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do not apply deformable contact impulse to points and faces constrained in rigid/deformable solve

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This commit is contained in:
Xuchen Han 2020-05-20 17:56:20 -07:00
parent 65978cb58b
commit d1d2dad2e6
3 changed files with 25 additions and 23 deletions
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2
src/BulletSoftBody/btDeformableBodySolver.cpp
View File

@ -437,7 +437,7 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d
}
n.m_q = n.m_x + n.m_v * dt;
n.m_splitv.setZero();
n.m_penetration = 0;
n.m_constrained = false;
}
/* Nodes */

28
src/BulletSoftBody/btDeformableContactProjection.cpp
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@ -221,7 +221,7 @@ void btDeformableContactProjection::setProjection()
for (int j = 0; j < m_staticConstraints[i].size(); ++j)
{
int index = m_staticConstraints[i][j].m_node->index;
m_staticConstraints[i][j].m_node->m_penetration = SIMD_INFINITY;
m_staticConstraints[i][j].m_node->m_constrained = true;
if (m_projectionsDict.find(index) == NULL)
{
m_projectionsDict.insert(index, units);
@ -238,7 +238,7 @@ void btDeformableContactProjection::setProjection()
for (int j = 0; j < m_nodeAnchorConstraints[i].size(); ++j)
{
int index = m_nodeAnchorConstraints[i][j].m_anchor->m_node->index;
m_nodeAnchorConstraints[i][j].m_anchor->m_node->m_penetration = SIMD_INFINITY;
m_nodeAnchorConstraints[i][j].m_anchor->m_node->m_constrained = true;
if (m_projectionsDict.find(index) == NULL)
{
m_projectionsDict.insert(index, units);
@ -255,7 +255,7 @@ void btDeformableContactProjection::setProjection()
for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j)
{
int index = m_nodeRigidConstraints[i][j].m_node->index;
m_nodeRigidConstraints[i][j].m_node->m_penetration = -m_nodeRigidConstraints[i][j].getContact()->m_cti.m_offset;
m_nodeRigidConstraints[i][j].m_node->m_constrained = true;
if (m_nodeRigidConstraints[i][j].m_static)
{
if (m_projectionsDict.find(index) == NULL)
@ -289,15 +289,16 @@ void btDeformableContactProjection::setProjection()
for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j)
{
const btSoftBody::Face* face = m_faceRigidConstraints[i][j].m_face;
btScalar penetration = -m_faceRigidConstraints[i][j].getContact()->m_cti.m_offset;
for (int k = 0; k < 3; ++k)
{
face->m_n[k]->m_penetration = btMax(face->m_n[k]->m_penetration, penetration);
}
if (m_faceRigidConstraints[i][j].m_binding)
{
for (int k = 0; k < 3; ++k)
{
face->m_n[k]->m_constrained = true;
}
}
for (int k = 0; k < 3; ++k)
{
btSoftBody::Node* node = face->m_n[k];
node->m_penetration = true;
int index = node->index;
if (m_faceRigidConstraints[i][j].m_static)
{
@ -469,7 +470,7 @@ void btDeformableContactProjection::setLagrangeMultiplier()
for (int j = 0; j < m_staticConstraints[i].size(); ++j)
{
int index = m_staticConstraints[i][j].m_node->index;
m_staticConstraints[i][j].m_node->m_penetration = SIMD_INFINITY;
m_staticConstraints[i][j].m_node->m_constrained = true;
LagrangeMultiplier lm;
lm.m_num_nodes = 1;
lm.m_indices[0] = index;
@ -483,7 +484,7 @@ void btDeformableContactProjection::setLagrangeMultiplier()
for (int j = 0; j < m_nodeAnchorConstraints[i].size(); ++j)
{
int index = m_nodeAnchorConstraints[i][j].m_anchor->m_node->index;
m_nodeAnchorConstraints[i][j].m_anchor->m_node->m_penetration = SIMD_INFINITY;
m_nodeAnchorConstraints[i][j].m_anchor->m_node->m_constrained = true;
LagrangeMultiplier lm;
lm.m_num_nodes = 1;
lm.m_indices[0] = index;
@ -501,7 +502,7 @@ void btDeformableContactProjection::setLagrangeMultiplier()
continue;
}
int index = m_nodeRigidConstraints[i][j].m_node->index;
m_nodeRigidConstraints[i][j].m_node->m_penetration = -m_nodeRigidConstraints[i][j].getContact()->m_cti.m_offset;
m_nodeRigidConstraints[i][j].m_node->m_constrained = true;
LagrangeMultiplier lm;
lm.m_num_nodes = 1;
lm.m_indices[0] = index;
@ -529,12 +530,11 @@ void btDeformableContactProjection::setLagrangeMultiplier()
const btSoftBody::Face* face = m_faceRigidConstraints[i][j].m_face;
btVector3 bary = m_faceRigidConstraints[i][j].getContact()->m_bary;
btScalar penetration = -m_faceRigidConstraints[i][j].getContact()->m_cti.m_offset;
LagrangeMultiplier lm;
lm.m_num_nodes = 3;
for (int k = 0; k<3; ++k)
{
face->m_n[k]->m_penetration = btMax(face->m_n[k]->m_penetration, penetration);
face->m_n[k]->m_constrained = true;
lm.m_indices[k] = face->m_n[k]->index;
lm.m_weights[k] = bary[k];
}

18
src/BulletSoftBody/btSoftBody.h
View File

@ -269,7 +269,7 @@ public:
btScalar m_im; // 1/mass
btScalar m_area; // Area
btDbvtNode* m_leaf; // Leaf data
btScalar m_penetration; // depth of penetration
int m_constrained; // depth of penetration
int m_battach : 1; // Attached
int index;
btVector3 m_splitv; // velocity associated with split impulse
@ -1313,20 +1313,22 @@ public:
I = -btMin(m_repulsionStiffness * timeStep * d, mass * (OVERLAP_REDUCTION_FACTOR * d / timeStep - vn));
if (vn < 0)
I += 0.5 * mass * vn;
btScalar face_penetration = 0, node_penetration = node->m_penetration;
int face_penetration = 0, node_penetration = node->m_constrained;
for (int i = 0; i < 3; ++i)
face_penetration = btMax(face_penetration, face->m_n[i]->m_penetration);
face_penetration |= face->m_n[i]->m_constrained;
btScalar I_tilde = .5 *I /(1.0+w.length2());
// double the impulse if node or face is constrained.
if (face_penetration > 0 || node_penetration > 0)
I_tilde *= 2.0;
if (face_penetration <= node_penetration)
{
I_tilde *= 2.0;
}
if (face_penetration <= 0)
{
for (int j = 0; j < 3; ++j)
face->m_n[j]->m_v += w[j]*n*I_tilde*node->m_im;
}
if (face_penetration >= node_penetration)
if (node_penetration <= 0)
{
node->m_v -= I_tilde*node->m_im*n;
}
@ -1344,12 +1346,12 @@ public:
// double the impulse if node or face is constrained.
// if (face_penetration > 0 || node_penetration > 0)
// I_tilde *= 2.0;
if (face_penetration <= node_penetration)
if (face_penetration <= 0)
{
for (int j = 0; j < 3; ++j)
face->m_n[j]->m_v += w[j] * vt * I_tilde * (face->m_n[j])->m_im;
}
if (face_penetration >= node_penetration)
if (node_penetration <= 0)
{
node->m_v -= I_tilde * node->m_im * vt;
}