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Move btOclUtils.cpp/h and btOclCommon.cpp/h to btOpenCLUtils.cpp/h

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Rename member numerator to m_numerator in btConvexHullComputer.cpp to avoid confusion (Thanks to Ian for the feedback)
Add btSoftBody::addAeroForceToNode and btSoftBody::addAeroForceToFace, thanks to Dongsoo Han/Saggita
This commit is contained in:
erwin.coumans
2011-11-14 22:22:49 +00:00
parent a374f8c0d4
commit 0d1fcf7c48
27 changed files with 877 additions and 723 deletions
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284
src/BulletSoftBody/btSoftBody.cpp
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@@ -453,6 +453,167 @@ void btSoftBody::addForce(const btVector3& force,int node)
}
}
void btSoftBody::addAeroForceToNode(const btVector3& windVelocity,int nodeIndex)
{
btAssert(nodeIndex >= 0 && nodeIndex < m_nodes.size());
const btScalar dt = m_sst.sdt;
const btScalar kLF = m_cfg.kLF;
const btScalar kDG = m_cfg.kDG;
const btScalar kPR = m_cfg.kPR;
const btScalar kVC = m_cfg.kVC;
const bool as_lift = kLF>0;
const bool as_drag = kDG>0;
const bool as_aero = as_lift || as_drag;
const bool as_vaero = as_aero && (m_cfg.aeromodel < btSoftBody::eAeroModel::F_TwoSided);
Node& n = m_nodes[nodeIndex];
if( n.m_im>0 )
{
btSoftBody::sMedium medium;
EvaluateMedium(m_worldInfo, n.m_x, medium);
medium.m_velocity = windVelocity;
medium.m_density = m_worldInfo->air_density;
/* Aerodynamics */
if(as_vaero)
{
const btVector3 rel_v = n.m_v - medium.m_velocity;
const btScalar rel_v_len = rel_v.length();
const btScalar rel_v2 = rel_v.length2();
if(rel_v2>SIMD_EPSILON)
{
const btVector3 rel_v_nrm = rel_v.normalized();
btVector3 nrm = n.m_n;
if (m_cfg.aeromodel == btSoftBody::eAeroModel::V_TwoSidedLiftDrag)
{
nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1);
btVector3 fDrag(0, 0, 0);
btVector3 fLift(0, 0, 0);
btScalar n_dot_v = nrm.dot(rel_v_nrm);
btScalar tri_area = 0.5f * n.m_area;
fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm);
// Check angle of attack
// cos(10<31>) = 0.98480
if ( 0 < n_dot_v && n_dot_v < 0.98480f)
fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f-n_dot_v*n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm));
n.m_f += fDrag;
n.m_f += fLift;
}
else if (m_cfg.aeromodel == btSoftBody::eAeroModel::V_Point || m_cfg.aeromodel == btSoftBody::eAeroModel::V_OneSided || m_cfg.aeromodel == btSoftBody::eAeroModel::V_TwoSided)
{
if (btSoftBody::eAeroModel::V_TwoSided)
nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1);
const btScalar dvn = btDot(rel_v,nrm);
/* Compute forces */
if(dvn>0)
{
btVector3 force(0,0,0);
const btScalar c0 = n.m_area * dvn * rel_v2/2;
const btScalar c1 = c0 * medium.m_density;
force += nrm*(-c1*kLF);
force += rel_v.normalized() * (-c1 * kDG);
ApplyClampedForce(n, force, dt);
}
}
}
}
}
}
void btSoftBody::addAeroForceToFace(const btVector3& windVelocity,int faceIndex)
{
const btScalar dt = m_sst.sdt;
const btScalar kLF = m_cfg.kLF;
const btScalar kDG = m_cfg.kDG;
const btScalar kPR = m_cfg.kPR;
const btScalar kVC = m_cfg.kVC;
const bool as_lift = kLF>0;
const bool as_drag = kDG>0;
const bool as_aero = as_lift || as_drag;
const bool as_faero = as_aero && (m_cfg.aeromodel >= btSoftBody::eAeroModel::F_TwoSided);
if(as_faero)
{
btSoftBody::Face& f=m_faces[faceIndex];
btSoftBody::sMedium medium;
const btVector3 v=(f.m_n[0]->m_v+f.m_n[1]->m_v+f.m_n[2]->m_v)/3;
const btVector3 x=(f.m_n[0]->m_x+f.m_n[1]->m_x+f.m_n[2]->m_x)/3;
EvaluateMedium(m_worldInfo,x,medium);
medium.m_velocity = windVelocity;
medium.m_density = m_worldInfo->air_density;
const btVector3 rel_v=v-medium.m_velocity;
const btScalar rel_v_len = rel_v.length();
const btScalar rel_v2=rel_v.length2();
if(rel_v2>SIMD_EPSILON)
{
const btVector3 rel_v_nrm = rel_v.normalized();
btVector3 nrm = f.m_normal;
if (m_cfg.aeromodel == btSoftBody::eAeroModel::F_TwoSidedLiftDrag)
{
nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1);
btVector3 fDrag(0, 0, 0);
btVector3 fLift(0, 0, 0);
btScalar n_dot_v = nrm.dot(rel_v_nrm);
btScalar tri_area = 0.5f * f.m_ra;
fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm);
// Check angle of attack
// cos(10<31>) = 0.98480
if ( 0 < n_dot_v && n_dot_v < 0.98480f)
fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f-n_dot_v*n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm));
fDrag /= 3;
fLift /= 3;
for(int j=0;j<3;++j)
{
if (f.m_n[j]->m_im>0)
{
f.m_n[j]->m_f += fDrag;
f.m_n[j]->m_f += fLift;
}
}
}
else if (m_cfg.aeromodel == btSoftBody::eAeroModel::F_OneSided || m_cfg.aeromodel == btSoftBody::eAeroModel::F_TwoSided)
{
if (btSoftBody::eAeroModel::F_TwoSided)
nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1);
const btScalar dvn=btDot(rel_v,nrm);
/* Compute forces */
if(dvn>0)
{
btVector3 force(0,0,0);
const btScalar c0 = f.m_ra*dvn*rel_v2;
const btScalar c1 = c0*medium.m_density;
force += nrm*(-c1*kLF);
force += rel_v.normalized()*(-c1*kDG);
force /= 3;
for(int j=0;j<3;++j) ApplyClampedForce(*f.m_n[j],force,dt);
}
}
}
}
}
//
void btSoftBody::addVelocity(const btVector3& velocity)
{
@@ -2694,60 +2855,8 @@ void btSoftBody::applyForces()
{
if(use_medium)
{
EvaluateMedium(m_worldInfo, n.m_x, medium);
medium.m_velocity = m_windVelocity;
medium.m_density = m_worldInfo->air_density;
/* Aerodynamics */
if(as_vaero)
{
const btVector3 rel_v = n.m_v - medium.m_velocity;
const btScalar rel_v_len = rel_v.length();
const btScalar rel_v2 = rel_v.length2();
if(rel_v2>SIMD_EPSILON)
{
const btVector3 rel_v_nrm = rel_v.normalized();
btVector3 nrm = n.m_n;
if (m_cfg.aeromodel == btSoftBody::eAeroModel::V_TwoSidedLiftDrag)
{
nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1);
btVector3 fDrag(0, 0, 0);
btVector3 fLift(0, 0, 0);
btScalar n_dot_v = nrm.dot(rel_v_nrm);
btScalar tri_area = 0.5f * n.m_area;
fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm);
// Check angle of attack
// cos(10<31>) = 0.98480
if ( 0 < n_dot_v && n_dot_v < 0.98480f)
fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f-n_dot_v*n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm));
n.m_f += fDrag;
n.m_f += fLift;
}
else if (m_cfg.aeromodel == btSoftBody::eAeroModel::V_Point || m_cfg.aeromodel == btSoftBody::eAeroModel::V_OneSided || m_cfg.aeromodel == btSoftBody::eAeroModel::V_TwoSided)
{
if (btSoftBody::eAeroModel::V_TwoSided)
nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1);
const btScalar dvn = btDot(rel_v,nrm);
/* Compute forces */
if(dvn>0)
{
btVector3 force(0,0,0);
const btScalar c0 = n.m_area * dvn * rel_v2/2;
const btScalar c1 = c0 * medium.m_density;
force += nrm*(-c1*kLF);
force += rel_v.normalized() * (-c1 * kDG);
ApplyClampedForce(n, force, dt);
}
}
}
}
addAeroForceToNode(m_windVelocity, i);
}
/* Pressure */
if(as_pressure)
@@ -2761,75 +2870,14 @@ void btSoftBody::applyForces()
}
}
}
/* Per face forces */
for(i=0,ni=m_faces.size();i<ni;++i)
{
btSoftBody::Face& f=m_faces[i];
if(as_faero)
{
const btVector3 v=(f.m_n[0]->m_v+f.m_n[1]->m_v+f.m_n[2]->m_v)/3;
const btVector3 x=(f.m_n[0]->m_x+f.m_n[1]->m_x+f.m_n[2]->m_x)/3;
EvaluateMedium(m_worldInfo,x,medium);
medium.m_velocity = m_windVelocity;
medium.m_density = m_worldInfo->air_density;
const btVector3 rel_v=v-medium.m_velocity;
const btScalar rel_v_len = rel_v.length();
const btScalar rel_v2=rel_v.length2();
if(rel_v2>SIMD_EPSILON)
{
const btVector3 rel_v_nrm = rel_v.normalized();
btVector3 nrm = f.m_normal;
if (m_cfg.aeromodel == btSoftBody::eAeroModel::F_TwoSidedLiftDrag)
{
nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1);
btVector3 fDrag(0, 0, 0);
btVector3 fLift(0, 0, 0);
btScalar n_dot_v = nrm.dot(rel_v_nrm);
btScalar tri_area = 0.5f * f.m_ra;
fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm);
// Check angle of attack
// cos(10<31>) = 0.98480
if ( 0 < n_dot_v && n_dot_v < 0.98480f)
fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f-n_dot_v*n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm));
fDrag /= 3;
fLift /= 3;
for(int j=0;j<3;++j)
{
if (f.m_n[j]->m_im>0)
{
f.m_n[j]->m_f += fDrag;
f.m_n[j]->m_f += fLift;
}
}
}
else if (m_cfg.aeromodel == btSoftBody::eAeroModel::F_OneSided || m_cfg.aeromodel == btSoftBody::eAeroModel::F_TwoSided)
{
if (btSoftBody::eAeroModel::F_TwoSided)
nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1);
const btScalar dvn=btDot(rel_v,nrm);
/* Compute forces */
if(dvn>0)
{
btVector3 force(0,0,0);
const btScalar c0 = f.m_ra*dvn*rel_v2;
const btScalar c1 = c0*medium.m_density;
force += nrm*(-c1*kLF);
force += rel_v.normalized()*(-c1*kDG);
force /= 3;
for(int j=0;j<3;++j) ApplyClampedForce(*f.m_n[j],force,dt);
}
}
}
}
/* Aerodynamics */
addAeroForceToFace(m_windVelocity, i);
}
}
@@ -3276,7 +3324,7 @@ const char* btSoftBody::serialize(void* dataBuffer, class btSerializer* serializ
sbd->m_config.m_softRigidClusterImpulseSplit = m_cfg.kSR_SPLT_CL;
sbd->m_config.m_softKineticClusterImpulseSplit = m_cfg.kSK_SPLT_CL;
sbd->m_config.m_softSoftClusterImpulseSplit = m_cfg.kSS_SPLT_CL;
//pose for shape matching
{
sbd->m_pose = (SoftBodyPoseData*)serializer->getUniquePointer((void*)&m_pose);

6
src/BulletSoftBody/btSoftBody.h
View File

@@ -771,6 +771,12 @@ public:
/* Add force (or gravity) to a node of the body */
void addForce( const btVector3& force,
int node);
/* Add aero force to a node of the body */
void addAeroForceToNode(const btVector3& windVelocity,int nodeIndex);
/* Add aero force to a face of the body */
void addAeroForceToFace(const btVector3& windVelocity,int faceIndex);
/* Add velocity to the entire body */
void addVelocity( const btVector3& velocity);