From 22ef34bb691ab1d0a676f25b08d07fbd5864ac72 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Fri, 18 Feb 2022 16:14:53 -0800 Subject: Revert "Add deformable contact forces info" --- .../SharedMemory/PhysicsServerCommandProcessor.cpp | 121 ++++++--------------- .../btDeformableContactConstraint.cpp | 5 +- src/BulletSoftBody/btSoftBody.h | 10 +- 3 files changed, 39 insertions(+), 97 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index e949f3e1f..0d826af41 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -8073,26 +8073,21 @@ bool PhysicsServerCommandProcessor::processRequestDeformableContactpointHelper(c { return false; } + int numSoftbodyContact = 0; + for (int i = deformWorld->getSoftBodyArray().size() - 1; i >= 0; i--) + { + numSoftbodyContact += deformWorld->getSoftBodyArray()[i]->m_faceRigidContacts.size(); + } + int num_contact_points = m_data->m_cachedContactPoints.size(); + m_data->m_cachedContactPoints.reserve(num_contact_points + numSoftbodyContact); for (int i = deformWorld->getSoftBodyArray().size() - 1; i >= 0; i--) { btSoftBody* psb = deformWorld->getSoftBodyArray()[i]; - btAlignedObjectArray distinctContactPoints; - btAlignedObjectArray nodesInContact; for (int c = 0; c < psb->m_faceRigidContacts.size(); c++) { - const btSoftBody::DeformableFaceRigidContact* contact = &psb->m_faceRigidContacts[c]; - // calculate normal and tangent impulse - btVector3 impulse = contact->m_cti.m_impulse; - btVector3 impulseNormal = impulse.dot(contact->m_cti.m_normal) * contact->m_cti.m_normal; - btVector3 impulseTangent = impulse - impulseNormal; - // get node in contact - int contactNodeIdx = contact->m_bary.maxAxis(); - btSoftBody::Node* node = contact->m_face->m_n[contactNodeIdx]; - // check if node is already in the list - int idx = nodesInContact.findLinearSearch2(node); - - //apply the filter, if the user provides it + const btSoftBody::DeformableFaceRigidContact* contact = &psb->m_faceRigidContacts[i]; + //convert rigidbody contact int linkIndexA = -1; int linkIndexB = -1; int objectIndexA = psb->getUserIndex2(); @@ -8109,6 +8104,8 @@ bool PhysicsServerCommandProcessor::processRequestDeformableContactpointHelper(c linkIndexB = mblB->m_link; objectIndexB = mblB->m_multiBody->getUserIndex2(); } + + //apply the filter, if the user provides it bool swap = false; if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter >= 0) { @@ -8154,87 +8151,37 @@ bool PhysicsServerCommandProcessor::processRequestDeformableContactpointHelper(c { continue; } - - if (idx < 0) + b3ContactPointData pt; + pt.m_bodyUniqueIdA = objectIndexA; + pt.m_bodyUniqueIdB = objectIndexB; + pt.m_contactDistance = contact->m_cti.m_offset; + pt.m_contactFlags = 0; + pt.m_linkIndexA = linkIndexA; + pt.m_linkIndexB = linkIndexB; + for (int j = 0; j < 3; j++) { - // add new node and contact point - nodesInContact.push_back(node); - b3ContactPointData pt; - pt.m_bodyUniqueIdA = objectIndexA; - pt.m_bodyUniqueIdB = objectIndexB; - pt.m_contactDistance = -contact->m_cti.m_offset; - pt.m_contactFlags = 0; - pt.m_linkIndexA = linkIndexA; - pt.m_linkIndexB = linkIndexB; - for (int j = 0; j < 3; j++) + if (swap) { - if (swap) - { - pt.m_contactNormalOnBInWS[j] = -contact->m_cti.m_normal[j]; - pt.m_positionOnAInWS[j] = node->m_x[j] - pt.m_contactDistance * pt.m_contactNormalOnBInWS[j]; // not really precise because of margins in btSoftBody.cpp:line 2912 - // node is force application point, therefore node position is contact point (not contact->m_contactPoint, because not equal to node) - pt.m_positionOnBInWS[j] = node->m_x[j]; - } - else - { - pt.m_contactNormalOnBInWS[j] = contact->m_cti.m_normal[j]; - // node is force application point, therefore node position is contact point (not contact->m_contactPoint, because not equal to node) - pt.m_positionOnAInWS[j] = node->m_x[j]; - pt.m_positionOnBInWS[j] = node->m_x[j] - pt.m_contactDistance * pt.m_contactNormalOnBInWS[j]; // not really precise because of margins in btSoftBody.cpp:line 2912 - } + pt.m_contactNormalOnBInWS[j] = -contact->m_cti.m_normal[j]; + pt.m_positionOnAInWS[j] = contact->m_cti.m_normal[j]; + pt.m_positionOnBInWS[j] = -contact->m_cti.m_normal[j]; } - pt.m_normalForce = (impulseNormal / m_data->m_physicsDeltaTime).norm(); - pt.m_linearFrictionForce1 = (impulseTangent.dot(contact->t1) * contact->t1 / m_data->m_physicsDeltaTime).norm(); - pt.m_linearFrictionForce2 = (impulseTangent.dot(contact->t2) * contact->t2 / m_data->m_physicsDeltaTime).norm(); - for (int j = 0; j < 3; j++) + else { - pt.m_linearFrictionDirection1[j] = contact->t1[j]; - pt.m_linearFrictionDirection2[j] = contact->t2[j]; + pt.m_contactNormalOnBInWS[j] = contact->m_cti.m_normal[j]; + pt.m_positionOnAInWS[j] = -contact->m_cti.m_normal[j]; + pt.m_positionOnBInWS[j] = contact->m_cti.m_normal[j]; } - distinctContactPoints.push_back(pt); } - else + pt.m_normalForce = 1; + pt.m_linearFrictionForce1 = 0; + pt.m_linearFrictionForce2 = 0; + for (int j = 0; j < 3; j++) { - // add values to existing contact point - b3ContactPointData* pt = &distinctContactPoints[idx]; - // current normal force of node - btVector3 normalForce = btVector3(btScalar(pt->m_contactNormalOnBInWS[0]), - btScalar(pt->m_contactNormalOnBInWS[1]), - btScalar(pt->m_contactNormalOnBInWS[2])) * pt->m_normalForce; - // add normal force of additional node contact - btScalar swapFactor = swap ? -1.0 : 1.0; - normalForce += swapFactor * contact->m_cti.m_normal * (impulseNormal / m_data->m_physicsDeltaTime).norm(); - // get magnitude of normal force - pt->m_normalForce = normalForce.norm(); - // get direction of normal force - if (!normalForce.fuzzyZero()) - { - // normalize for unit vectors if above numerical threshold - normalForce.normalize(); - for (int j = 0; j < 3; j++) - { - pt->m_contactNormalOnBInWS[j] = normalForce[j]; - } - } - - // add magnitudes of tangential forces in existing directions - btVector3 linearFrictionDirection1 = btVector3(btScalar(pt->m_linearFrictionDirection1[0]), - btScalar(pt->m_linearFrictionDirection1[1]), - btScalar(pt->m_linearFrictionDirection1[2])); - btVector3 linearFrictionDirection2 = btVector3(btScalar(pt->m_linearFrictionDirection2[0]), - btScalar(pt->m_linearFrictionDirection2[1]), - btScalar(pt->m_linearFrictionDirection2[2])); - pt->m_linearFrictionForce1 = (impulseTangent.dot(linearFrictionDirection1) * linearFrictionDirection1 / m_data->m_physicsDeltaTime).norm(); - pt->m_linearFrictionForce2 = (impulseTangent.dot(linearFrictionDirection2) * linearFrictionDirection2 / m_data->m_physicsDeltaTime).norm(); + pt.m_linearFrictionDirection1[j] = 0; + pt.m_linearFrictionDirection2[j] = 0; } - } - - int num_contact_points = m_data->m_cachedContactPoints.size() + distinctContactPoints.size(); - m_data->m_cachedContactPoints.reserve(num_contact_points); - // add points to contact points cache - for (int p = 0; p < distinctContactPoints.size(); p++) - { - m_data->m_cachedContactPoints.push_back(distinctContactPoints[p]); + m_data->m_cachedContactPoints.push_back(pt); } } #endif diff --git a/src/BulletSoftBody/btDeformableContactConstraint.cpp b/src/BulletSoftBody/btDeformableContactConstraint.cpp index 9c8e72f50..09398d79a 100644 --- a/src/BulletSoftBody/btDeformableContactConstraint.cpp +++ b/src/BulletSoftBody/btDeformableContactConstraint.cpp @@ -268,7 +268,7 @@ btScalar btDeformableRigidContactConstraint::solveConstraint(const btContactSolv { dn += m_penetration * infoGlobal.m_deformable_erp / infoGlobal.m_timeStep; } - // dn is the normal component of velocity difference. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt + // dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt btVector3 impulse = m_contact->m_c0 * (vr + m_total_normal_dv * infoGlobal.m_deformable_cfm + ((m_penetration > 0) ? m_penetration / infoGlobal.m_timeStep * cti.m_normal : btVector3(0, 0, 0))); if (!infoGlobal.m_splitImpulse) { @@ -487,9 +487,6 @@ void btDeformableFaceRigidContactConstraint::applyImpulse(const btVector3& impul btVector3 dv = impulse * contact->m_c2; btSoftBody::Face* face = contact->m_face; - // save applied impulse - contact->m_cti.m_impulse = impulse; - btVector3& v0 = face->m_n[0]->m_v; btVector3& v1 = face->m_n[1]->m_v; btVector3& v2 = face->m_n[2]->m_v; diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index cee3ae0f2..d5b01faf3 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -223,12 +223,10 @@ public: /* sCti is Softbody contact info */ struct sCti { - const btCollisionObject* m_colObj; /* Rigid body */ - btVector3 m_normal; /* Outward normal */ - mutable btVector3 m_impulse; /* Applied impulse */ - btScalar m_offset; /* Offset from origin */ + const btCollisionObject* m_colObj; /* Rigid body */ + btVector3 m_normal; /* Outward normal */ + btScalar m_offset; /* Offset from origin */ btVector3 m_bary; /* Barycentric weights for faces */ - sCti() : m_impulse(0, 0, 0) {} }; /* sMedium */ @@ -894,7 +892,7 @@ public: int node1) const; bool checkLink(const Node* node0, const Node* node1) const; - /* Check for existing face */ + /* Check for existring face */ bool checkFace(int node0, int node1, int node2) const; -- cgit v1.2.1