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code clean up and optimization

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This commit is contained in:
Xuchen Han
2019-09-15 12:06:28 -07:00
parent 109d9353af
commit 403eb62dfa
10 changed files with 86 additions and 147 deletions
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76
src/BulletSoftBody/btDeformableContactProjection.cpp
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@@ -174,12 +174,6 @@ void btDeformableContactProjection::enforceConstraint(TVStack& x)
btAlignedObjectArray<btDeformableFaceRigidContactConstraint*>& constraintsList = *m_faceRigidConstraints.getAtIndex(index);
// i is node index
int i = m_faceRigidConstraints.getKeyAtIndex(index).getUid1();
int numConstraints = 1;
// int numConstraints = constraintsList.size();
// if (m_nodeRigidConstraints.find(i) != NULL)
// {
// numConstraints += m_nodeRigidConstraints[i]->size();
// }
for (int j = 0; j < constraintsList.size(); ++j)
{
const btDeformableFaceRigidContactConstraint* constraint = constraintsList[j];
@@ -194,7 +188,7 @@ void btDeformableContactProjection::enforceConstraint(TVStack& x)
break;
}
}
x[i] += constraint->getDv(node) / btScalar(numConstraints);
x[i] += constraint->getDv(node);
}
}
// todo xuchenhan@: add deformable deformable constraints' contribution to dv
@@ -206,31 +200,6 @@ void btDeformableContactProjection::enforceConstraint(TVStack& x)
int i = m_staticConstraints.getKeyAtIndex(index).getUid1();
x[i] = constraint.getDv(constraint.m_node);
}
//
// for (int i = 0; i < x.size(); ++i)
// {
// x[i].setZero();
// if (m_staticConstraints.find(i) != NULL)
// {
// // if a node is fixed, dv = 0
// continue;
// }
// if (m_nodeRigidConstraints.find(i) != NULL)
// {
// btAlignedObjectArray<btDeformableNodeRigidContactConstraint>& constraintsList = *m_nodeRigidConstraints[i];
// for (int j = 0; j < constraintsList.size(); ++j)
// {
// const btDeformableNodeRigidContactConstraint& constraint = constraintsList[j];
//// x[i] += constraint.getDv(m_nodes->at(i));
// x[i] += constraint.getDv(constraint.getContact()->m_node);
// }
// }
// todo xuchenhan@
// if (m_faceRigidConstraints.find(i) != NULL)
// {
//
// }
// }
}
void btDeformableContactProjection::project(TVStack& x)
@@ -376,6 +345,7 @@ void btDeformableContactProjection::applyDynamicFriction(TVStack& f)
}
}
// add friction contribution from Face vs. Node
if (m_nodeRigidConstraints.find(i) != NULL)
{
btAlignedObjectArray<btDeformableNodeRigidContactConstraint>& constraintsList = *m_nodeRigidConstraints[i];
@@ -388,7 +358,8 @@ void btDeformableContactProjection::applyDynamicFriction(TVStack& f)
f[i] += constraint.getDv(node)* (1./node->m_im);
}
}
// todo xuchenhan@
// add friction contribution from Face vs. Rigid
if (m_faceRigidConstraints.find(i) != NULL)
{
btAlignedObjectArray<btDeformableFaceRigidContactConstraint*>& constraintsList = *m_faceRigidConstraints[i];
@@ -398,40 +369,17 @@ void btDeformableContactProjection::applyDynamicFriction(TVStack& f)
btSoftBody::Face* face = constraint->getContact()->m_face;
// it's ok to add the friction force generated by the entire impulse here because the normal component of the residual will be projected out anyway.
// todo xuchenhan@: figure out the index for m_faceRigidConstraints
// f[i] += constraint.getDv(face->m_n[0])* (1./face->m_n[0]->m_im);
// f[i] += constraint.getDv(face->m_n[1])* (1./face->m_n[1]->m_im);
// f[i] += constraint.getDv(face->m_n[2])* (1./face->m_n[2]->m_im);
for (int k = 0; k < 3; ++k)
{
if (face->m_n[0]->index == i)
{
f[i] += constraint->getDv(face->m_n[k])* (1./face->m_n[k]->m_im);
break;
}
}
}
}
}
// for (int index = 0; index < m_constraints.size(); ++index)
// {
// const DeformableContactConstraint& constraint = *m_constraints.getAtIndex(index);
// const btSoftBody::Node* node = constraint.m_node;
// if (node == NULL)
// continue;
// size_t i = m_constraints.getKeyAtIndex(index).getUid1();
// bool has_static_constraint = false;
//
// // apply dynamic friction force (scaled by dt) if the node does not have static friction constraint
// for (int j = 0; j < constraint.m_static.size(); ++j)
// {
// if (constraint.m_static[j])
// {
// has_static_constraint = true;
// break;
// }
// }
// for (int j = 0; j < constraint.m_total_tangent_dv.size(); ++j)
// {
// btVector3 friction_force = constraint.m_total_tangent_dv[j] * (1./node->m_im);
// if (!has_static_constraint)
// {
// f[i] += friction_force;
// }
// }
// }
}
void btDeformableContactProjection::reinitialize(bool nodeUpdated)