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refactor to support both CG+projection and KKT

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This commit is contained in:
Xuchen Han
2020-04-15 17:46:01 -07:00
parent b3e23cfaa4
commit 165427de01
16 changed files with 313 additions and 285 deletions
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src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
+17 -15
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@@ -61,6 +61,7 @@ m_deformableBodySolver(deformableBodySolver), m_solverCallback(0)
m_internalTime = 0.0;
m_implicit = false;
m_lineSearch = false;
m_useProjection = true;
m_ccdIterations = 5;
m_solverDeformableBodyIslandCallback = new DeformableBodyInplaceSolverIslandCallback(constraintSolver, dispatcher);
}
@@ -253,18 +254,6 @@ void btDeformableMultiBodyDynamicsWorld::performGeometricCollisions(btScalar tim
}
}
}
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
if (psb->isActive() && psb->m_usePostCollisionDamping)
{
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
psb->m_nodes[j].m_v *= psb->m_dampingCoefficient;
}
}
}
}
void btDeformableMultiBodyDynamicsWorld::softBodySelfCollision()
@@ -399,9 +388,11 @@ void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep)
solveContactConstraints();
// set up the directions in which the velocity does not change in the momentum solve
// m_deformableBodySolver->m_objective->m_projection.setProjection();
m_deformableBodySolver->m_objective->m_projection.setLagrangeMultiplier();
if (m_useProjection)
m_deformableBodySolver->m_objective->m_projection.setProjection();
else
m_deformableBodySolver->m_objective->m_projection.setLagrangeMultiplier();
// for explicit scheme, m_backupVelocity = v_{n+1}^*
// for implicit scheme, m_backupVelocity = v_n
// Here, set dv = v_{n+1} - v_n for nodes in contact
@@ -538,6 +529,17 @@ void btDeformableMultiBodyDynamicsWorld::reinitialize(btScalar timeStep)
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_debugDraw = btMultiBodyDynamicsWorld::getDebugDrawer();
btMultiBodyDynamicsWorld::getSolverInfo().m_timeStep = timeStep;
if (m_useProjection)
{
m_deformableBodySolver->m_useProjection = true;
// m_deformableBodySolver->m_objective->m_projection.m_useStrainLimiting = true;
m_deformableBodySolver->m_objective->m_preconditioner = m_deformableBodySolver->m_objective->m_massPreconditioner;
}
else
{
m_deformableBodySolver->m_objective->m_preconditioner = m_deformableBodySolver->m_objective->m_KKTPreconditioner;
}
}