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Diffstat (limited to 'src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.cpp')
| -rw-r--r-- | src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.cpp | 325 |
1 files changed, 0 insertions, 325 deletions
diff --git a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.cpp b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.cpp deleted file mode 100644 index 1418cc247..000000000 --- a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.cpp +++ /dev/null @@ -1,325 +0,0 @@ -#include "btReducedDeformableBodySolver.h" -#include "btReducedDeformableBody.h" - -btReducedDeformableBodySolver::btReducedDeformableBodySolver() -{ - m_ascendOrder = true; - m_reducedSolver = true; - m_dampingAlpha = 0; - m_dampingBeta = 0; - m_gravity = btVector3(0, 0, 0); -} - -void btReducedDeformableBodySolver::setGravity(const btVector3& gravity) -{ - m_gravity = gravity; -} - -void btReducedDeformableBodySolver::reinitialize(const btAlignedObjectArray<btSoftBody*>& bodies, btScalar dt) -{ - m_softBodies.copyFromArray(bodies); - bool nodeUpdated = updateNodes(); - - if (nodeUpdated) - { - m_dv.resize(m_numNodes, btVector3(0, 0, 0)); - m_ddv.resize(m_numNodes, btVector3(0, 0, 0)); - m_residual.resize(m_numNodes, btVector3(0, 0, 0)); - m_backupVelocity.resize(m_numNodes, btVector3(0, 0, 0)); - } - - // need to setZero here as resize only set value for newly allocated items - for (int i = 0; i < m_numNodes; ++i) - { - m_dv[i].setZero(); - m_ddv[i].setZero(); - m_residual[i].setZero(); - } - - if (dt > 0) - { - m_dt = dt; - } - m_objective->reinitialize(nodeUpdated, dt); - - int N = bodies.size(); - if (nodeUpdated) - { - m_staticConstraints.resize(N); - m_nodeRigidConstraints.resize(N); - // m_faceRigidConstraints.resize(N); - } - for (int i = 0; i < N; ++i) - { - m_staticConstraints[i].clear(); - m_nodeRigidConstraints[i].clear(); - // m_faceRigidConstraints[i].clear(); - } - - for (int i = 0; i < m_softBodies.size(); ++i) - { - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(m_softBodies[i]); - rsb->m_contactNodesList.clear(); - } - - // set node index offsets - int sum = 0; - for (int i = 0; i < m_softBodies.size(); ++i) - { - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(m_softBodies[i]); - rsb->m_nodeIndexOffset = sum; - sum += rsb->m_nodes.size(); - } - - btDeformableBodySolver::updateSoftBodies(); -} - -void btReducedDeformableBodySolver::predictMotion(btScalar solverdt) -{ - applyExplicitForce(solverdt); - - // predict new mesh location - predictReduceDeformableMotion(solverdt); - - //TODO: check if there is anything missed from btDeformableBodySolver::predictDeformableMotion -} - -void btReducedDeformableBodySolver::predictReduceDeformableMotion(btScalar solverdt) -{ - for (int i = 0; i < m_softBodies.size(); ++i) - { - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(m_softBodies[i]); - if (!rsb->isActive()) - { - continue; - } - - // clear contacts variables - rsb->m_nodeRigidContacts.resize(0); - rsb->m_faceRigidContacts.resize(0); - rsb->m_faceNodeContacts.resize(0); - - // calculate inverse mass matrix for all nodes - for (int j = 0; j < rsb->m_nodes.size(); ++j) - { - if (rsb->m_nodes[j].m_im > 0) - { - rsb->m_nodes[j].m_effectiveMass_inv = rsb->m_nodes[j].m_effectiveMass.inverse(); - } - } - - // rigid motion: t, R at time^* - rsb->predictIntegratedTransform(solverdt, rsb->getInterpolationWorldTransform()); - - // update reduced dofs at time^* - // rsb->updateReducedDofs(solverdt); - - // update local moment arm at time^* - // rsb->updateLocalMomentArm(); - // rsb->updateExternalForceProjectMatrix(true); - - // predict full space velocity at time^* (needed for constraints) - rsb->mapToFullVelocity(rsb->getInterpolationWorldTransform()); - - // update full space nodal position at time^* - rsb->mapToFullPosition(rsb->getInterpolationWorldTransform()); - - // update bounding box - rsb->updateBounds(); - - // update tree - rsb->updateNodeTree(true, true); - if (!rsb->m_fdbvt.empty()) - { - rsb->updateFaceTree(true, true); - } - } -} - -void btReducedDeformableBodySolver::applyExplicitForce(btScalar solverdt) -{ - for (int i = 0; i < m_softBodies.size(); ++i) - { - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(m_softBodies[i]); - - // apply gravity to the rigid frame, get m_linearVelocity at time^* - rsb->applyRigidGravity(m_gravity, solverdt); - - if (!rsb->isReducedModesOFF()) - { - // add internal force (elastic force & damping force) - rsb->applyReducedElasticForce(rsb->m_reducedDofsBuffer); - rsb->applyReducedDampingForce(rsb->m_reducedVelocityBuffer); - - // get reduced velocity at time^* - rsb->updateReducedVelocity(solverdt); - } - - // apply damping (no need at this point) - // rsb->applyDamping(solverdt); - } -} - -void btReducedDeformableBodySolver::applyTransforms(btScalar timeStep) -{ - for (int i = 0; i < m_softBodies.size(); ++i) - { - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(m_softBodies[i]); - - // rigid motion - rsb->proceedToTransform(timeStep, true); - - if (!rsb->isReducedModesOFF()) - { - // update reduced dofs for time^n+1 - rsb->updateReducedDofs(timeStep); - - // update local moment arm for time^n+1 - rsb->updateLocalMomentArm(); - rsb->updateExternalForceProjectMatrix(true); - } - - // update mesh nodal positions for time^n+1 - rsb->mapToFullPosition(rsb->getRigidTransform()); - - // update mesh nodal velocity - rsb->mapToFullVelocity(rsb->getRigidTransform()); - - // end of time step clean up and update - rsb->endOfTimeStepZeroing(); - - // update the rendering mesh - rsb->interpolateRenderMesh(); - } -} - -void btReducedDeformableBodySolver::setConstraints(const btContactSolverInfo& infoGlobal) -{ - for (int i = 0; i < m_softBodies.size(); ++i) - { - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(m_softBodies[i]); - if (!rsb->isActive()) - { - continue; - } - - // set fixed constraints - for (int j = 0; j < rsb->m_fixedNodes.size(); ++j) - { - int i_node = rsb->m_fixedNodes[j]; - if (rsb->m_nodes[i_node].m_im == 0) - { - for (int k = 0; k < 3; ++k) - { - btVector3 dir(0, 0, 0); - dir[k] = 1; - btReducedDeformableStaticConstraint static_constraint(rsb, &rsb->m_nodes[i_node], rsb->getRelativePos(i_node), rsb->m_x0[i_node], dir, infoGlobal, m_dt); - m_staticConstraints[i].push_back(static_constraint); - } - } - } - btAssert(rsb->m_fixedNodes.size() * 3 == m_staticConstraints[i].size()); - - // set Deformable Node vs. Rigid constraint - for (int j = 0; j < rsb->m_nodeRigidContacts.size(); ++j) - { - const btSoftBody::DeformableNodeRigidContact& contact = rsb->m_nodeRigidContacts[j]; - // skip fixed points - if (contact.m_node->m_im == 0) - { - continue; - } - btReducedDeformableNodeRigidContactConstraint constraint(rsb, contact, infoGlobal, m_dt); - m_nodeRigidConstraints[i].push_back(constraint); - rsb->m_contactNodesList.push_back(contact.m_node->index - rsb->m_nodeIndexOffset); - } - // std::cout << "contact node list size: " << rsb->m_contactNodesList.size() << "\n"; - // std::cout << "#contact nodes: " << m_nodeRigidConstraints[i].size() << "\n"; - - } -} - -btScalar btReducedDeformableBodySolver::solveContactConstraints(btCollisionObject** deformableBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal) -{ - btScalar residualSquare = 0; - - for (int i = 0; i < m_softBodies.size(); ++i) - { - btAlignedObjectArray<int> m_orderNonContactConstraintPool; - btAlignedObjectArray<int> m_orderContactConstraintPool; - - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(m_softBodies[i]); - - // shuffle the order of applying constraint - m_orderNonContactConstraintPool.resize(m_staticConstraints[i].size()); - m_orderContactConstraintPool.resize(m_nodeRigidConstraints[i].size()); - if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER) - { - // fixed constraint order - for (int j = 0; j < m_staticConstraints[i].size(); ++j) - { - m_orderNonContactConstraintPool[j] = m_ascendOrder ? j : m_staticConstraints[i].size() - 1 - j; - } - // contact constraint order - for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j) - { - m_orderContactConstraintPool[j] = m_ascendOrder ? j : m_nodeRigidConstraints[i].size() - 1 - j; - } - - m_ascendOrder = m_ascendOrder ? false : true; - } - else - { - for (int j = 0; j < m_staticConstraints[i].size(); ++j) - { - m_orderNonContactConstraintPool[j] = j; - } - // contact constraint order - for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j) - { - m_orderContactConstraintPool[j] = j; - } - } - - // handle fixed constraint - for (int k = 0; k < m_staticConstraints[i].size(); ++k) - { - btReducedDeformableStaticConstraint& constraint = m_staticConstraints[i][m_orderNonContactConstraintPool[k]]; - btScalar localResidualSquare = constraint.solveConstraint(infoGlobal); - residualSquare = btMax(residualSquare, localResidualSquare); - } - - // handle contact constraint - - // node vs rigid contact - // std::cout << "!!#contact_nodes: " << m_nodeRigidConstraints[i].size() << '\n'; - for (int k = 0; k < m_nodeRigidConstraints[i].size(); ++k) - { - btReducedDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[i][m_orderContactConstraintPool[k]]; - btScalar localResidualSquare = constraint.solveConstraint(infoGlobal); - residualSquare = btMax(residualSquare, localResidualSquare); - } - - // face vs rigid contact - // for (int k = 0; k < m_faceRigidConstraints[i].size(); ++k) - // { - // btReducedDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[i][k]; - // btScalar localResidualSquare = constraint.solveConstraint(infoGlobal); - // residualSquare = btMax(residualSquare, localResidualSquare); - // } - } - - - return residualSquare; -} - -void btReducedDeformableBodySolver::deformableBodyInternalWriteBack() -{ - // reduced deformable update - for (int i = 0; i < m_softBodies.size(); ++i) - { - btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(m_softBodies[i]); - rsb->applyInternalVelocityChanges(); - } - m_ascendOrder = true; -}
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