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add option for deformable rigid split impulse

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This commit is contained in:
Xuchen Han
2019-11-05 18:07:32 -08:00
parent fb85b2e05f
commit 13314360a8
15 changed files with 571 additions and 3 deletions
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37
src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp
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@@ -104,3 +104,40 @@ void btDeformableMultiBodyConstraintSolver::solverBodyWriteBack(const btContactS
}
}
}
void btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
{
BT_PROFILE("solveGroupCacheFriendlySplitImpulseIterations");
int iteration;
if (infoGlobal.m_splitImpulse)
{
{
m_deformableSolver->splitImpulseSetup(infoGlobal);
for (iteration = 0; iteration < infoGlobal.m_numIterations; iteration++)
{
btScalar leastSquaresResidual = 0.f;
{
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
int j;
for (j = 0; j < numPoolConstraints; j++)
{
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
btScalar residual = resolveSplitPenetrationImpulse(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
}
// solve the position correction between deformable and rigid/multibody
btScalar residual = m_deformableSolver->solveSplitImpulse(infoGlobal);
leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
}
if (leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration >= (infoGlobal.m_numIterations - 1))
{
#ifdef VERBOSE_RESIDUAL_PRINTF
printf("residual = %f at iteration #%d\n", leastSquaresResidual, iteration);
#endif
break;
}
}
}
}
}