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Code Issues Releases Wiki Activity

fix bug in computing rhs in momentum solve

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This commit is contained in:
Xuchen Han 2019-10-05 17:42:37 -07:00
parent 0cb7cb2445
commit c610ba49df
9 changed files with 50 additions and 47 deletions
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2
examples/DeformableDemo/DeformableContact.cpp
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@ -196,7 +196,7 @@ void DeformableContact::initPhysics()
getDeformableDynamicsWorld()->addForce(psb2, gravity_force2);
m_forces.push_back(gravity_force2);
}
getDeformableDynamicsWorld()->setImplicit(true);
getDeformableDynamicsWorld()->setImplicit(false);
getDeformableDynamicsWorld()->setLineSearch(false);
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}

2
examples/DeformableDemo/DeformableRigid.cpp
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@ -231,7 +231,7 @@ void DeformableRigid::initPhysics()
// add a few rigid bodies
Ctor_RbUpStack(1);
}
getDeformableDynamicsWorld()->setImplicit(true);
getDeformableDynamicsWorld()->setImplicit(false);
getDeformableDynamicsWorld()->setLineSearch(false);
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}

2
examples/DeformableDemo/DeformableSelfCollision.cpp
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@ -175,7 +175,7 @@ void DeformableSelfCollision::initPhysics()
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
m_forces.push_back(gravity_force);
}
getDeformableDynamicsWorld()->setImplicit(true);
getDeformableDynamicsWorld()->setImplicit(false);
getDeformableDynamicsWorld()->setLineSearch(false);
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}

75
examples/DeformableDemo/GraspDeformable.cpp
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@ -269,6 +269,7 @@ void GraspDeformable::initPhysics()
}
// create a soft block
if(0)
{
char relative_path[1024];
// b3FileUtils::findFile("banana.vtk", relative_path, 1024);
@ -291,7 +292,7 @@ void GraspDeformable::initPhysics()
// psb->scale(btVector3(30, 30, 30)); // for banana
// psb->scale(btVector3(.2, .2, .2));
// psb->scale(btVector3(2, 2, 2));
psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot
psb->scale(btVector3(.1, .1, .1)); // for tube, torus, boot
// psb->scale(btVector3(.1, .1, .1)); // for ditto
// psb->translate(btVector3(.25, 2, 0.4));
psb->getCollisionShape()->setMargin(0.01);
@ -306,44 +307,46 @@ void GraspDeformable::initPhysics()
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
m_forces.push_back(gravity_force);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(10,20, 0.01);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(100,200, 0.05);
getDeformableDynamicsWorld()->addForce(psb, neohookean);
m_forces.push_back(neohookean);
}
// // create a piece of cloth
// {
// bool onGround = false;
// const btScalar s = .4;
// btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s),
// btVector3(+s, 0, -s),
// btVector3(-s, 0, +s),
// btVector3(+s, 0, +s),
// 20,20,
// 0, true);
//
// if (onGround)
// psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s),
// btVector3(+s, 0, -s),
// btVector3(-s, 0, +s),
// btVector3(+s, 0, +s),
// // 20,20,
// 2,2,
// 0, true);
//
// psb->getCollisionShape()->setMargin(0.02);
// psb->generateBendingConstraints(2);
// psb->setTotalMass(.01);
// psb->setSpringStiffness(5);
// psb->setDampingCoefficient(0.05);
// psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
// psb->m_cfg.kCHR = 1; // collision hardness with rigid body
// psb->m_cfg.kDF = 1;
// psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
// getDeformableDynamicsWorld()->addSoftBody(psb);
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(.2,0.02, true));
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
// }
getDeformableDynamicsWorld()->setImplicit(false);
// create a piece of cloth
{
bool onGround = false;
const btScalar s = .4;
btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s),
btVector3(+s, 0, -s),
btVector3(-s, 0, +s),
btVector3(+s, 0, +s),
20,20,
0, true);
if (onGround)
psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s),
btVector3(+s, 0, -s),
btVector3(-s, 0, +s),
btVector3(+s, 0, +s),
// 20,20,
2,2,
0, true);
psb->getCollisionShape()->setMargin(0.005);
psb->generateBendingConstraints(2);
psb->setTotalMass(.01);
psb->setSpringStiffness(5);
psb->setDampingCoefficient(0.05);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 1;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
getDeformableDynamicsWorld()->addSoftBody(psb);
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(.2,0.02, true));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);

2
examples/DeformableDemo/PinchFriction.cpp
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@ -350,7 +350,7 @@ void PinchFriction::initPhysics()
getDeformableDynamicsWorld()->addForce(psb3, neohookean);
m_forces.push_back(neohookean);
}
getDeformableDynamicsWorld()->setImplicit(false);
// add a pair of grippers
createGrip();
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);

2
examples/DeformableDemo/VolumetricDeformable.cpp
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@ -228,7 +228,7 @@ void VolumetricDeformable::initPhysics()
m_forces.push_back(neohookean);
}
getDeformableDynamicsWorld()->setImplicit(true);
getDeformableDynamicsWorld()->setImplicit(false);
getDeformableDynamicsWorld()->setLineSearch(false);
// add a few rigid bodies
Ctor_RbUpStack(4);

2
src/BulletSoftBody/btConjugateGradient.h
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@ -66,7 +66,6 @@ public:
// temp = A*p
A.multiply(p, temp);
A.project(temp);
// alpha = r^T * z / (p^T * A * p)
if (dot(p,temp) < SIMD_EPSILON)
{
if (verbose)
@ -77,6 +76,7 @@ public:
}
return k;
}
// alpha = r^T * z / (p^T * A * p)
btScalar alpha = r_dot_z_new / dot(p, temp);
// x += alpha * p;
multAndAddTo(alpha, p, x);

3
src/BulletSoftBody/btDeformableBodySolver.cpp
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@ -21,7 +21,7 @@
btDeformableBodySolver::btDeformableBodySolver()
: m_numNodes(0)
, m_cg(20)
, m_cg(200)
, m_maxNewtonIterations(5)
, m_newtonTolerance(1e-4)
, m_lineSearch(true)
@ -301,6 +301,7 @@ void btDeformableBodySolver::setupDeformableSolve(bool implicit)
m_backupVelocity[counter] = psb->m_nodes[j].m_vn;
}
m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter];
psb->m_nodes[j].m_v = m_backupVelocity[counter];
++counter;
}
}

7
src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp
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@ -23,7 +23,7 @@ btScalar btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlyIteration
///this is a special step to resolve penetrations (just for contacts)
solveGroupCacheFriendlySplitImpulseIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
m_maxOverrideNumSolverIterations = 50;
// m_maxOverrideNumSolverIterations = 10;
int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations;
for (int iteration = 0; iteration < maxIterations; iteration++)
{
@ -33,10 +33,9 @@ btScalar btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlyIteration
m_leastSquaresResidual = solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
// solver body velocity -> rigid body velocity
solverBodyWriteBack(infoGlobal);
btScalar deformableResidual = m_deformableSolver->solveContactConstraints();
// update rigid body velocity in rigid/deformable contact
m_leastSquaresResidual = btMax(m_leastSquaresResidual, m_deformableSolver->solveContactConstraints());
m_leastSquaresResidual = btMax(m_leastSquaresResidual, deformableResidual);
// solver body velocity <- rigid body velocity
writeToSolverBody(bodies, numBodies, infoGlobal);