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add max split impulse push out distance and switch contact to be double sided

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This commit is contained in:
Xuchen Han
2020-04-23 01:54:37 -07:00
parent bc8f99a640
commit 296602fc57
6 changed files with 37 additions and 33 deletions
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21
src/BulletSoftBody/btDeformableContactConstraint.cpp
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@@ -142,6 +142,7 @@ btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btS
m_total_tangent_dv.setZero();
// The magnitude of penetration is the depth of penetration.
m_penetration = c.m_cti.m_offset;
m_total_split_impulse = 0;
// m_penetration = btMin(btScalar(0),c.m_cti.m_offset);
}
@@ -149,6 +150,7 @@ btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btD
: m_contact(other.m_contact)
, btDeformableContactConstraint(other)
, m_penetration(other.m_penetration)
, m_total_split_impulse(other.m_total_split_impulse)
{
m_total_normal_dv = other.m_total_normal_dv;
m_total_tangent_dv = other.m_total_tangent_dv;
@@ -219,7 +221,11 @@ btScalar btDeformableRigidContactConstraint::solveConstraint(const btContactSolv
dn += m_penetration * infoGlobal.m_deformable_erp / infoGlobal.m_timeStep;
}
// dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt
btScalar residualSquare = dn*dn;
if (dn > 0)
{
return 0;
}
btScalar residualSquare = dn*dn;
btVector3 impulse = m_contact->m_c0 * vr;
if (!infoGlobal.m_splitImpulse)
{
@@ -265,8 +271,6 @@ btScalar btDeformableRigidContactConstraint::solveConstraint(const btContactSolv
impulse = impulse_normal + impulse_tangent;
// apply impulse to deformable nodes involved and change their velocities
applyImpulse(impulse);
if (residualSquare < 1e-7)
return residualSquare;
// apply impulse to the rigid/multibodies involved and change their velocities
if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
{
@@ -301,12 +305,23 @@ btScalar btDeformableRigidContactConstraint::solveConstraint(const btContactSolv
btScalar btDeformableRigidContactConstraint::solveSplitImpulse(const btContactSolverInfo& infoGlobal)
{
btScalar MAX_PENETRATION_CORRECTION = 0.1;
const btSoftBody::sCti& cti = m_contact->m_cti;
btVector3 vb = getSplitVb();
btScalar p = m_penetration;
btScalar dn = btDot(vb, cti.m_normal) + p * infoGlobal.m_deformable_erp / infoGlobal.m_timeStep;
if (dn > 0)
return 0;
if (m_total_split_impulse + dn > MAX_PENETRATION_CORRECTION)
{
dn = MAX_PENETRATION_CORRECTION - m_total_split_impulse;
}
if (m_total_split_impulse + dn < -MAX_PENETRATION_CORRECTION)
{
dn = -MAX_PENETRATION_CORRECTION - m_total_split_impulse;
}
m_total_split_impulse += dn;
btScalar residualSquare = dn*dn;
const btVector3 impulse = 1.0/m_contact->m_c2 * (cti.m_normal * dn);
applySplitImpulse(impulse);