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Diffstat (limited to 'src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.h')
| -rw-r--r-- | src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.h | 194 |
1 files changed, 194 insertions, 0 deletions
diff --git a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.h b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.h new file mode 100644 index 000000000..10d0938c5 --- /dev/null +++ b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.h @@ -0,0 +1,194 @@ +#include "../btDeformableContactConstraint.h" +#include "btReducedDeformableBody.h" + +// ================= static constraints =================== +class btReducedDeformableStaticConstraint : public btDeformableStaticConstraint +{ + public: + btReducedDeformableBody* m_rsb; + btScalar m_dt; + btVector3 m_ri; + btVector3 m_targetPos; + btVector3 m_impulseDirection; + btMatrix3x3 m_impulseFactorMatrix; + btScalar m_impulseFactor; + btScalar m_rhs; + btScalar m_appliedImpulse; + btScalar m_erp; + + btReducedDeformableStaticConstraint(btReducedDeformableBody* rsb, + btSoftBody::Node* node, + const btVector3& ri, + const btVector3& x0, + const btVector3& dir, + const btContactSolverInfo& infoGlobal, + btScalar dt); + // btReducedDeformableStaticConstraint(const btReducedDeformableStaticConstraint& other); + btReducedDeformableStaticConstraint() {} + virtual ~btReducedDeformableStaticConstraint() {} + + virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal); + + // this calls reduced deformable body's applyFullSpaceImpulse + virtual void applyImpulse(const btVector3& impulse); + + btVector3 getDeltaVa() const; + + // virtual void applySplitImpulse(const btVector3& impulse) {} +}; + +// ================= base contact constraints =================== +class btReducedDeformableRigidContactConstraint : public btDeformableRigidContactConstraint +{ + public: + bool m_collideStatic; // flag for collision with static object + bool m_collideMultibody; // flag for collision with multibody + + int m_nodeQueryIndex; + int m_solverBodyId; // for debugging + + btReducedDeformableBody* m_rsb; + btSolverBody* m_solverBody; + btScalar m_dt; + + btScalar m_appliedNormalImpulse; + btScalar m_appliedTangentImpulse; + btScalar m_appliedTangentImpulse2; + btScalar m_normalImpulseFactor; + btScalar m_tangentImpulseFactor; + btScalar m_tangentImpulseFactor2; + btScalar m_tangentImpulseFactorInv; + btScalar m_tangentImpulseFactorInv2; + btScalar m_rhs; + btScalar m_rhs_tangent; + btScalar m_rhs_tangent2; + + btScalar m_cfm; + btScalar m_cfm_friction; + btScalar m_erp; + btScalar m_erp_friction; + btScalar m_friction; + + btVector3 m_contactNormalA; // surface normal for rigid body (opposite direction as impulse) + btVector3 m_contactNormalB; // surface normal for reduced deformable body (opposite direction as impulse) + btVector3 m_contactTangent; // tangential direction of the relative velocity + btVector3 m_contactTangent2; // 2nd tangential direction of the relative velocity + btVector3 m_relPosA; // relative position of the contact point for A (rigid) + btVector3 m_relPosB; // relative position of the contact point for B + btMatrix3x3 m_impulseFactor; // total impulse matrix + + btVector3 m_bufferVelocityA; // velocity at the beginning of the iteration + btVector3 m_bufferVelocityB; + btVector3 m_linearComponentNormal; // linear components for the solver body + btVector3 m_angularComponentNormal; // angular components for the solver body + // since 2nd contact direction only applies to multibody, these components will never be used + btVector3 m_linearComponentTangent; + btVector3 m_angularComponentTangent; + + btReducedDeformableRigidContactConstraint(btReducedDeformableBody* rsb, + const btSoftBody::DeformableRigidContact& c, + const btContactSolverInfo& infoGlobal, + btScalar dt); + // btReducedDeformableRigidContactConstraint(const btReducedDeformableRigidContactConstraint& other); + btReducedDeformableRigidContactConstraint() {} + virtual ~btReducedDeformableRigidContactConstraint() {} + + void setSolverBody(const int bodyId, btSolverBody& solver_body); + + virtual void warmStarting() {} + + virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal); + + void calculateTangentialImpulse(btScalar& deltaImpulse_tangent, + btScalar& appliedImpulse, + const btScalar rhs_tangent, + const btScalar tangentImpulseFactorInv, + const btVector3& tangent, + const btScalar lower_limit, + const btScalar upper_limit, + const btVector3& deltaV_rel); + + virtual void applyImpulse(const btVector3& impulse) {} + + virtual void applySplitImpulse(const btVector3& impulse) {} // TODO: may need later + + virtual btVector3 getVa() const; + virtual btVector3 getDeltaVa() const = 0; + virtual btVector3 getDeltaVb() const = 0; +}; + +// ================= node vs rigid constraints =================== +class btReducedDeformableNodeRigidContactConstraint : public btReducedDeformableRigidContactConstraint +{ + public: + btSoftBody::Node* m_node; + + btReducedDeformableNodeRigidContactConstraint(btReducedDeformableBody* rsb, + const btSoftBody::DeformableNodeRigidContact& contact, + const btContactSolverInfo& infoGlobal, + btScalar dt); + // btReducedDeformableNodeRigidContactConstraint(const btReducedDeformableNodeRigidContactConstraint& other); + btReducedDeformableNodeRigidContactConstraint() {} + virtual ~btReducedDeformableNodeRigidContactConstraint() {} + + virtual void warmStarting(); + + // get the velocity of the deformable node in contact + virtual btVector3 getVb() const; + + // get the velocity change of the rigid body + virtual btVector3 getDeltaVa() const; + + // get velocity change of the node in contat + virtual btVector3 getDeltaVb() const; + + // get the split impulse velocity of the deformable face at the contact point + virtual btVector3 getSplitVb() const; + + // get the velocity change of the input soft body node in the constraint + virtual btVector3 getDv(const btSoftBody::Node*) const; + + // cast the contact to the desired type + const btSoftBody::DeformableNodeRigidContact* getContact() const + { + return static_cast<const btSoftBody::DeformableNodeRigidContact*>(m_contact); + } + + // this calls reduced deformable body's applyFullSpaceImpulse + virtual void applyImpulse(const btVector3& impulse); +}; + +// ================= face vs rigid constraints =================== +class btReducedDeformableFaceRigidContactConstraint : public btReducedDeformableRigidContactConstraint +{ + public: + btSoftBody::Face* m_face; + bool m_useStrainLimiting; + + btReducedDeformableFaceRigidContactConstraint(btReducedDeformableBody* rsb, + const btSoftBody::DeformableFaceRigidContact& contact, + const btContactSolverInfo& infoGlobal, + btScalar dt, + bool useStrainLimiting); + // btReducedDeformableFaceRigidContactConstraint(const btReducedDeformableFaceRigidContactConstraint& other); + btReducedDeformableFaceRigidContactConstraint() {} + virtual ~btReducedDeformableFaceRigidContactConstraint() {} + + // get the velocity of the deformable face at the contact point + virtual btVector3 getVb() const; + + // get the split impulse velocity of the deformable face at the contact point + virtual btVector3 getSplitVb() const; + + // get the velocity change of the input soft body node in the constraint + virtual btVector3 getDv(const btSoftBody::Node*) const; + + // cast the contact to the desired type + const btSoftBody::DeformableFaceRigidContact* getContact() const + { + return static_cast<const btSoftBody::DeformableFaceRigidContact*>(m_contact); + } + + // this calls reduced deformable body's applyFullSpaceImpulse + virtual void applyImpulse(const btVector3& impulse); +};
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