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//
// btDeformableRigidDynamicsWorld.cpp
// BulletSoftBody
//
// Created by Xuchen Han on 7/1/19.
//
#include <stdio.h>
#include "btDeformableRigidDynamicsWorld.h"
#include "btDeformableBodySolver.h"
void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
{
m_internalTime += timeStep;
// Let the solver grab the soft bodies and if necessary optimize for it
m_deformableBodySolver->optimize(m_softBodies);
if (!m_deformableBodySolver->checkInitialized())
{
btAssert("Solver initialization failed\n");
}
// from btDiscreteDynamicsWorld singleStepSimulation
if (0 != m_internalPreTickCallback)
{
(*m_internalPreTickCallback)(this, timeStep);
}
///apply gravity, predict motion
predictUnconstraintMotion(timeStep);
btDispatcherInfo& dispatchInfo = btMultiBodyDynamicsWorld::getDispatchInfo();
dispatchInfo.m_timeStep = timeStep;
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_debugDraw = btMultiBodyDynamicsWorld::getDebugDrawer();
// only used in CCD
// createPredictiveContacts(timeStep);
///perform collision detection
btMultiBodyDynamicsWorld::performDiscreteCollisionDetection();
btMultiBodyDynamicsWorld::calculateSimulationIslands();
btMultiBodyDynamicsWorld::getSolverInfo().m_timeStep = timeStep;
if (0 != m_internalTickCallback)
{
(*m_internalTickCallback)(this, timeStep);
}
// TODO: This is an ugly hack to get the desired gravity behavior.
// gravity is applied in stepSimulation and then cleared here and then applied here and then cleared here again
// so that 1) gravity is applied to velocity before constraint solve and 2) gravity is applied in each substep
// when there are multiple substeps
clearForces();
clearMultiBodyForces();
btMultiBodyDynamicsWorld::applyGravity();
// integrate rigid body gravity
for (int i = 0; i < m_nonStaticRigidBodies.size(); ++i)
{
btRigidBody* rb = m_nonStaticRigidBodies[i];
rb->integrateVelocities(timeStep);
}
// integrate multibody gravity
btMultiBodyDynamicsWorld::solveExternalForces(btMultiBodyDynamicsWorld::getSolverInfo());
clearForces();
clearMultiBodyForces();
for (int i = 0; i < before_solver_callbacks.size(); ++i)
before_solver_callbacks[i](m_internalTime, this);
///solve deformable bodies constraints
solveDeformableBodiesConstraints(timeStep);
//integrate transforms
btMultiBodyDynamicsWorld::integrateTransforms(timeStep);
///update vehicle simulation
btMultiBodyDynamicsWorld::updateActions(timeStep);
btMultiBodyDynamicsWorld::updateActivationState(timeStep);
///update soft bodies
m_deformableBodySolver->updateSoftBodies();
clearForces();
// End solver-wise simulation step
// ///////////////////////////////
}
void btDeformableRigidDynamicsWorld::solveDeformableBodiesConstraints(btScalar timeStep)
{
m_deformableBodySolver->solveConstraints(timeStep);
}
void btDeformableRigidDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask)
{
m_softBodies.push_back(body);
// Set the soft body solver that will deal with this body
// to be the world's solver
body->setSoftBodySolver(m_deformableBodySolver);
btCollisionWorld::addCollisionObject(body,
collisionFilterGroup,
collisionFilterMask);
}
void btDeformableRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep);
m_deformableBodySolver->predictMotion(float(timeStep));
}
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