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test modes kinematics

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This commit is contained in:
jingyuc
2021-07-14 16:00:28 -04:00
parent fa00ee2bbd
commit f1e86bf257
8 changed files with 267 additions and 102 deletions
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src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
+38 -6
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@@ -23,6 +23,7 @@ btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAligned
m_massPreconditioner = new MassPreconditioner(m_softBodies);
m_KKTPreconditioner = new KKTPreconditioner(m_softBodies, m_projection, m_lf, m_dt, m_implicit);
m_preconditioner = m_KKTPreconditioner;
m_reducedModel = false;
}
btDeformableBackwardEulerObjective::~btDeformableBackwardEulerObjective()
@@ -147,20 +148,51 @@ void btDeformableBackwardEulerObjective::applyForce(TVStack& force, bool setZero
}
if (m_implicit)
{
for (int j = 0; j < psb->m_nodes.size(); ++j)
if (m_reducedModel)
{
if (psb->m_nodes[j].m_im != 0)
// for (int j = 0; j < psb->m_reducedNodes.size(); ++j) // TODO: reduced soft body
// {
// if (psb->m_nodes[j].m_im != 0)
// {
// psb->m_nodes[j].m_v += psb->m_nodes[j].m_effectiveMass_inv * force[counter++];
// }
// }
}
else
{
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
psb->m_nodes[j].m_v += psb->m_nodes[j].m_effectiveMass_inv * force[counter++];
if (psb->m_nodes[j].m_im != 0)
{
psb->m_nodes[j].m_v += psb->m_nodes[j].m_effectiveMass_inv * force[counter++];
}
}
}
}
else
{
for (int j = 0; j < psb->m_nodes.size(); ++j)
if (m_reducedModel)
{
btScalar one_over_mass = (psb->m_nodes[j].m_im == 0) ? 0 : psb->m_nodes[j].m_im;
psb->m_nodes[j].m_v += one_over_mass * force[counter++];
// // get reduced force
// btAlignedObjectArray<btScalar> reduced_force;
// reduced_force.resize(psb->m_reducedNodes.size());
// for (int r = 0; r < psb->m_reducedNodes.size(); ++r)
// reduced_force[r] = psb->m_Kr[r] * psb->m_reducedNodes[r];
// // update reduced velocity
// for (int r = 0; r < psb->m_reducedNodes.size(); ++r) // TODO: reduced soft body
// {
// btScalar mass_inv = (psb->m_Mr[r] == 0) ? 0 : 1.0 / psb->m_Mr[r];
// psb->m_reducedVelocity[r] += m_dt * mass_inv * reduced_force[r];
// }
}
else
{
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
btScalar one_over_mass = (psb->m_nodes[j].m_im == 0) ? 0 : psb->m_nodes[j].m_im;
psb->m_nodes[j].m_v += one_over_mass * force[counter++];
}
}
}
}