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code clean up + Zlib copyright header

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This commit is contained in:
Xuchen Han
2019-08-05 11:54:17 -07:00
parent c5d84c1a0b
commit 02d3a9469f
14 changed files with 170 additions and 103 deletions
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19
src/BulletSoftBody/btCGProjection.h
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@@ -1,8 +1,15 @@
// btCGProjection.h
// BulletSoftBody
//
// Created by Xuchen Han on 7/4/19.
//
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2016 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_CG_PROJECTION_H
#define BT_CG_PROJECTION_H
@@ -20,7 +27,6 @@ struct DeformableContactConstraint
btAlignedObjectArray<btScalar> m_value;
// the magnitude of the total impulse the node applied to the rb in the normal direction in the cg solve
btAlignedObjectArray<btScalar> m_accumulated_normal_impulse;
btSoftBody::Node* node;
DeformableContactConstraint(const btSoftBody::RContact& rcontact)
{
@@ -74,7 +80,6 @@ struct DeformableFrictionConstraint
// the total impulse the node applied to the rb in the tangential direction in the cg solve
btAlignedObjectArray<btVector3> m_accumulated_tangent_impulse;
btSoftBody::Node* node;
DeformableFrictionConstraint()
{

22
src/BulletSoftBody/btConjugateGradient.h
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@@ -1,9 +1,15 @@
//
// btConjugateGradient.h
// BulletSoftBody
//
// Created by Xuchen Han on 7/1/19.
//
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2016 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_CONJUGATE_GRADIENT_H
#define BT_CONJUGATE_GRADIENT_H
@@ -12,7 +18,7 @@
#include <LinearMath/btAlignedObjectArray.h>
#include <LinearMath/btVector3.h>
template <class TM>
template <class MatrixX>
class btConjugateGradient
{
// using TVStack = btAlignedObjectArray<btVector3>;
@@ -29,7 +35,7 @@ public:
virtual ~btConjugateGradient(){}
// return the number of iterations taken
int solve(TM& A, TVStack& x, const TVStack& b, btScalar tolerance)
int solve(MatrixX& A, TVStack& x, const TVStack& b, btScalar tolerance)
{
btAssert(x.size() == b.size());
reinitialize(b);

21
src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
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@@ -1,9 +1,15 @@
//
// btDeformableBackwardEulerObjective.cpp
// BulletSoftBody
//
// Created by Xuchen Han on 7/9/19.
//
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2016 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btDeformableBackwardEulerObjective.h"
@@ -63,7 +69,6 @@ void btDeformableBackwardEulerObjective::multiply(const TVStack& x, TVStack& b)
void btDeformableBackwardEulerObjective::updateVelocity(const TVStack& dv)
{
// only the velocity of the constrained nodes needs to be updated during CG solve
// for (auto it : projection.m_constraints)
for (int i = 0; i < projection.m_constraints.size(); ++i)
{
int index = projection.m_constraints.getKeyAtIndex(i).getUid1();
@@ -112,7 +117,9 @@ btScalar btDeformableBackwardEulerObjective::computeNorm(const TVStack& residual
void btDeformableBackwardEulerObjective::applyExplicitForce(TVStack& force)
{
for (int i = 0; i < m_lf.size(); ++i)
{
m_lf[i]->addScaledExplicitForce(m_dt, force);
}
applyForce(force, true);
}

18
src/BulletSoftBody/btDeformableBackwardEulerObjective.h
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@@ -1,9 +1,15 @@
//
// btDeformableBackwardEulerObjective.h
// BulletSoftBody
//
// Created by Xuchen Han on 7/1/19.
//
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2016 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_BACKWARD_EULER_OBJECTIVE_H
#define BT_BACKWARD_EULER_OBJECTIVE_H

22
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -1,9 +1,15 @@
//
// btDeformableBodySolver.cpp
// BulletSoftBody
//
// Created by Xuchen Han on 7/9/19.
//
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2016 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include <stdio.h>
#include <limits>
@@ -11,7 +17,7 @@
btDeformableBodySolver::btDeformableBodySolver()
: m_numNodes(0)
, cg(10)
, m_cg(10)
{
m_objective = new btDeformableBackwardEulerObjective(m_softBodySet, m_backupVelocity);
}
@@ -40,7 +46,7 @@ void btDeformableBodySolver::solveConstraints(float solverdt)
void btDeformableBodySolver::computeStep(TVStack& dv, const TVStack& residual)
{
btScalar tolerance = std::numeric_limits<float>::epsilon()* 1024 * m_objective->computeNorm(residual);
cg.solve(*m_objective, dv, residual, tolerance);
m_cg.solve(*m_objective, dv, residual, tolerance);
}
void btDeformableBodySolver::reinitialize(const btAlignedObjectArray<btSoftBody *>& softBodies)

20
src/BulletSoftBody/btDeformableBodySolver.h
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@@ -1,9 +1,15 @@
//
// btDeformableBodySolver.h
// BulletSoftBody
//
// Created by Xuchen Han on 7/1/19.
//
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2016 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_DEFORMABLE_BODY_SOLVERS_H
#define BT_DEFORMABLE_BODY_SOLVERS_H
@@ -31,7 +37,7 @@ protected:
btAlignedObjectArray<btVector3> m_backupVelocity;
btScalar m_dt;
btConjugateGradient<btDeformableBackwardEulerObjective> cg;
btConjugateGradient<btDeformableBackwardEulerObjective> m_cg;
public:

18
src/BulletSoftBody/btDeformableContactProjection.cpp
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@@ -1,9 +1,15 @@
//
// btDeformableContactProjection.cpp
// BulletSoftBody
//
// Created by Xuchen Han on 7/4/19.
//
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2016 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btDeformableContactProjection.h"
#include "btDeformableRigidDynamicsWorld.h"

21
src/BulletSoftBody/btDeformableContactProjection.h
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@@ -1,9 +1,15 @@
//
// btDeformableContactProjection.h
// BulletSoftBody
//
// Created by Xuchen Han on 7/4/19.
//
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2016 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_CONTACT_PROJECTION_H
#define BT_CONTACT_PROJECTION_H
@@ -15,9 +21,6 @@
class btDeformableContactProjection : public btCGProjection
{
public:
// std::unordered_map<btSoftBody::Node *, btAlignedObjectArray<DeformableContactConstraint> > m_constraints;
// std::unordered_map<btSoftBody::Node *, btAlignedObjectArray<DeformableFrictionConstraint> > m_frictions;
// map from node index to constraints
btHashMap<btHashInt, btAlignedObjectArray<DeformableContactConstraint> > m_constraints;
btHashMap<btHashInt, btAlignedObjectArray<DeformableFrictionConstraint> >m_frictions;

21
src/BulletSoftBody/btDeformableGravityForce.h
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@@ -1,9 +1,15 @@
//
// btDeformableGravityForce.h
// BulletSoftBody
//
// Created by Xuchen Han on 7/21/19.
//
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2016 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_DEFORMABLE_GRAVITY_FORCE_H
#define BT_DEFORMABLE_GRAVITY_FORCE_H
@@ -13,18 +19,15 @@
class btDeformableGravityForce : public btDeformableLagrangianForce
{
public:
// using TVStack = btDeformableLagrangianForce::TVStack;
typedef btAlignedObjectArray<btVector3> TVStack;
btVector3 m_gravity;
btDeformableGravityForce(const btVector3& g) : m_gravity(g)
{
}
virtual void addScaledImplicitForce(btScalar scale, TVStack& force)
{
// addScaledGravityForce(scale, force);
}
virtual void addScaledExplicitForce(btScalar scale, TVStack& force)

18
src/BulletSoftBody/btDeformableLagrangianForce.h
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@@ -1,9 +1,15 @@
//
// btDeformableLagrangianForce.h
// BulletSoftBody
//
// Created by Xuchen Han on 7/1/19.
//
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2016 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_DEFORMABLE_LAGRANGIAN_FORCE_H
#define BT_DEFORMABLE_LAGRANGIAN_FORCE_H

18
src/BulletSoftBody/btDeformableMassSpringForce.h
View File

@@ -1,9 +1,15 @@
//
// btDeformableMassSpringForce.h
// BulletSoftBody
//
// Created by Xuchen Gan on 7/1/19.
//
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2016 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_MASS_SPRING_H
#define BT_MASS_SPRING_H

29
src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp
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@@ -1,9 +1,15 @@
//
// btDeformableRigidDynamicsWorld.cpp
// BulletSoftBody
//
// Created by Xuchen Han on 7/1/19.
//
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2016 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include <stdio.h>
#include "btDeformableRigidDynamicsWorld.h"
@@ -13,7 +19,6 @@
void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
{
reinitialize(timeStep);
// beforeSolverCallbacks(timeStep);
// add gravity to velocity of rigid and multi bodys
applyRigidBodyGravity(timeStep);
@@ -165,7 +170,7 @@ void btDeformableRigidDynamicsWorld::addSoftBody(btSoftBody* body, int collision
void btDeformableRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
btMultiBodyDynamicsWorld::predictUnconstraintMotion(timeStep);
m_deformableBodySolver->predictMotion(float(timeStep));
m_deformableBodySolver->predictMotion(timeStep);
}
void btDeformableRigidDynamicsWorld::reinitialize(btScalar timeStep)
@@ -181,8 +186,7 @@ void btDeformableRigidDynamicsWorld::reinitialize(btScalar timeStep)
void btDeformableRigidDynamicsWorld::applyRigidBodyGravity(btScalar timeStep)
{
// TODO: This is an ugly hack to get the desired gravity behavior.
// gravity is applied in stepSimulation and then cleared here and then applied here and then cleared here again
// Gravity is applied in stepSimulation and then cleared here and then applied here and then cleared here again
// so that 1) gravity is applied to velocity before constraint solve and 2) gravity is applied in each substep
// when there are multiple substeps
clearForces();
@@ -211,9 +215,6 @@ void btDeformableRigidDynamicsWorld::beforeSolverCallbacks(btScalar timeStep)
{
(*m_solverCallback)(m_internalTime, this);
}
// for (int i = 0; i < m_beforeSolverCallbacks.size(); ++i)
// m_beforeSolverCallbacks[i](m_internalTime, this);
}
void btDeformableRigidDynamicsWorld::afterSolverCallbacks(btScalar timeStep)
@@ -222,8 +223,6 @@ void btDeformableRigidDynamicsWorld::afterSolverCallbacks(btScalar timeStep)
{
(*m_solverCallback)(m_internalTime, this);
}
// for (int i = 0; i < m_beforeSolverCallbacks.size(); ++i)
// m_beforeSolverCallbacks[i](m_internalTime, this);
}
void btDeformableRigidDynamicsWorld::addForce(btSoftBody* psb, btDeformableLagrangianForce* force)

8
src/BulletSoftBody/btDeformableRigidDynamicsWorld.h
View File

@@ -43,6 +43,9 @@ class btDeformableRigidDynamicsWorld : public btMultiBodyDynamicsWorld
bool m_ownsSolver;
btScalar m_internalTime;
typedef void (*btSolverCallback)(btScalar time, btDeformableRigidDynamicsWorld* world);
btSolverCallback m_solverCallback;
protected:
virtual void internalSingleStepSimulation(btScalar timeStep);
@@ -55,7 +58,7 @@ protected:
public:
btDeformableRigidDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0)
: btMultiBodyDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration),
m_deformableBodySolver(deformableBodySolver)
m_deformableBodySolver(deformableBodySolver), m_solverCallback(0)
{
m_drawFlags = fDrawFlags::Std;
m_drawNodeTree = true;
@@ -76,8 +79,7 @@ public:
m_internalTime = 0.0;
}
// btAlignedObjectArray<std::function<void(btScalar, btDeformableRigidDynamicsWorld*)> > m_beforeSolverCallbacks;
typedef void (*btSolverCallback)(btScalar time, btDeformableRigidDynamicsWorld* world);
btSolverCallback m_solverCallback;
void setSolverCallback(btSolverCallback cb)
{

18
src/BulletSoftBody/btPreconditioner.h
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@@ -1,9 +1,15 @@
//
// btPreconditioner.h
// BulletSoftBody
//
// Created by Xuchen Han on 7/18/19.
//
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2016 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_PRECONDITIONER_H
#define BT_PRECONDITIONER_H