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switched to deformable rigid contact from Jacobi to Gauss Seidel

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This commit is contained in:
Xuchen Han
2019-09-11 17:04:06 -07:00
parent f99cf56149
commit 109d9353af
9 changed files with 312 additions and 55 deletions
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26
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -24,7 +24,7 @@ btDeformableBodySolver::btDeformableBodySolver()
, m_cg(20)
, m_maxNewtonIterations(5)
, m_newtonTolerance(1e-4)
, m_lineSearch(false)
, m_lineSearch(true)
{
m_objective = new btDeformableBackwardEulerObjective(m_softBodySet, m_backupVelocity);
}
@@ -69,12 +69,14 @@ void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt)
{
break;
}
// todo xuchenhan@: this really only needs to be calculated once
m_objective->applyDynamicFriction(m_residual);
if (m_lineSearch)
{
btScalar inner_product = computeDescentStep(m_ddv,m_residual);
btScalar alpha = 0.01, beta = 0.5; // Boyd & Vandenberghe suggested alpha between 0.01 and 0.3, beta between 0.1 to 0.8
btScalar scale = 2;
// todo xuchenhan@: add damping energy to f0 and f1
btScalar f0 = m_objective->totalEnergy()+kineticEnergy(), f1, f2;
backupDv();
do {
@@ -239,14 +241,18 @@ btScalar btDeformableBodySolver::solveContactConstraints()
m_dv[i].setZero();
}
btScalar maxSquaredResidual = m_objective->projection.update();
m_objective->enforceConstraint(m_dv);
// std::cout << "=================" << std::endl;
// for (int i = 0; i < m_dv.size(); ++i)
// {
// std::cout << m_dv[i].getX() << " " << m_dv[i].getY() << " " << m_dv[i].getZ() << std::endl;
// }
m_objective->updateVelocity(m_dv);
// m_objective->enforceConstraint(m_dv);
// m_objective->updateVelocity(m_dv);
int counter = 0;
for (int i = 0; i < m_softBodySet.size(); ++i)
{
btSoftBody* psb = m_softBodySet[i];
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter];
++counter;
}
}
return maxSquaredResidual;
}
@@ -374,7 +380,7 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d
psb->m_bUpdateRtCst = false;
psb->updateConstants();
psb->m_fdbvt.clear();
if (psb->m_cfg.collisions & btSoftBody::fCollision::SDF_RDF)
if (psb->m_cfg.collisions & btSoftBody::fCollision::SDF_RD)
{
psb->initializeFaceTree();
}