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bug fixes in constraints projections; cpplized various functions

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This commit is contained in:
Xuchen Han
2019-07-09 14:26:04 -07:00
parent 786b0436ec
commit 13d4e1cc2b
12 changed files with 450 additions and 263 deletions
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68
src/BulletSoftBody/btBackwardEulerObjective.h
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@@ -35,17 +35,9 @@ public:
btAlignedObjectArray<btSoftBody *>& m_softBodies;
std::function<void(const TVStack&, TVStack&)> precondition;
btContactProjection projection;
const TVStack& m_backupVelocity;
btBackwardEulerObjective(btAlignedObjectArray<btSoftBody *>& softBodies, const TVStack& backup_v)
: cg(20)
, m_softBodies(softBodies)
, precondition(DefaultPreconditioner())
, projection(m_softBodies)
{
// TODO: this should really be specified in initialization instead of here
btMassSpring* mass_spring = new btMassSpring(m_softBodies);
m_lf.push_back(mass_spring);
}
btBackwardEulerObjective(btAlignedObjectArray<btSoftBody *>& softBodies, const TVStack& backup_v);
virtual ~btBackwardEulerObjective() {}
@@ -54,7 +46,6 @@ public:
void computeResidual(btScalar dt, TVStack& residual) const
{
// gravity is treated explicitly in predictUnconstraintMotion
// add force
for (int i = 0; i < m_lf.size(); ++i)
{
@@ -72,62 +63,29 @@ public:
return std::sqrt(norm_squared);
}
void computeStep(TVStack& dv, const TVStack& residual, const btScalar& dt)
{
m_dt = dt;
btScalar tolerance = std::numeric_limits<float>::epsilon()*16 * computeNorm(residual);
cg.solve(*this, dv, residual, tolerance);
}
void computeStep(TVStack& dv, const TVStack& residual, const btScalar& dt);
void multiply(const TVStack& x, TVStack& b) const
{
for (int i = 0; i < b.size(); ++i)
b[i].setZero();
// add in the mass term
size_t counter = 0;
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
const auto& node = psb->m_nodes[j];
b[counter] += (node.m_im == 0) ? btVector3(0,0,0) : x[counter] / node.m_im;
++counter;
}
}
for (int i = 0; i < m_lf.size(); ++i)
{
// damping force is implicit and elastic force is explicit
m_lf[i]->addScaledDampingForceDifferential(-m_dt, x, b);
// m_lf[i]->addScaledElasticForceDifferential(-m_dt*m_dt, x, b);
}
}
void multiply(const TVStack& x, TVStack& b) const;
void updateProjection(const TVStack& dv)
{
projection.update(m_dt, dv);
projection.update(dv, m_backupVelocity);
}
void reinitialize(bool nodeUpdated)
{
if(nodeUpdated)
{
projection.setSoftBodies(m_softBodies);
}
for (int i = 0; i < m_lf.size(); ++i)
{
m_lf[i]->reinitialize(nodeUpdated);
projection.reinitialize(nodeUpdated);
}
}
void reinitialize(bool nodeUpdated);
void enforceConstraint(TVStack& x)
{
projection.enforceConstraint(x);
updateVelocity(x);
}
void updateVelocity(const TVStack& dv);
void setConstraintDirections()
{
projection.setConstraintDirections();
}
void project(TVStack& r, const TVStack& dv)
{
updateProjection(dv);