diff options
Diffstat (limited to 'src/BulletSoftBody/btDeformableBodySolver.cpp')
| -rw-r--r-- | src/BulletSoftBody/btDeformableBodySolver.cpp | 89 |
1 files changed, 88 insertions, 1 deletions
diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 27f10a92f..4e9df5f83 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -23,6 +23,7 @@ btDeformableBodySolver::btDeformableBodySolver() : m_numNodes(0), m_cg(kMaxConjugateGradientIterations), m_cr(kMaxConjugateGradientIterations), m_maxNewtonIterations(1), m_newtonTolerance(1e-4), m_lineSearch(false), m_useProjection(false) { m_objective = new btDeformableBackwardEulerObjective(m_softBodies, m_backupVelocity); + m_reducedSolver = false; } btDeformableBodySolver::~btDeformableBodySolver() @@ -401,7 +402,7 @@ void btDeformableBodySolver::predictMotion(btScalar solverdt) } } } - m_objective->applyExplicitForce(m_residual); + applyExplicitForce(); for (int i = 0; i < m_softBodies.size(); ++i) { btSoftBody* psb = m_softBodies[i]; @@ -504,3 +505,89 @@ void btDeformableBodySolver::setLineSearch(bool lineSearch) { m_lineSearch = lineSearch; } + +void btDeformableBodySolver::applyExplicitForce() +{ + m_objective->applyExplicitForce(m_residual); +} + +void btDeformableBodySolver::applyTransforms(btScalar timeStep) +{ + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + btSoftBody::Node& node = psb->m_nodes[j]; + btScalar maxDisplacement = psb->getWorldInfo()->m_maxDisplacement; + btScalar clampDeltaV = maxDisplacement / timeStep; + for (int c = 0; c < 3; c++) + { + if (node.m_v[c] > clampDeltaV) + { + node.m_v[c] = clampDeltaV; + } + if (node.m_v[c] < -clampDeltaV) + { + node.m_v[c] = -clampDeltaV; + } + } + node.m_x = node.m_x + timeStep * (node.m_v + node.m_splitv); + node.m_q = node.m_x; + node.m_vn = node.m_v; + } + // enforce anchor constraints + for (int j = 0; j < psb->m_deformableAnchors.size(); ++j) + { + btSoftBody::DeformableNodeRigidAnchor& a = psb->m_deformableAnchors[j]; + btSoftBody::Node* n = a.m_node; + n->m_x = a.m_cti.m_colObj->getWorldTransform() * a.m_local; + + // update multibody anchor info + if (a.m_cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(a.m_cti.m_colObj); + if (multibodyLinkCol) + { + btVector3 nrm; + const btCollisionShape* shp = multibodyLinkCol->getCollisionShape(); + const btTransform& wtr = multibodyLinkCol->getWorldTransform(); + psb->m_worldInfo->m_sparsesdf.Evaluate( + wtr.invXform(n->m_x), + shp, + nrm, + 0); + a.m_cti.m_normal = wtr.getBasis() * nrm; + btVector3 normal = a.m_cti.m_normal; + btVector3 t1 = generateUnitOrthogonalVector(normal); + btVector3 t2 = btCross(normal, t1); + btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2; + findJacobian(multibodyLinkCol, jacobianData_normal, a.m_node->m_x, normal); + findJacobian(multibodyLinkCol, jacobianData_t1, a.m_node->m_x, t1); + findJacobian(multibodyLinkCol, jacobianData_t2, a.m_node->m_x, t2); + + btScalar* J_n = &jacobianData_normal.m_jacobians[0]; + btScalar* J_t1 = &jacobianData_t1.m_jacobians[0]; + btScalar* J_t2 = &jacobianData_t2.m_jacobians[0]; + + btScalar* u_n = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + + btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(), + t1.getX(), t1.getY(), t1.getZ(), + t2.getX(), t2.getY(), t2.getZ()); // world frame to local frame + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + btMatrix3x3 local_impulse_matrix = (Diagonal(n->m_im) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse(); + a.m_c0 = rot.transpose() * local_impulse_matrix * rot; + a.jacobianData_normal = jacobianData_normal; + a.jacobianData_t1 = jacobianData_t1; + a.jacobianData_t2 = jacobianData_t2; + a.t1 = t1; + a.t2 = t2; + } + } + } + psb->interpolateRenderMesh(); + } +}
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