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reworking static constraint WIP

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This commit is contained in:
jyc-n
2021-08-12 22:36:39 -04:00
parent 35f7a1a569
commit d6d8c3ceac
5 changed files with 56 additions and 6 deletions
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26
src/BulletSoftBody/BulletReducedSoftBody/btReducedDeformableContactConstraint.cpp
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@@ -5,10 +5,32 @@
btReducedDeformableStaticConstraint::btReducedDeformableStaticConstraint(
btReducedSoftBody* rsb,
btSoftBody::Node* node,
const btVector3& ri,
const btContactSolverInfo& infoGlobal,
btScalar dt)
: m_rsb(rsb), m_dt(dt), btDeformableStaticConstraint(node, infoGlobal)
{}
: m_rsb(rsb), m_ri(ri), m_dt(dt), btDeformableStaticConstraint(node, infoGlobal)
{
// get impulse
m_impulseFactor = rsb->getImpulseFactor(m_node->index);
}
btScalar btReducedDeformableStaticConstraint::solveConstraint(const btContactSolverInfo& infoGlobal)
{
// target velocity of fixed constraint is 0
btVector3 impulse = -(m_impulseFactor.inverse() * m_node->m_v);
// apply full space impulse
applyImpulse(impulse);
return 0;
}
// this calls reduced deformable body's applyFullSpaceImpulse
void btReducedDeformableStaticConstraint::applyImpulse(const btVector3& impulse)
{
m_rsb->applyFullSpaceImpulse(impulse, m_ri, m_node->index, m_dt);
}
// ================= base contact constraints ===================
btReducedDeformableRigidContactConstraint::btReducedDeformableRigidContactConstraint(

9
src/BulletSoftBody/BulletReducedSoftBody/btReducedDeformableContactConstraint.h
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@@ -7,19 +7,22 @@ class btReducedDeformableStaticConstraint : public btDeformableStaticConstraint
public:
btReducedSoftBody* m_rsb;
btScalar m_dt;
btMatrix3x3 m_impulseFactor;
btVector3 m_ri;
btReducedDeformableStaticConstraint(btReducedSoftBody* rsb,
btSoftBody::Node* node,
const btVector3& ri,
const btContactSolverInfo& infoGlobal,
btScalar dt);
// btReducedDeformableStaticConstraint(const btReducedDeformableStaticConstraint& other);
btReducedDeformableStaticConstraint() {}
virtual ~btReducedDeformableStaticConstraint() {}
// virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal);
virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal);
// // this calls reduced deformable body's applyFullSpaceImpulse
// virtual void applyImpulse(const btVector3& impulse);
// this calls reduced deformable body's applyFullSpaceImpulse
virtual void applyImpulse(const btVector3& impulse);
// virtual void applySplitImpulse(const btVector3& impulse) {}
};

7
src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.cpp
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@@ -359,6 +359,13 @@ void btReducedSoftBody::applyRigidImpulse(const btVector3& impulse, const btVect
}
}
btVector3 btReducedSoftBody::getRelativePos(int n_node)
{
btMatrix3x3 rotation = m_interpolationWorldTransform.getBasis();
btVector3 ri = rotation * m_localMomentArm[n_node];
return ri;
}
btMatrix3x3 btReducedSoftBody::getImpulseFactor(int n_node)
{
// relative position

3
src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.h
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@@ -174,6 +174,9 @@ class btReducedSoftBody : public btSoftBody
// calculate the impulse factor
virtual btMatrix3x3 getImpulseFactor(int n_node);
// get relative position from a node to the CoM of the rigid frame
btVector3 getRelativePos(int n_node);
// apply velocity constraint
void applyVelocityConstraint(const btVector3& target_vel, int n_node, btScalar dt);

17
src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodySolver.cpp
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@@ -200,7 +200,7 @@ void btReducedSoftBodySolver::setConstraints(const btContactSolverInfo& infoGlob
{
if (rsb->m_nodes[j].m_im == 0)
{
btReducedDeformableStaticConstraint static_constraint(rsb, &rsb->m_nodes[rsb->m_fixedNodes[j]], infoGlobal, m_dt);
btReducedDeformableStaticConstraint static_constraint(rsb, &rsb->m_nodes[rsb->m_fixedNodes[j]], rsb->getRelativePos(rsb->m_fixedNodes[j]), infoGlobal, m_dt);
m_staticConstraints[i].push_back(static_constraint);
}
}
@@ -240,6 +240,19 @@ void btReducedSoftBodySolver::setConstraints(const btContactSolverInfo& infoGlob
btScalar btReducedSoftBodySolver::solveContactConstraints(btCollisionObject** deformableBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal)
{
btScalar residualSquare = 0;
// handle fixed constraint
for (int i = 0; i < m_softBodies.size(); ++i)
{
for (int k = 0; k < m_staticConstraints[i].size(); ++k)
{
btReducedDeformableStaticConstraint& constraint = m_staticConstraints[i][k];
btScalar localResidualSquare = constraint.solveConstraint(infoGlobal);
residualSquare = btMax(residualSquare, localResidualSquare);
}
}
// handle contact constraint
for (int i = 0; i < numDeformableBodies; ++i)
{
for (int j = 0; j < m_softBodies.size(); ++j)
@@ -249,6 +262,8 @@ btScalar btReducedSoftBodySolver::solveContactConstraints(btCollisionObject** de
{
continue;
}
// node vs rigid contact
for (int k = 0; k < m_nodeRigidConstraints[j].size(); ++k)
{
btReducedDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[j][k];