute full space velocity from the reduced velocity - void mapToFullVelocity(const btTransform& ref_trans); - - // compute total angular momentum - const btVector3 computeTotalAngularMomentum() const; - - // get a single node's full space velocity from the reduced velocity - const btVector3 computeNodeFullVelocity(const btTransform& ref_trans, int n_node) const; - - // get a single node's all delta velocity - const btVector3 internalComputeNodeDeltaVelocity(const btTransform& ref_trans, int n_node) const; - - // - // rigid motion related - // - void applyDamping(btScalar timeStep); - - void applyCentralImpulse(const btVector3& impulse); - - void applyTorqueImpulse(const btVector3& torque); - - void proceedToTransform(btScalar dt, bool end_of_time_step); - - // - // force related - // - - // apply impulse to the rigid frame - void internalApplyRigidImpulse(const btVector3& impulse, const btVector3& rel_pos); - - // apply impulse to nodes in the full space - void internalApplyFullSpaceImpulse(const btVector3& impulse, const btVector3& rel_pos, int n_node, btScalar dt); - - // apply nodal external force in the full space - void applyFullSpaceNodalForce(const btVector3& f_ext, int n_node); - - // apply gravity to the rigid frame - void applyRigidGravity(const btVector3& gravity, btScalar dt); - - // apply reduced elastic force - void applyReducedElasticForce(const tDenseArray& reduce_dofs); - - // apply reduced damping force - void applyReducedDampingForce(const tDenseArray& reduce_vel); - - // calculate the impulse factor - virtual btMatrix3x3 getImpulseFactor(int n_node); - - // get relative position from a node to the CoM of the rigid frame - btVector3 getRelativePos(int n_node); - - // - // accessors - // - bool isReducedModesOFF() const; - btScalar getTotalMass() const; - btTransform& getRigidTransform(); - const btVector3& getLinearVelocity() const; - const btVector3& getAngularVelocity() const; - - #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0 - void clampVelocity(btVector3& v) const { - v.setX( - fmax(-BT_CLAMP_VELOCITY_TO, - fmin(BT_CLAMP_VELOCITY_TO, v.getX())) - ); - v.setY( - fmax(-BT_CLAMP_VELOCITY_TO, - fmin(BT_CLAMP_VELOCITY_TO, v.getY())) - ); - v.setZ( - fmax(-BT_CLAMP_VELOCITY_TO, - fmin(BT_CLAMP_VELOCITY_TO, v.getZ())) - ); - } - #endif -}; - -#endif // BT_REDUCED_SOFT_BODY_H
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