AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2024-12-14 22:00:05 +00:00
Code Issues Releases Wiki Activity

swap m_x and m_q in softbody to align with rendering convention

Browse Source
This commit is contained in:
Xuchen Han 2019-08-26 16:18:56 -07:00
parent 7c39052163
commit e73f70efa2
6 changed files with 16 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/BulletSoftBody/btDeformableBodySolver.cpp
View File

@ -174,7 +174,7 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d
{
btSoftBody::Node& n = psb->m_nodes[i];
n.m_q = n.m_x;
n.m_x += n.m_v * dt;
n.m_q += n.m_v * dt;
}
/* Bounds */
psb->updateBounds();
@ -184,7 +184,7 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d
for (i = 0, ni = psb->m_nodes.size(); i < ni; ++i)
{
btSoftBody::Node& n = psb->m_nodes[i];
vol = btDbvtVolume::FromCR(n.m_x, psb->m_sst.radmrg);
vol = btDbvtVolume::FromCR(n.m_q, psb->m_sst.radmrg);
psb->m_ndbvt.update(n.m_leaf,
vol,
n.m_v * psb->m_sst.velmrg,

2
src/BulletSoftBody/btDeformableCorotatedForce.h
View File

@ -92,7 +92,7 @@ public:
{
// btMatrix3x3 JFinvT = F.adjoint();
btScalar J = F.determinant();
P = F.adjoint() * (m_lambda * (J-1));
P = F.adjoint().transpose() * (m_lambda * (J-1));
if (m_mu > SIMD_EPSILON)
{
btMatrix3x3 R,S;

6
src/BulletSoftBody/btDeformableMassSpringForce.h
View File

@ -61,7 +61,7 @@ public:
btVector3 scaled_force = scale * m_dampingStiffness * v_diff;
if (m_momentum_conserving)
{
if ((node2->m_q - node1->m_q).norm() > SIMD_EPSILON)
if ((node2->m_x - node1->m_x).norm() > SIMD_EPSILON)
{
btVector3 dir = (node2->m_x - node1->m_x).normalized();
scaled_force = scale * m_dampingStiffness * v_diff.dot(dir) * dir;
@ -91,7 +91,7 @@ public:
// elastic force
// explicit elastic force
btVector3 dir = (node2->m_q - node1->m_q);
btVector3 dir = (node2->m_x - node1->m_x);
btVector3 dir_normalized = (dir.norm() > SIMD_EPSILON) ? dir.normalized() : btVector3(0,0,0);
btVector3 scaled_force = scale * m_elasticStiffness * (dir - dir_normalized * r);
force[id1] += scaled_force;
@ -118,7 +118,7 @@ public:
btVector3 local_scaled_df = scaled_k_damp * (dv[id2] - dv[id1]);
if (m_momentum_conserving)
{
if ((node2->m_q - node1->m_q).norm() > SIMD_EPSILON)
if ((node2->m_x - node1->m_x).norm() > SIMD_EPSILON)
{
btVector3 dir = (node2->m_x - node1->m_x).normalized();
local_scaled_df= scaled_k_damp * (dv[id2] - dv[id1]).dot(dir) * dir;

2
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
View File

@ -166,7 +166,7 @@ void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
node.m_v[c] = -clampDeltaV;
}
}
node.m_x = node.m_q + timeStep * node.m_v;
node.m_x = node.m_x + timeStep * node.m_v;
}
}
m_deformableBodySolver->revertVelocity();

6
src/BulletSoftBody/btSoftBody.cpp
View File

@ -2819,9 +2819,9 @@ void btSoftBody::initializeDmInverse()
for (int i = 0; i < m_tetras.size(); ++i)
{
Tetra &t = m_tetras[i];
btVector3 c1 = t.m_n[1]->m_q - t.m_n[0]->m_q;
btVector3 c2 = t.m_n[2]->m_q - t.m_n[0]->m_q;
btVector3 c3 = t.m_n[3]->m_q - t.m_n[0]->m_q;
btVector3 c1 = t.m_n[1]->m_x - t.m_n[0]->m_x;
btVector3 c2 = t.m_n[2]->m_x - t.m_n[0]->m_x;
btVector3 c3 = t.m_n[3]->m_x - t.m_n[0]->m_x;
btMatrix3x3 Dm(c1.getX(), c2.getX(), c3.getX(),
c1.getY(), c2.getY(), c3.getY(),
c1.getZ(), c2.getZ(), c3.getZ());

12
src/BulletSoftBody/btSoftBodyInternals.h
View File

@ -998,7 +998,7 @@ struct btSoftColliders
if (!n.m_battach)
{
// check for collision at x_{n+1}^*
if (psb->checkDeformableContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predict = */ true))
if (psb->checkDeformableContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predict = */ true))
{
const btScalar ima = n.m_im;
const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f;
@ -1006,7 +1006,7 @@ struct btSoftColliders
if (ms > 0)
{
// resolve contact at x_n
psb->checkDeformableContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predict = */ false);
psb->checkDeformableContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predict = */ false);
btSoftBody::sCti& cti = c.m_cti;
c.m_node = &n;
const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction();
@ -1019,7 +1019,7 @@ struct btSoftColliders
const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform();
static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0);
const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic;
const btVector3 ra = n.m_q - wtr.getOrigin();
const btVector3 ra = n.m_x - wtr.getOrigin();
c.m_c0 = ImpulseMatrix(psb->m_sst.sdt, ima, imb, iwi, ra);
c.m_c1 = ra;
@ -1035,9 +1035,9 @@ struct btSoftColliders
btVector3 t1 = generateUnitOrthogonalVector(normal);
btVector3 t2 = btCross(normal, t1);
btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2;
findJacobian(multibodyLinkCol, jacobianData_normal, c.m_node->m_q, normal);
findJacobian(multibodyLinkCol, jacobianData_t1, c.m_node->m_q, t1);
findJacobian(multibodyLinkCol, jacobianData_t2, c.m_node->m_q, t2);
findJacobian(multibodyLinkCol, jacobianData_normal, c.m_node->m_x, normal);
findJacobian(multibodyLinkCol, jacobianData_t1, c.m_node->m_x, t1);
findJacobian(multibodyLinkCol, jacobianData_t2, c.m_node->m_x, t2);
btScalar* J_n = &jacobianData_normal.m_jacobians[0];
btScalar* J_t1 = &jacobianData_t1.m_jacobians[0];