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only call buildIslands once for multibody in each timestep

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This commit is contained in:
Xuchen Han
2019-08-02 10:19:31 -07:00
parent f1e7ce9ce1
commit 3dc8abcf36
6 changed files with 20 additions and 10 deletions
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6
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
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@@ -233,7 +233,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi
// printf("error in island management\n"); // printf("error in island management\n");
} }
// btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
if (colObj0->getIslandTag() == islandId) if (colObj0->getIslandTag() == islandId)
{ {
if (colObj0->getActivationState() == ACTIVE_TAG || if (colObj0->getActivationState() == ACTIVE_TAG ||
@@ -257,7 +257,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi
// printf("error in island management\n"); // printf("error in island management\n");
} }
// btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
if (colObj0->getIslandTag() == islandId) if (colObj0->getIslandTag() == islandId)
{ {
@@ -278,7 +278,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi
// printf("error in island management\n"); // printf("error in island management\n");
} }
// btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
if (colObj0->getIslandTag() == islandId) if (colObj0->getIslandTag() == islandId)

8
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -428,14 +428,18 @@ void btMultiBodyDynamicsWorld::forwardKinematics()
void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
{ {
solveExternalForces(solverInfo); solveExternalForces(solverInfo);
buildIslands();
solveInternalConstraints(solverInfo); solveInternalConstraints(solverInfo);
} }
void btMultiBodyDynamicsWorld::buildIslands()
{
m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback);
}
void btMultiBodyDynamicsWorld::solveInternalConstraints(btContactSolverInfo& solverInfo) void btMultiBodyDynamicsWorld::solveInternalConstraints(btContactSolverInfo& solverInfo)
{ {
/// solve all the constraints for this island /// solve all the constraints for this island
m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback);
m_solverMultiBodyIslandCallback->processConstraints(); m_solverMultiBodyIslandCallback->processConstraints();
m_constraintSolver->allSolved(solverInfo, m_debugDrawer); m_constraintSolver->allSolved(solverInfo, m_debugDrawer);

1
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
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@@ -116,6 +116,7 @@ public:
virtual void solveExternalForces(btContactSolverInfo& solverInfo); virtual void solveExternalForces(btContactSolverInfo& solverInfo);
virtual void solveInternalConstraints(btContactSolverInfo& solverInfo); virtual void solveInternalConstraints(btContactSolverInfo& solverInfo);
void buildIslands();
}; };
#endif //BT_MULTIBODY_DYNAMICS_WORLD_H #endif //BT_MULTIBODY_DYNAMICS_WORLD_H

8
src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
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@@ -128,3 +128,11 @@ void btDeformableBackwardEulerObjective::initialGuess(TVStack& dv, const TVStack
} }
} }
} }
//set constraints as projections
void btDeformableBackwardEulerObjective::setConstraints()
{
// build islands for multibody solve
m_world->btMultiBodyDynamicsWorld::buildIslands();
projection.setConstraints();
}

5
src/BulletSoftBody/btDeformableBackwardEulerObjective.h
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@@ -73,10 +73,7 @@ public:
void updateVelocity(const TVStack& dv); void updateVelocity(const TVStack& dv);
//set constraints as projections //set constraints as projections
void setConstraints() void setConstraints();
{
projection.setConstraints();
}
// update the projections and project the residual // update the projections and project the residual
void project(TVStack& r) void project(TVStack& r)

2
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -31,7 +31,7 @@ void btDeformableBodySolver::solveConstraints(float solverdt)
backupVelocity(); backupVelocity();
m_objective->computeResidual(solverdt, m_residual); m_objective->computeResidual(solverdt, m_residual);
// m_objective->initialGuess(m_dv, m_residual);
computeStep(m_dv, m_residual); computeStep(m_dv, m_residual);
updateVelocity(); updateVelocity();
} }