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Code Issues Releases Wiki Activity

clean up

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This commit is contained in:
jyc-n 2021-08-09 14:54:58 -04:00
parent a56ce358f3
commit 042a1f75c9
3 changed files with 23 additions and 92 deletions
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6
examples/ReducedDeformableDemo/BasicTest.cpp
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@ -29,13 +29,11 @@
///The BasicTest shows the contact between volumetric deformable objects and rigid objects.
// static btScalar E = 50;
// static btScalar nu = 0.3;
// static btScalar damping_alpha = 0.1;
// static btScalar damping_beta = 0.01;
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.0;
static btScalar damping_beta = 0.01;
static btScalar COLLIDING_VELOCITY = 0;
static int start_mode = 6;
static int num_modes = 1;
static int num_modes = 4;
class BasicTest : public CommonDeformableBodyBase
{

88
src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.cpp
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@ -4,8 +4,6 @@
#include <iostream>
#include <fstream>
static int counter = 0;
btReducedSoftBody::btReducedSoftBody(btSoftBodyWorldInfo* worldInfo, int node_count, const btVector3* x, const btScalar* m)
: btSoftBody(worldInfo, node_count, x, m)
{
@ -129,9 +127,9 @@ void btReducedSoftBody::setFixedNodes()
// m_fixedNodes.push_back(i);
// }
m_fixedNodes.push_back(0);
m_fixedNodes.push_back(1);
// m_fixedNodes.push_back(1);
m_fixedNodes.push_back(2);
m_fixedNodes.push_back(3);
// m_fixedNodes.push_back(3);
// m_fixedNodes.push_back(15);
// m_fixedNodes.push_back(18);
@ -221,7 +219,7 @@ void btReducedSoftBody::updateExternalForceProjectMatrix(bool initialized)
// m_projCq[r] += m_nodalMass[i] * si.cross(m_localMomentArm[i]);
}
}
std::cout << "----------------\n";
// std::cout << "----------------\n";
}
void btReducedSoftBody::endOfTimeStepZeroing()
@ -232,7 +230,7 @@ void btReducedSoftBody::endOfTimeStepZeroing()
m_reducedForceExternal[i] = 0;
m_reducedDofsBuffer[i] = m_reducedDofs[i];
}
std::cout << "zeroed!\n";
// std::cout << "zeroed!\n";
}
void btReducedSoftBody::predictIntegratedTransform(btScalar dt, btTransform& predictedTransform)
@ -295,7 +293,6 @@ void btReducedSoftBody::mapToFullVelocity(const btTransform& ref_trans)
ref_trans.getBasis() * v_from_reduced[i] +
m_linearVelocity;
}
std::cout << m_nodes[0].m_v[0] << '\t' << m_nodes[0].m_v[1] << '\t' << m_nodes[0].m_v[2] << '\n';
}
void btReducedSoftBody::proceedToTransform(btScalar dt, bool end_of_time_step)
@ -303,7 +300,6 @@ void btReducedSoftBody::proceedToTransform(btScalar dt, bool end_of_time_step)
if (end_of_time_step)
{
m_rigidTransformWorld = m_interpolationWorldTransform;
// updateInertiaTensor();
m_invInertiaTensorWorld = m_interpolateInvInertiaTensorWorld;
}
else
@ -311,8 +307,6 @@ void btReducedSoftBody::proceedToTransform(btScalar dt, bool end_of_time_step)
btTransformUtil::integrateTransform(m_rigidTransformWorld, m_linearVelocity, m_angularVelocity, dt, m_interpolationWorldTransform);
m_interpolateInvInertiaTensorWorld = m_interpolationWorldTransform.getBasis().scaled(m_invInertiaLocal) * m_interpolationWorldTransform.getBasis().transpose();
}
// m_interpolationLinearVelocity = getLinearVelocity(); // TODO: check where these are used?
// m_interpolationAngularVelocity = getAngularVelocity();
}
void btReducedSoftBody::translate(const btVector3& trs)
@ -433,27 +427,16 @@ void btReducedSoftBody::applyVelocityConstraint(const btVector3& target_vel, int
btMatrix3x3 K2 = RSARinv + ri_skew * m_interpolateInvInertiaTensorWorld * sum_multiply_A * rotation.transpose();
// get impulse
btMatrix3x3 impulse_factor = K1 + K2; //TODO: add back
// btMatrix3x3 impulse_factor = K1;
btMatrix3x3 impulse_factor = K1 + K2;
btVector3 impulse = impulse_factor.inverse() * (target_vel - m_nodes[n_node].m_v);
btScalar impulse_magnitude = impulse.norm();
std::cout << "impulse: " << impulse[0] << '\t' << impulse[1] << '\t' << impulse[2] << '\n';
std::cout << "impulse magnitude: " << impulse.norm() << '\n';
std::cout << "vel: " << m_nodes[n_node].m_v[0] << '\t' << m_nodes[n_node].m_v[1] << '\t' << m_nodes[n_node].m_v[2] << '\n';
std::cout << "vel magnitude: " << m_nodes[n_node].m_v.norm() << '\n';
if (impulse_magnitude < 5e-7)
{
impulse.setZero();
impulse_magnitude = 0;
}
// std::ofstream myfile("impulse_"+std::to_string(counter)+".txt", std::ios_base::app);
// myfile << impulse_magnitude << '\n';
// myfile.close();
// apply full space impulse
applyFullSpaceImpulse(impulse, ri, n_node, dt);
}
@ -481,28 +464,14 @@ void btReducedSoftBody::applyFullSpaceImpulse(const btVector3& impulse, const bt
updateLocalMomentArm();
updateExternalForceProjectMatrix(true);
// std::cout << "vel: " << m_reducedVelocity[0] << "\t" << m_reducedVelocity[1] << "\n";
// std::cout << "dofs:" << m_reducedDofs[0] << "\t" << m_reducedDofs[1] << "\n";
// impulse causes rigid motion
applyRigidImpulse(impulse, rel_pos);
std::cout << "linear_v: " << m_linearVelocity[0] << '\t' << m_linearVelocity[1] << '\t' << m_linearVelocity[2] << '\n';
std::cout << "angular_v: " << m_angularVelocity[0] << '\t' << m_angularVelocity[1] << '\t' << m_angularVelocity[2] << '\n';
}
void btReducedSoftBody::applyFullSpaceNodalForce(const btVector3& f_ext, int n_node)
{
// f_local = R^-1 * f_ext
btVector3 f_local = m_rigidTransformWorld.getBasis().transpose() * f_ext;
// std::cout << "f_ext: " << f_ext[0] << '\t' << f_ext[1] << '\t' << f_ext[2] << '\n';
// f_scaled = localInvInertia * (r_k x f_local)
// btVector3 rk_cross_f_local = m_localMomentArm[n_node].cross(f_local);
// btVector3 f_scaled(0, 0, 0);
// for (int k = 0; k < 3; ++k)
// {
// f_scaled[k] = m_invInertiaLocal[k] * rk_cross_f_local[k];
// }
// f_ext_r = [S^T * P]_{n_node} * f_local
tDenseArray f_ext_r;
@ -510,21 +479,13 @@ void btReducedSoftBody::applyFullSpaceNodalForce(const btVector3& f_ext, int n_n
for (int r = 0; r < m_nReduced; ++r)
{
m_reducedForceExternal[r] = 0;
// std::cout << "reduced_f before: " << m_reducedForce[r] << '\n';
for (int k = 0; k < 3; ++k)
{
f_ext_r[r] += (m_projPA[r][3 * n_node + k] + m_projCq[r][3 * n_node + k]) * f_local[k];
// f_ext_r[r] += m_modes[r][3 * n_node + k] * f_local[k];
}
// std::cout << "projPA: " << m_projPA[r][0] << '\t' << m_projPA[r][1] << '\t' << m_projPA[r][2] << '\n';
// std::cout << "projCq: " << m_projCq[r][0] << '\t' << m_projCq[r][1] << '\t' << m_projCq[r][2] << '\n';
m_reducedForceExternal[r] += f_ext_r[r];
// std::cout << "f_ext_r: " << f_ext_r[r] << '\n';
// std::cout << "reduced_f after: " << m_reducedForce[r] << '\n';
}
// std::cout << "reduced_f: " << m_reducedForce[0] << '\n';
// std::cout << "gravity: " << m_mass * 10 << '\n';
}
void btReducedSoftBody::applyRigidGravity(const btVector3& gravity, btScalar dt)
@ -543,39 +504,18 @@ void btReducedSoftBody::applyReducedInternalForce(const btScalar damping_alpha,
void btReducedSoftBody::applyFixedContraints(btScalar dt)
{
for (int iter = 0; iter < 100; ++iter)
for (int n = 0; n < m_fixedNodes.size(); ++n)
{
// std::cout << "iteration: " << iter << '\n';
// btVector3 vel_error(0, 0, 0);
for (int n = 0; n < m_fixedNodes.size(); ++n)
{
// apply impulse, velocity constraint
applyVelocityConstraint(btVector3(0, 0, 0), m_fixedNodes[n], dt);
// apply impulse, velocity constraint
applyVelocityConstraint(btVector3(0, 0, 0), m_fixedNodes[n], dt);
// update predicted basis
proceedToTransform(dt, false); // TODO: maybe don't need?
// update predicted basis
proceedToTransform(dt, false); // TODO: maybe don't need?
// update full space velocity
mapToFullVelocity(getInterpolationWorldTransform());
// update full space velocity
mapToFullVelocity(getInterpolationWorldTransform());
// update new position
// apply impulse again, position constraint
// applyPositionConstraint(m_x0[m_fixedNodes[n]], m_fixedNodes[n], dt);
// update velocity error
// vel_error += m_nodes[n].m_v;
}
// btScalar error = vel_error.norm() / m_fixedNodes.size();
// // std::cout << iter << '\t' << error << '\n';
// if (error < 1e-3)
// {
// std::cout << "converge!\n";
// break;
// }
// apply impulse again, position constraint
// applyPositionConstraint(m_x0[m_fixedNodes[n]], m_fixedNodes[n], dt);
}
// std::cin.get();
// if (counter == 8)
// exit(1);
counter++;
}

21
src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodySolver.cpp
View File

@ -40,11 +40,8 @@ void btReducedSoftBodySolver::predictReduceDeformableMotion(btScalar solverdt)
// rigid motion
rsb->predictIntegratedTransform(solverdt, rsb->getInterpolationWorldTransform());
// std::cout << "reduced_dofs: " << rsb->m_reducedDofs[0] << '\t' << rsb->m_reducedDofs[1] << '\n';
// std::cout << "reduced_vels: " << rsb->m_reducedVelocity[0] << '\t' << rsb->m_reducedVelocity[1] << '\n';
// update reduced velocity and dofs
rsb->updateReducedVelocity(solverdt); // TODO: add back
rsb->updateReducedVelocity(solverdt);
// update reduced dofs
rsb->updateReducedDofs(solverdt);
@ -96,17 +93,12 @@ void btReducedSoftBodySolver::applyTransforms(btScalar timeStep)
// rsb->updateReducedDofs(timeStep); // TODO: add back
// rigid motion
// btTransform predictedTrans;
// rsb->predictIntegratedTransform(timeStep, predictedTrans);
// rsb->proceedToTransform(rsb->getInterpolationWorldTransform());
rsb->proceedToTransform(timeStep, true);
// update mesh nodal positions for the next time step
rsb->mapToFullDofs(rsb->getRigidTransform());
// end of time step clean up and update
// rsb->updateLocalMomentArm();
// rsb->updateExternalForceProjectMatrix(true);
rsb->endOfTimeStepZeroing();
}
m_simTime += timeStep;
@ -114,12 +106,13 @@ void btReducedSoftBodySolver::applyTransforms(btScalar timeStep)
void btReducedSoftBodySolver::solveConstraints(btScalar timeStep)
{
for (int i = 0; i < m_softBodies.size(); ++i)
for (int iter = 0; iter < 100; ++iter)
{
btReducedSoftBody* rsb = static_cast<btReducedSoftBody*>(m_softBodies[i]);
for (int i = 0; i < m_softBodies.size(); ++i)
{
btReducedSoftBody* rsb = static_cast<btReducedSoftBody*>(m_softBodies[i]);
rsb->applyFixedContraints(timeStep);
// std::cout << rsb->m_reducedForce[0] << '\t' << rsb->m_reducedForce[1] << '\n';
rsb->applyFixedContraints(timeStep);
}
}
}