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do not apply deformable contact impulse to points and faces constrained in rigid/deformable solve

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Xuchen Han
2020-05-20 17:56:20 -07:00
parent 65978cb58b
commit d1d2dad2e6
3 changed files with 25 additions and 23 deletions
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src/BulletSoftBody/btDeformableContactProjection.cpp
+14 -14
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@@ -221,7 +221,7 @@ void btDeformableContactProjection::setProjection()
for (int j = 0; j < m_staticConstraints[i].size(); ++j)
{
int index = m_staticConstraints[i][j].m_node->index;
m_staticConstraints[i][j].m_node->m_penetration = SIMD_INFINITY;
m_staticConstraints[i][j].m_node->m_constrained = true;
if (m_projectionsDict.find(index) == NULL)
{
m_projectionsDict.insert(index, units);
@@ -238,7 +238,7 @@ void btDeformableContactProjection::setProjection()
for (int j = 0; j < m_nodeAnchorConstraints[i].size(); ++j)
{
int index = m_nodeAnchorConstraints[i][j].m_anchor->m_node->index;
m_nodeAnchorConstraints[i][j].m_anchor->m_node->m_penetration = SIMD_INFINITY;
m_nodeAnchorConstraints[i][j].m_anchor->m_node->m_constrained = true;
if (m_projectionsDict.find(index) == NULL)
{
m_projectionsDict.insert(index, units);
@@ -255,7 +255,7 @@ void btDeformableContactProjection::setProjection()
for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j)
{
int index = m_nodeRigidConstraints[i][j].m_node->index;
m_nodeRigidConstraints[i][j].m_node->m_penetration = -m_nodeRigidConstraints[i][j].getContact()->m_cti.m_offset;
m_nodeRigidConstraints[i][j].m_node->m_constrained = true;
if (m_nodeRigidConstraints[i][j].m_static)
{
if (m_projectionsDict.find(index) == NULL)
@@ -289,15 +289,16 @@ void btDeformableContactProjection::setProjection()
for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j)
{
const btSoftBody::Face* face = m_faceRigidConstraints[i][j].m_face;
btScalar penetration = -m_faceRigidConstraints[i][j].getContact()->m_cti.m_offset;
for (int k = 0; k < 3; ++k)
{
face->m_n[k]->m_penetration = btMax(face->m_n[k]->m_penetration, penetration);
}
if (m_faceRigidConstraints[i][j].m_binding)
{
for (int k = 0; k < 3; ++k)
{
face->m_n[k]->m_constrained = true;
}
}
for (int k = 0; k < 3; ++k)
{
btSoftBody::Node* node = face->m_n[k];
node->m_penetration = true;
int index = node->index;
if (m_faceRigidConstraints[i][j].m_static)
{
@@ -469,7 +470,7 @@ void btDeformableContactProjection::setLagrangeMultiplier()
for (int j = 0; j < m_staticConstraints[i].size(); ++j)
{
int index = m_staticConstraints[i][j].m_node->index;
m_staticConstraints[i][j].m_node->m_penetration = SIMD_INFINITY;
m_staticConstraints[i][j].m_node->m_constrained = true;
LagrangeMultiplier lm;
lm.m_num_nodes = 1;
lm.m_indices[0] = index;
@@ -483,7 +484,7 @@ void btDeformableContactProjection::setLagrangeMultiplier()
for (int j = 0; j < m_nodeAnchorConstraints[i].size(); ++j)
{
int index = m_nodeAnchorConstraints[i][j].m_anchor->m_node->index;
m_nodeAnchorConstraints[i][j].m_anchor->m_node->m_penetration = SIMD_INFINITY;
m_nodeAnchorConstraints[i][j].m_anchor->m_node->m_constrained = true;
LagrangeMultiplier lm;
lm.m_num_nodes = 1;
lm.m_indices[0] = index;
@@ -501,7 +502,7 @@ void btDeformableContactProjection::setLagrangeMultiplier()
continue;
}
int index = m_nodeRigidConstraints[i][j].m_node->index;
m_nodeRigidConstraints[i][j].m_node->m_penetration = -m_nodeRigidConstraints[i][j].getContact()->m_cti.m_offset;
m_nodeRigidConstraints[i][j].m_node->m_constrained = true;
LagrangeMultiplier lm;
lm.m_num_nodes = 1;
lm.m_indices[0] = index;
@@ -529,12 +530,11 @@ void btDeformableContactProjection::setLagrangeMultiplier()
const btSoftBody::Face* face = m_faceRigidConstraints[i][j].m_face;
btVector3 bary = m_faceRigidConstraints[i][j].getContact()->m_bary;
btScalar penetration = -m_faceRigidConstraints[i][j].getContact()->m_cti.m_offset;
LagrangeMultiplier lm;
lm.m_num_nodes = 3;
for (int k = 0; k<3; ++k)
{
face->m_n[k]->m_penetration = btMax(face->m_n[k]->m_penetration, penetration);
face->m_n[k]->m_constrained = true;
lm.m_indices[k] = face->m_n[k]->index;
lm.m_weights[k] = bary[k];
}