diff options
Diffstat (limited to 'src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp')
| -rw-r--r-- | src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp | 71 |
1 files changed, 0 insertions, 71 deletions
diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp index 2a0e5ec34..631fd5fbe 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp @@ -14,16 +14,11 @@ */ #include "btDeformableMultiBodyConstraintSolver.h" -#include "BulletReducedDeformableBody/btReducedDeformableBodySolver.h" #include <iostream> -#include <thread> // override the iterations method to include deformable/multibody contact btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations(btCollisionObject** bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) { { - // pair deformable body with solver body - pairDeformableAndSolverBody(bodies, numBodies, numDeformableBodies, infoGlobal); - ///this is a special step to resolve penetrations (just for contacts) solveGroupCacheFriendlySplitImpulseIterations(bodies, numBodies, deformableBodies, numDeformableBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); @@ -42,10 +37,6 @@ btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations(b // solver body velocity <- rigid body velocity writeToSolverBody(bodies, numBodies, infoGlobal); - - // std::cout << "------------Iteration " << iteration << "------------\n"; - // std::cout << "m_leastSquaresResidual: " << m_leastSquaresResidual << "\n"; - if (m_leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || (iteration >= (maxIterations - 1))) { #ifdef VERBOSE_RESIDUAL_PRINTF @@ -60,9 +51,6 @@ btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations(b m_analyticsData.m_numBodies = numBodies; m_analyticsData.m_numContactManifolds = numManifolds; m_analyticsData.m_remainingLeastSquaresResidual = m_leastSquaresResidual; - - m_deformableSolver->deformableBodyInternalWriteBack(); - // std::cout << "[===================Next Step===================]\n"; break; } } @@ -90,12 +78,6 @@ void btDeformableMultiBodyConstraintSolver::solveDeformableBodyGroup(btCollision void btDeformableMultiBodyConstraintSolver::writeToSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) { - // reduced soft body solver directly modifies the solver body - if (m_deformableSolver->isReducedSolver()) - { - return; - } - for (int i = 0; i < numBodies; i++) { int bodyId = getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep); @@ -112,12 +94,6 @@ void btDeformableMultiBodyConstraintSolver::writeToSolverBody(btCollisionObject* void btDeformableMultiBodyConstraintSolver::solverBodyWriteBack(const btContactSolverInfo& infoGlobal) { - // reduced soft body solver directly modifies the solver body - if (m_deformableSolver->isReducedSolver()) - { - return; - } - for (int i = 0; i < m_tmpSolverBodyPool.size(); i++) { btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody; @@ -129,53 +105,6 @@ void btDeformableMultiBodyConstraintSolver::solverBodyWriteBack(const btContactS } } - -void btDeformableMultiBodyConstraintSolver::pairDeformableAndSolverBody(btCollisionObject** bodies, int numBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal) -{ - if (!m_deformableSolver->isReducedSolver()) - { - return; - } - - btReducedDeformableBodySolver* solver = static_cast<btReducedDeformableBodySolver*>(m_deformableSolver); - - for (int i = 0; i < numDeformableBodies; ++i) - { - for (int k = 0; k < solver->m_nodeRigidConstraints[i].size(); ++k) - { - btReducedDeformableNodeRigidContactConstraint& constraint = solver->m_nodeRigidConstraints[i][k]; - - if (!constraint.m_contact->m_cti.m_colObj->isStaticObject()) - { - btCollisionObject& col_obj = const_cast<btCollisionObject&>(*constraint.m_contact->m_cti.m_colObj); - - // object index in the solver body pool - int bodyId = getOrInitSolverBody(col_obj, infoGlobal.m_timeStep); - - const btRigidBody* body = btRigidBody::upcast(bodies[bodyId]); - if (body && body->getInvMass()) - { - // std::cout << "Node: " << constraint.m_node->index << ", body: " << bodyId << "\n"; - btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId]; - constraint.setSolverBody(bodyId, solverBody); - } - } - } - - // for (int j = 0; j < numBodies; j++) - // { - // int bodyId = getOrInitSolverBody(*bodies[j], infoGlobal.m_timeStep); - - // btRigidBody* body = btRigidBody::upcast(bodies[j]); - // if (body && body->getInvMass()) - // { - // btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId]; - // m_deformableSolver->pairConstraintWithSolverBody(i, bodyId, solverBody); - // } - // } - } -} - void btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) { BT_PROFILE("solveGroupCacheFriendlySplitImpulseIterations"); 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