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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/btDeformableMultiBodyDynamicsWorld.cpp
+28 -14
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@@ -72,6 +72,12 @@ btDeformableMultiBodyDynamicsWorld::~btDeformableMultiBodyDynamicsWorld()
delete m_solverDeformableBodyIslandCallback;
}
void btDeformableMultiBodyDynamicsWorld::setReducedModelFlag(bool reduced_model)
{
m_reducedModel = reduced_model;
m_deformableBodySolver->m_objective->setReducedModel(reduced_model);
}
void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
{
BT_PROFILE("internalSingleStepSimulation");
@@ -300,25 +306,33 @@ void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
for (int j = 0; j < psb->m_nodes.size(); ++j)
if (m_reducedModel)
{
btSoftBody::Node& node = psb->m_nodes[j];
btScalar maxDisplacement = psb->getWorldInfo()->m_maxDisplacement;
btScalar clampDeltaV = maxDisplacement / timeStep;
for (int c = 0; c < 3; c++)
for (int r = 0; r < psb->m_reducedNodes.size(); ++r)
psb->m_reducedNodes[r] += timeStep * psb->m_reducedVelocity[r];
}
else
{
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
if (node.m_v[c] > clampDeltaV)
btSoftBody::Node& node = psb->m_nodes[j];
btScalar maxDisplacement = psb->getWorldInfo()->m_maxDisplacement;
btScalar clampDeltaV = maxDisplacement / timeStep;
for (int c = 0; c < 3; c++)
{
node.m_v[c] = clampDeltaV;
}
if (node.m_v[c] < -clampDeltaV)
{
node.m_v[c] = -clampDeltaV;
if (node.m_v[c] > clampDeltaV)
{
node.m_v[c] = clampDeltaV;
}
if (node.m_v[c] < -clampDeltaV)
{
node.m_v[c] = -clampDeltaV;
}
}
node.m_x = node.m_x + timeStep * (node.m_v + node.m_splitv);
node.m_q = node.m_x;
node.m_vn = node.m_v;
}
node.m_x = node.m_x + timeStep * (node.m_v + node.m_splitv);
node.m_q = node.m_x;
node.m_vn = node.m_v;
}
// enforce anchor constraints
for (int j = 0; j < psb->m_deformableAnchors.size(); ++j)