AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2024-12-13 05:10:08 +00:00
Code Issues Releases Wiki Activity

kinematic tested. specified delta_v as a cosine function.

Browse Source
This commit is contained in:
jingyuc 2021-07-15 17:30:08 -04:00
parent d390360f9e
commit 4b6eaeed4c
7 changed files with 43 additions and 65 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
examples/ExampleBrowser/main.cpp
View File

@ -96,7 +96,7 @@ int main(int argc, char* argv[])
else
{
clock.reset();
exampleBrowser->update(1.0);
exampleBrowser->update(deltaTimeInSeconds);
}
} while (!exampleBrowser->requestedExit() && !interrupted);
}

39
examples/ReducedDeformableDemo/BasicTest.cpp
View File

@ -53,24 +53,16 @@ class BasicTest : public CommonDeformableBodyBase
void mapToReducedDofs(btSoftBody* psb)
{
btAssert(psb->m_reducedDofs.size() == m_nReduced);
for (int j = 0; j < m_nReduced; ++j) {
if (j == selected_mode)
psb->m_reducedDofs[j] = sin(psb->m_eigenvalues[j] * sim_time);
else
psb->m_reducedDofs[j] = 0;
for (int j = 0; j < m_nReduced; ++j)
{
for (int i = 0; i < m_nFull; ++i)
for (int k = 0; k < 3; ++k)
{
int idx_f = 3 * i + k;
psb->m_reducedDofs[j] = psb->m_modes[j][idx_f] * (psb->m_nodes[i].m_x[k] - psb->m_x0[idx_f]);
// psb->m_reducedVelocity[j] = psb->m_modes[j][idx_f] * psb->m_nodes[i].m_v[k];
}
}
// for (int j = 0; j < m_nReduced; ++j)
// {
// // if (j != selected_mode)
// // continue;
// for (int i = 0; i < m_nFull; ++i)
// for (int k = 0; k < 3; ++k)
// {
// int idx_f = 3 * i + k;
// psb->m_reducedNodes[j] = psb->m_modes[j][idx_f] * (psb->m_nodes[i].m_x[k] - psb->m_x0[idx_f]);
// psb->m_reducedVelocity[j] = psb->m_modes[j][idx_f] * psb->m_nodes[i].m_v[k];
// }
// }
}
// compute full degree of freedoms
@ -79,14 +71,12 @@ class BasicTest : public CommonDeformableBodyBase
btAssert(psb->m_nodes.size() == m_nFull);
for (int j = 0; j < m_nReduced; ++j)
{
// if (j != selected_mode)
// continue;
for (int i = 0; i < m_nFull; ++i)
for (int k = 0; k < 3; ++k)
{
int idx_f = 3 * i + k;
psb->m_nodes[i].m_x[k] = psb->m_x0[idx_f] + psb->m_modes[j][idx_f] * psb->m_reducedDofs[j];
psb->m_nodes[i].m_v[k] = psb->m_modes[j][idx_f] * psb->m_reducedVelocity[j];
// psb->m_nodes[i].m_v[k] = psb->m_modes[j][idx_f] * psb->m_reducedVelocity[j];
}
}
}
@ -150,6 +140,7 @@ public:
{
getDeformedShape(psb, 0);
first_step = false;
mapToReducedDofs(psb);
}
// compute reduced dofs
@ -157,10 +148,10 @@ public:
psb->m_reducedVelocity.resize(m_nReduced);
sim_time += deltaTime;
// std::cout << psb->m_eigenvalues[0] << "\t" << sim_time << "\t" << deltaTime << "\t" << sin(psb->m_eigenvalues[0] * sim_time) << "\n";
mapToReducedDofs(psb);
float internalTimeStep = 1. / 60.f;
m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep);
// float internalTimeStep = 1. / 60.f;
float internalTimeStep = 1;
m_dynamicsWorld->stepSimulation(1, 1, internalTimeStep);
// for (int i = 0; i < m_nReduced; ++i)
// std::cout << psb->m_reducedDofs[i] << "\t";
@ -213,6 +204,7 @@ void BasicTest::initPhysics()
std::string filename("../../../examples/SoftDemo/mesh.vtk");
btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), filename.c_str());
m_nFull = psb->m_nodes.size();
psb->m_reducedModel = true;
// read in eigenmodes, stiffness and mass matrices
std::string eigenvalues_file("../../../examples/SoftDemo/eigenvalues.bin");
@ -295,7 +287,6 @@ void BasicTest::initPhysics()
getDeformableDynamicsWorld()->addForce(psb, m_massSpring);
m_forces.push_back(m_massSpring);
}
getDeformableDynamicsWorld()->setReducedModelFlag(false);
getDeformableDynamicsWorld()->setImplicit(false);
getDeformableDynamicsWorld()->setLineSearch(false);
getDeformableDynamicsWorld()->setUseProjection(true);

40
src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
View File

@ -23,7 +23,6 @@ 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()
@ -137,6 +136,8 @@ void btDeformableBackwardEulerObjective::updateVelocity(const TVStack& dv)
void btDeformableBackwardEulerObjective::applyForce(TVStack& force, bool setZero)
{
static btScalar sim_time = 0;
size_t counter = 0;
for (int i = 0; i < m_softBodies.size(); ++i)
{
@ -148,7 +149,7 @@ void btDeformableBackwardEulerObjective::applyForce(TVStack& force, bool setZero
}
if (m_implicit)
{
if (m_reducedModel)
if (psb->m_reducedModel)
{
// for (int j = 0; j < psb->m_reducedNodes.size(); ++j) // TODO: reduced soft body
// {
@ -171,25 +172,30 @@ void btDeformableBackwardEulerObjective::applyForce(TVStack& force, bool setZero
}
else
{
if (m_reducedModel)
if (psb->m_reducedModel)
{
// 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];
btAlignedObjectArray<btScalar> reduced_force;
reduced_force.resize(psb->m_reducedDofs.size());
for (int r = 0; r < psb->m_reducedDofs.size(); ++r)
reduced_force[r] = psb->m_Kr[r] * psb->m_reducedDofs[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];
// // btScalar delta_v = m_dt * mass_inv * reduced_force[r];
// btScalar delta_v = 1.0;
// update reduced velocity
for (int r = 0; r < psb->m_reducedDofs.size(); ++r) // TODO: reduced soft body
{
btScalar mass_inv = (psb->m_Mr[r] == 0) ? 0 : 1.0 / psb->m_Mr[r];
// btScalar delta_v = m_dt * mass_inv * reduced_force[r];
// psb->m_reducedVelocity[r] += delta_v;
// std::cout << psb->m_reducedVelocity[r] << "\t";
// }
// std::cout << "\n";
sim_time += m_dt;
// btScalar delta_v = 1;
// btScalar delta_v = 0.02 * cos(psb->m_eigenvalues[r] * sim_time);
btScalar delta_v = 0.02 * cos(psb->m_eigenvalues[r] * sim_time);
// psb->m_reducedVelocity[r] = sin(psb->m_eigenvalues[r] * sim_time);
psb->m_reducedVelocity[r] -= delta_v;
// std::cout << sim_time << "\t" << psb->m_reducedDofs[r] << "\t" << psb->m_reducedVelocity[r] << "\t" << delta_v << "\n";
}
}
else
{

11
src/BulletSoftBody/btDeformableBackwardEulerObjective.h
View File

@ -40,7 +40,6 @@ public:
const TVStack& m_backupVelocity;
btAlignedObjectArray<btSoftBody::Node*> m_nodes;
bool m_implicit;
bool m_reducedModel;
MassPreconditioner* m_massPreconditioner;
KKTPreconditioner* m_KKTPreconditioner;
@ -131,16 +130,6 @@ public:
m_implicit = implicit;
}
void setReducedModel(bool reduced_model)
{
m_reducedModel = reduced_model;
}
bool getReducedModelFlag() const
{
return m_reducedModel;
}
// Calculate the total potential energy in the system
btScalar totalEnergy(btScalar dt);

10
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
View File

@ -72,12 +72,6 @@ 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");
@ -306,10 +300,10 @@ void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
if (m_reducedModel)
if (psb->m_reducedModel)
{
for (int r = 0; r < psb->m_reducedDofs.size(); ++r)
psb->m_reducedDofs[r] += timeStep * psb->m_reducedVelocity[r];
psb->m_reducedDofs[r] = timeStep * psb->m_reducedVelocity[r];
}
else
{

3
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
View File

@ -48,7 +48,6 @@ class btDeformableMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld
btScalar m_internalTime;
int m_ccdIterations;
bool m_implicit;
bool m_reducedModel;
bool m_lineSearch;
bool m_useProjection;
DeformableBodyInplaceSolverIslandCallback* m_solverDeformableBodyIslandCallback;
@ -155,8 +154,6 @@ public:
void softBodySelfCollision();
void setReducedModelFlag(bool reduced_model);
void setImplicit(bool implicit)
{
m_implicit = implicit;

3
src/BulletSoftBody/btSoftBody.h
View File

@ -855,7 +855,8 @@ public:
btScalar m_restLengthScale;
btAlignedObjectArray<btScalar> m_reducedDofs; // Reduced degree of freedom
bool m_reducedModel; // Reduced deformable model flag
btAlignedObjectArray<btScalar> m_reducedDofs; // Reduced degree of freedom
btAlignedObjectArray<btScalar> m_reducedVelocity; // Reduced velocity array
btAlignedObjectArray<btScalar> m_x0; // Rest position
btAlignedObjectArray<btScalar> m_eigenvalues; // eigenvalues of the reduce deformable model