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This commit is contained in:
Chuyuan Fu 2020-08-12 10:27:47 -07:00
parent 25aa0f5669
commit 07521869db
7 changed files with 48 additions and 49 deletions
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2
src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
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@ -1049,7 +1049,7 @@ btScalar btGjkEpaSolver2::SignedDistance(const btVector3& position,
const btScalar length = delta.length();
results.normal = delta / length;
results.witnesses[0] += results.normal * margin;
results.distance = length - margin;
results.distance = length - margin;
return results.distance;
}
else

2
src/BulletSoftBody/btDeformableBodySolver.cpp
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@ -282,7 +282,7 @@ void btDeformableBodySolver::updateVelocity()
}
else
{
psb->m_nodes[j].m_v = m_backupVelocity[counter] + m_dv[counter] - psb->m_nodes[j].m_splitv;
psb->m_nodes[j].m_v = m_backupVelocity[counter] + m_dv[counter] - psb->m_nodes[j].m_splitv;
}
psb->m_maxSpeedSquared = btMax(psb->m_maxSpeedSquared, psb->m_nodes[j].m_v.length2());
++counter;

2
src/BulletSoftBody/btDeformableContactConstraint.h
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@ -216,7 +216,7 @@ public:
class btDeformableFaceRigidContactConstraint : public btDeformableRigidContactConstraint
{
public:
btSoftBody::Face* m_face;
btSoftBody::Face* m_face;
bool m_useStrainLimiting;
btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact, const btContactSolverInfo& infoGlobal, bool useStrainLimiting);
btDeformableFaceRigidContactConstraint(const btDeformableFaceRigidContactConstraint& other);

18
src/BulletSoftBody/btDeformableContactProjection.cpp
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@ -452,8 +452,8 @@ void btDeformableContactProjection::checkConstraints(const TVStack& x)
d[j] += lm.m_weights[k] * x[lm.m_indices[k]].dot(lm.m_dirs[j]);
}
}
// printf("d = %f, %f, %f\n", d[0], d[1], d[2]);
// printf("val = %f, %f, %f\n", lm.m_vals[0], lm.m_vals[1], lm.m_vals[2]);
// printf("d = %f, %f, %f\n", d[0], d[1], d[2]);
// printf("val = %f, %f, %f\n", lm.m_vals[0], lm.m_vals[1], lm.m_vals[2]);
}
}
@ -494,7 +494,7 @@ void btDeformableContactProjection::setLagrangeMultiplier()
lm.m_dirs[2] = btVector3(0, 0, 1);
m_lagrangeMultipliers.push_back(lm);
}
for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j)
{
if (!m_nodeRigidConstraints[i][j].m_binding)
@ -520,20 +520,20 @@ void btDeformableContactProjection::setLagrangeMultiplier()
lm.m_dirs[0] = m_nodeRigidConstraints[i][j].m_normal;
}
m_lagrangeMultipliers.push_back(lm);
}
}
for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j)
{
if (!m_faceRigidConstraints[i][j].m_binding)
{
continue;
}
btSoftBody::Face* face = m_faceRigidConstraints[i][j].m_face;
btSoftBody::Face* face = m_faceRigidConstraints[i][j].m_face;
btVector3 bary = m_faceRigidConstraints[i][j].getContact()->m_bary;
LagrangeMultiplier lm;
lm.m_num_nodes = 3;
for (int k = 0; k < 3; ++k)
{
face->m_n[k]->m_constrained = true;
@ -542,7 +542,7 @@ void btDeformableContactProjection::setLagrangeMultiplier()
}
if (m_faceRigidConstraints[i][j].m_static)
{
face->m_pcontact[3] = 1;
face->m_pcontact[3] = 1;
lm.m_num_constraints = 3;
lm.m_dirs[0] = btVector3(1, 0, 0);
lm.m_dirs[1] = btVector3(0, 1, 0);
@ -550,7 +550,7 @@ void btDeformableContactProjection::setLagrangeMultiplier()
}
else
{
face->m_pcontact[3] = 0;
face->m_pcontact[3] = 0;
lm.m_num_constraints = 1;
lm.m_dirs[0] = m_faceRigidConstraints[i][j].m_normal;
}

1
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
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@ -401,7 +401,6 @@ void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep)
// At this point, dv should be golden for nodes in contact
// proceed to solve deformable momentum equation
m_deformableBodySolver->solveDeformableConstraints(timeStep);
}

64
src/BulletSoftBody/btSoftBody.cpp
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@ -2818,7 +2818,7 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO
btTransform wtr = (predict) ? (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform() * (*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform())
: colObjWrap->getWorldTransform();
btScalar dst;
btGjkEpaSolver2::sResults results;
btGjkEpaSolver2::sResults results;
// #define USE_QUADRATURE 1
#define CACHE_PREV_COLLISION
@ -2860,7 +2860,7 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO
}
#endif
// collision detection using x*
// collision detection using x*
btTransform triangle_transform;
triangle_transform.setIdentity();
triangle_transform.setOrigin(f.m_n[0]->m_q);
@ -2872,42 +2872,42 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO
if (dst >= 0)
return false;
// Use consistent barycenter to recalculate distance.
#ifdef CACHE_PREV_COLLISION
if (f.m_pcontact[3] != 0)
{
for (int i = 0; i < 3; ++i)
bary[i] = f.m_pcontact[i];
contact_point = BaryEval(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary);
const btConvexShape* csh = static_cast<const btConvexShape*>(shp);
btGjkEpaSolver2::SignedDistance(contact_point, margin, csh, wtr,results);
cti.m_colObj = colObjWrap->getCollisionObject();
dst = results.distance;
cti.m_normal = results.normal;
cti.m_offset = dst;
//point-convex CD
wtr = colObjWrap->getWorldTransform();
btTriangleShape triangle2(btVector3(0, 0, 0), f.m_n[1]->m_x - f.m_n[0]->m_x, f.m_n[2]->m_x - f.m_n[0]->m_x);
triangle_transform.setOrigin(f.m_n[0]->m_x);
btGjkEpaSolver2::SignedDistance(&triangle2, triangle_transform, csh, wtr, guess, results);
dst = results.distance - csh->getMargin() - margin;
return true;
}
#endif
// Use triangle-convex CD.
// Use consistent barycenter to recalculate distance.
#ifdef CACHE_PREV_COLLISION
if (f.m_pcontact[3] != 0)
{
for (int i = 0; i < 3; ++i)
bary[i] = f.m_pcontact[i];
contact_point = BaryEval(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary);
const btConvexShape* csh = static_cast<const btConvexShape*>(shp);
btGjkEpaSolver2::SignedDistance(contact_point, margin, csh, wtr, results);
cti.m_colObj = colObjWrap->getCollisionObject();
dst = results.distance;
cti.m_normal = results.normal;
cti.m_offset = dst;
//point-convex CD
wtr = colObjWrap->getWorldTransform();
btTriangleShape triangle2(btVector3(0, 0, 0), f.m_n[1]->m_x - f.m_n[0]->m_x, f.m_n[2]->m_x - f.m_n[0]->m_x);
triangle_transform.setOrigin(f.m_n[0]->m_x);
btGjkEpaSolver2::SignedDistance(&triangle2, triangle_transform, csh, wtr, guess, results);
dst = results.distance - csh->getMargin() - margin;
return true;
}
#endif
// Use triangle-convex CD.
wtr = colObjWrap->getWorldTransform();
btTriangleShape triangle2(btVector3(0, 0, 0), f.m_n[1]->m_x - f.m_n[0]->m_x, f.m_n[2]->m_x - f.m_n[0]->m_x);
triangle_transform.setOrigin(f.m_n[0]->m_x);
btGjkEpaSolver2::SignedDistance(&triangle2, triangle_transform, csh, wtr, guess, results);
contact_point = results.witnesses[0];
getBarycentric(contact_point, f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary);
for (int i = 0; i < 3; ++i)
f.m_pcontact[i] = bary[i];
for (int i = 0; i < 3; ++i)
f.m_pcontact[i] = bary[i];
dst = results.distance - csh->getMargin() - margin;
cti.m_colObj = colObjWrap->getCollisionObject();
cti.m_normal = results.normal;

8
src/BulletSoftBody/btSoftBodyInternals.h
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@ -1686,7 +1686,7 @@ struct btSoftColliders
c.m_c2 = ima;
c.m_c3 = fc;
c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR;
c.m_c5 = n.m_effectiveMass_inv;
c.m_c5 = n.m_effectiveMass_inv;
if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
{
@ -1838,9 +1838,9 @@ struct btSoftColliders
psb->m_faceRigidContacts.push_back(c);
}
}
// Set caching barycenters to be false after collision detection.
// Only turn on when contact is static.
f.m_pcontact[3] = 0;
// Set caching barycenters to be false after collision detection.
// Only turn on when contact is static.
f.m_pcontact[3] = 0;
}
btSoftBody* psb;
const btCollisionObjectWrapper* m_colObj1Wrap;