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//
// btContactProjection.h
// BulletSoftBody
//
// Created by Xuchen Han on 7/4/19.
//
#ifndef BT_CONTACT_PROJECTION_H
#define BT_CONTACT_PROJECTION_H
#include "btCGProjection.h"
#include "btSoftBody.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
#include <iostream>
class btContactProjection : public btCGProjection
{
public:
btContactProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt)
: btCGProjection(softBodies, dt)
{
}
virtual ~btContactProjection()
{
}
// apply the constraints
virtual void operator()(TVStack& x)
{
const int dim = 3;
for (auto& it : m_constraints)
{
const btAlignedObjectArray<Constraint>& constraints = it.second;
size_t i = m_indices[it.first];
btAlignedObjectArray<Friction>& frictions = m_frictions[it.first];
btAssert(constraints.size() <= dim);
btAssert(constraints.size() > 0);
if (constraints.size() == 1)
{
x[i] -= x[i].dot(constraints[0].m_direction[0]) * constraints[0].m_direction[0];
Friction& friction= frictions[0];
bool has_static_constraint = false;
for (int j = 0; j < friction.m_static.size(); ++j)
has_static_constraint = has_static_constraint || friction.m_static[j];
for (int j = 0; j < friction.m_direction.size(); ++j)
{
// clear the old friction force
if (friction.m_static_prev[j] == false)
{
x[i] -= friction.m_direction_prev[j] * friction.m_impulse_prev[j];
}
// only add to the rhs if there is no static friction constraint on the node
if (friction.m_static[j] == false && !has_static_constraint)
{
x[i] += friction.m_direction[j] * friction.m_impulse[j];
}
}
}
else if (constraints.size() == 2)
{
// TODO : friction
btVector3 free_dir = btCross(constraints[0].m_direction[0], constraints[1].m_direction[0]);
btAssert(free_dir.norm() > SIMD_EPSILON)
free_dir.normalize();
x[i] = x[i].dot(free_dir) * free_dir;
bool has_static_constraint = false;
for (int f = 0; f < 2; ++f)
{
Friction& friction= frictions[f];
for (int j = 0; j < friction.m_static.size(); ++j)
has_static_constraint = has_static_constraint || friction.m_static[j];
}
for (int f = 0; f < 2; ++f)
{
Friction& friction= frictions[f];
for (int j = 0; j < friction.m_direction.size(); ++j)
{
// clear the old friction force
if (friction.m_static_prev[j] == false)
{
x[i] -= friction.m_direction_prev[j] * friction.m_impulse_prev[j];
}
// only add to the rhs if there is no static friction constraint on the node
if (friction.m_static[j] == false && !has_static_constraint)
{
x[i] += friction.m_direction[j] * friction.m_impulse[j];
}
}
}
}
else
x[i].setZero();
}
}
virtual void enforceConstraint(TVStack& x)
{
const int dim = 3;
for (auto& it : m_constraints)
{
const btAlignedObjectArray<Constraint>& constraints = it.second;
size_t i = m_indices[it.first];
const btAlignedObjectArray<Friction>& frictions = m_frictions[it.first];
btAssert(constraints.size() <= dim);
btAssert(constraints.size() > 0);
if (constraints.size() == 1)
{
x[i] -= x[i].dot(constraints[0].m_direction[0]) * constraints[0].m_direction[0];
for (int j = 0; j < constraints[0].m_direction.size(); ++j)
x[i] += constraints[0].m_value[j] * constraints[0].m_direction[j];
const Friction& friction= frictions[0];
for (int j = 0; j < friction.m_direction.size(); ++j)
{
// clear the old constraint
if (friction.m_static_prev[j] == true)
{
// x[i] -= friction.m_direction_prev[j] * friction.m_dv_prev[j];
}
// add the new constraint
if (friction.m_static[j] == true)
{
x[i] += friction.m_direction[j] * friction.m_dv[j];
}
}
}
else if (constraints.size() == 2)
{
// TODO: friction
btVector3 free_dir = btCross(constraints[0].m_direction[0], constraints[1].m_direction[0]);
btAssert(free_dir.norm() > SIMD_EPSILON)
free_dir.normalize();
x[i] = x[i].dot(free_dir) * free_dir;
for (int j = 0; j < constraints.size(); ++j)
{
for (int k = 0; k < constraints[j].m_direction.size(); ++k)
{
x[i] += constraints[j].m_value[k] * constraints[j].m_direction[k];
}
}
for (int f = 0; f < 2; ++f)
{
const Friction& friction= frictions[f];
for (int j = 0; j < friction.m_direction.size(); ++j)
{
// clear the old constraint
if (friction.m_static_prev[j] == true)
{
// x[i] -= friction.m_direction_prev[j] * friction.m_dv_prev[j];
}
// add the new constraint
if (friction.m_static[j] == true)
{
x[i] += friction.m_direction[j] * friction.m_dv[j];
}
}
}
}
else
{
x[i].setZero();
for (int j = 0; j < constraints.size(); ++j)
{
for (int k = 0; k < constraints[j].m_direction.size(); ++k)
{
x[i] += constraints[j].m_value[k] * constraints[j].m_direction[k];
}
}
}
}
}
// update the constraints
virtual void update(const TVStack& dv, const TVStack& backupVelocity);
virtual void setConstraintDirections();
};
#endif /* btContactProjection_h */
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