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clean up. impulse is now applied through a member function of btReducedSoftBody

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This commit is contained in:
jingyuc 2021-07-27 01:11:11 -04:00
parent 0983d36eff
commit 24eb021ed6
3 changed files with 25 additions and 28 deletions
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15
src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.cpp
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@ -140,4 +140,19 @@ void btReducedSoftBody::applyImpulse(const btVector3& impulse, const btVector3&
applyTorqueImpulse(rel_pos.cross(impulse * m_linearFactor));
}
}
}
void btReducedSoftBody::applyFullSpaceImpulse(const btVector3& target_vel, int n_node, btScalar dt, tDenseArray& reduced_force)
{
// impulse leads to the deformation in the reduced space
btVector3 impulse = m_nodalMass[n_node] / dt * (target_vel - m_nodes[n_node].m_v);
for (int i = 0; i < m_nReduced; ++i)
{
for (int k = 0; k < 3; ++k)
{
reduced_force[i] += m_modes[i][3 * n_node + k] * impulse[k];
}
}
// impulse causes rigid motion
applyImpulse(impulse, m_nodes[n_node].m_x);
}

4
src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.h
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@ -83,7 +83,11 @@ class btReducedSoftBody : public btSoftBody
void applyTorqueImpulse(const btVector3& torque);
// apply impulse to the rigid frame
void applyImpulse(const btVector3& impulse, const btVector3& rel_pos);
// apply impulse to nodes in the full space
void applyFullSpaceImpulse(const btVector3& target_vel, int n_node, btScalar dt, tDenseArray& reduced_force);
void proceedToTransform(const btTransform& newTrans);

34
src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodySolver.cpp
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@ -25,63 +25,41 @@ void btReducedSoftBodySolver::applyForce()
reduced_force.resize(rsb->m_reducedDofs.size(), 0);
// add internal force (elastic force & damping force)
for (int r = 0; r < rsb->m_reducedDofs.size(); ++r) {
for (int r = 0; r < rsb->m_reducedDofs.size(); ++r)
{
// map all force to reduced
// for (int i = 0; i < force.size(); ++i)
// for (int k = 0; k < 3; ++k)
// reduced_force[r] += scale * rsb->m_modes[r][3 * i + k] * force[i][k];
// std::cout << reduced_force[r] << '\t';
reduced_force[r] += rsb->m_Kr[r] * (rsb->m_reducedDofs[r] + 0.1 * rsb->m_reducedVelocity[r]);
// std::cout << reduced_force[r] << '\n';
// std::cout << rsb->m_Kr[r] << "\t" << rsb->m_reducedDofs[r] << "\n";
}
// apply impulses to reduced deformable objects
static btScalar sim_time = 0;
static btScalar target_vel = 1;
static int apply_impulse = 0;
if (rsb->m_reducedModel && apply_impulse < 4)
{
btScalar f_imp = 0;
btVector3 imp(0, 0, 0);
if (sim_time > 1 && apply_impulse == 0)
{
f_imp = rsb->m_nodalMass[0] * (target_vel - rsb->m_nodes[0].m_v[1]) / m_dt;
imp[1] = f_imp;
rsb->applyFullSpaceImpulse(btVector3(0, 1, 0), 0, m_dt, reduced_force);
apply_impulse++;
std::cout << "hit" << f_imp << "\n";
}
if (sim_time > 2 && apply_impulse == 1)
{
f_imp = - 1.2 * rsb->m_nodalMass[0] * (target_vel - rsb->m_nodes[0].m_v[1]) / m_dt;
imp[1] = f_imp;
rsb->applyFullSpaceImpulse(btVector3(0, -1, 0), 0, m_dt, reduced_force);
apply_impulse++;
std::cout << "hit2" << f_imp << "\n";
}
if (sim_time > 3 && apply_impulse == 2)
{
f_imp = 1 * rsb->m_nodalMass[0] * (target_vel - rsb->m_nodes[0].m_v[0]) / m_dt;
imp[2] = f_imp;
rsb->applyFullSpaceImpulse(btVector3(1, 0, 0), 0, m_dt, reduced_force);
apply_impulse++;
std::cout << "hit3" << f_imp << "\n";
}
if (sim_time > 4 && apply_impulse == 3)
{
f_imp = -1.1 * rsb->m_nodalMass[0] * (target_vel - rsb->m_nodes[0].m_v[0]) / m_dt;
imp[2] = f_imp;
rsb->applyFullSpaceImpulse(btVector3(-1, 0, 0), 0, m_dt, reduced_force);
apply_impulse++;
std::cout << "hit4" << f_imp << "\n";
}
for (int i = 0; i < rsb->m_reducedDofs.size(); ++i)
{
reduced_force[i] += rsb->m_modes[i][0 * 3 + 1] * f_imp;
}
rsb->applyImpulse(imp, rsb->m_nodes[0].m_x);
}
// update reduced velocity