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enable deformable sleeping

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This commit is contained in:
Xuchen Han
2019-10-16 12:00:02 -07:00
parent 3ae193ff15
commit 3d622a3bee
9 changed files with 162 additions and 54 deletions
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16
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -200,7 +200,7 @@ void btDeformableBodySolver::updateDv(btScalar scale)
void btDeformableBodySolver::computeStep(TVStack& ddv, const TVStack& residual)
{
m_cg.solve(*m_objective, ddv, residual, false);
m_cg.solve(*m_objective, ddv, residual);
}
void btDeformableBodySolver::reinitialize(const btAlignedObjectArray<btSoftBody *>& softBodies, btScalar dt)
@@ -248,6 +248,11 @@ void btDeformableBodySolver::updateVelocity()
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
psb->m_maxSpeedSquared = 0;
if (!psb->isActive())
{
continue;
}
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
// set NaN to zero;
@@ -256,6 +261,7 @@ void btDeformableBodySolver::updateVelocity()
m_dv[counter].setZero();
}
psb->m_nodes[j].m_v = m_backupVelocity[counter]+m_dv[counter];
psb->m_maxSpeedSquared = btMax(psb->m_maxSpeedSquared, psb->m_nodes[j].m_v.length2());
++counter;
}
}
@@ -267,6 +273,10 @@ void btDeformableBodySolver::updateTempPosition()
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
if (!psb->isActive())
{
continue;
}
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
psb->m_nodes[j].m_q = psb->m_nodes[j].m_x + m_dt * psb->m_nodes[j].m_v;
@@ -295,6 +305,10 @@ void btDeformableBodySolver::setupDeformableSolve(bool implicit)
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
if (!psb->isActive())
{
continue;
}
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
if (implicit)

15
src/BulletSoftBody/btDeformableContactProjection.cpp
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@@ -51,6 +51,10 @@ void btDeformableContactProjection::setConstraints()
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
if (!psb->isActive())
{
continue;
}
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
if (psb->m_nodes[j].m_im == 0)
@@ -61,10 +65,15 @@ void btDeformableContactProjection::setConstraints()
}
}
// set Deformable Node vs. Rigid constraint
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
if (!psb->isActive())
{
continue;
}
// set Deformable Node vs. Rigid constraint
for (int j = 0; j < psb->m_nodeRigidContacts.size(); ++j)
{
const btSoftBody::DeformableNodeRigidContact& contact = psb->m_nodeRigidContacts[j];
@@ -242,6 +251,10 @@ void btDeformableContactProjection::setProjection()
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
if (!psb->isActive())
{
continue;
}
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
int index = psb->m_nodes[j].index;

4
src/BulletSoftBody/btDeformableGravityForce.h
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@@ -57,6 +57,10 @@ public:
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
if (!psb->isActive())
{
continue;
}
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
btSoftBody::Node& n = psb->m_nodes[j];

34
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
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@@ -70,18 +70,46 @@ void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar t
///update vehicle simulation
btMultiBodyDynamicsWorld::updateActions(timeStep);
btMultiBodyDynamicsWorld::updateActivationState(timeStep);
updateActivationState(timeStep);
// End solver-wise simulation step
// ///////////////////////////////
}
void btDeformableMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep)
{
for (int i = 0; i < m_softBodies.size(); i++)
{
btSoftBody* psb = m_softBodies[i];
psb->updateDeactivation(timeStep);
if (psb->wantsSleeping())
{
if (psb->getActivationState() == ACTIVE_TAG)
psb->setActivationState(WANTS_DEACTIVATION);
if (psb->getActivationState() == ISLAND_SLEEPING)
{
psb->setZeroVelocity();
}
}
else
{
if (psb->getActivationState() != DISABLE_DEACTIVATION)
psb->setActivationState(ACTIVE_TAG);
}
}
btMultiBodyDynamicsWorld::updateActivationState(timeStep);
}
void btDeformableMultiBodyDynamicsWorld::softBodySelfCollision()
{
m_deformableBodySolver->updateSoftBodies();
for (int i = 0; i < m_softBodies.size(); i++)
{
btSoftBody* psb = (btSoftBody*)m_softBodies[i];
psb->defaultCollisionHandler(psb);
btSoftBody* psb = m_softBodies[i];
if (psb->isActive())
{
psb->defaultCollisionHandler(psb);
}
}
}

2
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
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@@ -62,6 +62,8 @@ protected:
void solveConstraints(btScalar timeStep);
void updateActivationState(btScalar timeStep);
public:
btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btDeformableMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0)
: btMultiBodyDynamicsWorld(dispatcher, pairCache, (btMultiBodyConstraintSolver*)constraintSolver, collisionConfiguration),

12
src/BulletSoftBody/btDeformableNeoHookeanForce.h
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@@ -61,6 +61,10 @@ public:
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
if (!psb->isActive())
{
continue;
}
for (int j = 0; j < psb->m_tetras.size(); ++j)
{
btSoftBody::Tetra& tetra = psb->m_tetras[j];
@@ -224,6 +228,10 @@ public:
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
if (!psb->isActive())
{
continue;
}
for (int j = 0; j < psb->m_tetras.size(); ++j)
{
btSoftBody::Tetra& tetra = psb->m_tetras[j];
@@ -262,6 +270,10 @@ public:
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
if (!psb->isActive())
{
continue;
}
for (int j = 0; j < psb->m_tetras.size(); ++j)
{
btSoftBody::Tetra& tetra = psb->m_tetras[j];

122
src/BulletSoftBody/btSoftBody.cpp
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@@ -117,7 +117,7 @@ void btSoftBody::initDefaults()
m_windVelocity = btVector3(0, 0, 0);
m_restLengthScale = btScalar(1.0);
m_dampingCoefficient = 1;
m_sleepingThreshold = 0.01;
m_sleepingThreshold = 0.1;
m_useFaceContact = false;
m_collisionFlags = 0;
}
@@ -3601,51 +3601,43 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb)
break;
case fCollision::VF_DD:
{
if (this != psb)
if (psb->isActive() || this->isActive())
{
btSoftColliders::CollideVF_DD docollide;
/* common */
docollide.mrg = getCollisionShape()->getMargin() +
psb->getCollisionShape()->getMargin();
/* psb0 nodes vs psb1 faces */
docollide.psb[0] = this;
docollide.psb[1] = psb;
docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
docollide.psb[1]->m_fdbvt.m_root,
docollide);
/* psb1 nodes vs psb0 faces */
docollide.psb[0] = psb;
docollide.psb[1] = this;
docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
docollide.psb[1]->m_fdbvt.m_root,
docollide);
}
else
{
if (psb->useSelfCollision())
if (this != psb)
{
btSoftColliders::CollideFF_DD docollide;
docollide.mrg = getCollisionShape()->getMargin() +
psb->getCollisionShape()->getMargin();
docollide.psb[0] = this;
docollide.psb[1] = psb;
/* psb0 faces vs psb0 faces */
btDbvntNode* root = copyToDbvnt(this->m_fdbvt.m_root);
calculateNormalCone(root);
this->m_fdbvt.selfCollideT(root,docollide);
delete root;
btSoftColliders::CollideVF_DD docollide;
/* common */
docollide.mrg = getCollisionShape()->getMargin() +
psb->getCollisionShape()->getMargin();
/* psb0 nodes vs psb1 faces */
docollide.psb[0] = this;
docollide.psb[1] = psb;
docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
docollide.psb[1]->m_fdbvt.m_root,
docollide);
/* psb1 nodes vs psb0 faces */
docollide.psb[0] = psb;
docollide.psb[1] = this;
docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
docollide.psb[1]->m_fdbvt.m_root,
docollide);
}
else
{
if (psb->useSelfCollision())
{
btSoftColliders::CollideFF_DD docollide;
docollide.mrg = getCollisionShape()->getMargin() +
psb->getCollisionShape()->getMargin();
docollide.psb[0] = this;
docollide.psb[1] = psb;
/* psb0 faces vs psb0 faces */
btDbvntNode* root = copyToDbvnt(this->m_fdbvt.m_root);
calculateNormalCone(root);
this->m_fdbvt.selfCollideT(root,docollide);
delete root;
}
}
// btSoftColliders::CollideFF_DD docollide;
// /* common */
// docollide.mrg = getCollisionShape()->getMargin() +
// psb->getCollisionShape()->getMargin();
// /* psb0 nodes vs psb1 faces */
// docollide.psb[0] = this;
// docollide.psb[1] = psb;
// docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_fdbvt.m_root,
// docollide.psb[1]->m_fdbvt.m_root,
// docollide);
}
}
break;
@@ -4051,3 +4043,47 @@ const char* btSoftBody::serialize(void* dataBuffer, class btSerializer* serializ
return btSoftBodyDataName;
}
void btSoftBody::updateDeactivation(btScalar timeStep)
{
if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION))
return;
if (m_maxSpeedSquared < m_sleepingThreshold * m_sleepingThreshold)
{
m_deactivationTime += timeStep;
}
else
{
m_deactivationTime = btScalar(0.);
setActivationState(0);
}
}
void btSoftBody::setZeroVelocity()
{
for (int i = 0; i < m_nodes.size(); ++i)
{
m_nodes[i].m_v.setZero();
}
}
bool btSoftBody::wantsSleeping()
{
if (getActivationState() == DISABLE_DEACTIVATION)
return false;
//disable deactivation
if (gDisableDeactivation || (gDeactivationTime == btScalar(0.)))
return false;
if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION))
return true;
if (m_deactivationTime > gDeactivationTime)
{
return true;
}
return false;
}

7
src/BulletSoftBody/btSoftBody.h
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@@ -1017,8 +1017,11 @@ public:
/* defaultCollisionHandlers */
void defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap);
void defaultCollisionHandler(btSoftBody* psb);
void setSelfCollision(bool useSelfCollision);
bool useSelfCollision();
void setSelfCollision(bool useSelfCollision);
bool useSelfCollision();
void updateDeactivation(btScalar timeStep);
void setZeroVelocity();
bool wantsSleeping();
//
// Functionality to deal with new accelerated solvers.

4
src/BulletSoftBody/btSoftBodyInternals.h
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@@ -1097,8 +1097,6 @@ struct btSoftColliders
c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra);
c.m_c1 = ra;
if (m_rigidBody)
m_rigidBody->activate();
}
else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
{
@@ -1200,8 +1198,6 @@ struct btSoftColliders
// we do not scale the impulse matrix by dt
c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra);
c.m_c1 = ra;
if (m_rigidBody)
m_rigidBody->activate();
}
else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
{