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remove world dependency from btDeformableBodySolver,btDeformableBackwardEulerObjective, and btCGProjection; reduce invasion into multibody world, all chnages are cosmetic now

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This commit is contained in:
Xuchen Han
2019-08-21 22:17:46 -07:00
parent f33532273a
commit 4e1c1a30a7
16 changed files with 98 additions and 80 deletions
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25
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -30,14 +30,14 @@ btDeformableBodySolver::~btDeformableBodySolver()
delete m_objective;
}
void btDeformableBodySolver::solveConstraints(float solverdt)
void btDeformableBodySolver::solveDeformableConstraints(float solverdt)
{
BT_PROFILE("solveConstraints");
// save v_{n+1}^* velocity after explicit forces
backupVelocity();
// backupVelocity();
// add constraints to the solver
setConstraints();
// setConstraints();
m_objective->computeResidual(solverdt, m_residual);
m_objective->applyDynamicFriction(m_residual);
computeStep(m_dv, m_residual);
@@ -47,7 +47,6 @@ void btDeformableBodySolver::solveConstraints(float solverdt)
void btDeformableBodySolver::computeStep(TVStack& dv, const TVStack& residual)
{
btScalar tolerance = std::numeric_limits<float>::epsilon() * 16 * m_objective->computeNorm(residual);
m_cg.solve(*m_objective, dv, residual, tolerance);
}
@@ -78,23 +77,17 @@ void btDeformableBodySolver::setConstraints()
{
BT_PROFILE("setConstraint");
m_objective->setConstraints();
// m_contact_iterations takes over m_numIterations
m_contact_iterations = m_objective->m_world->getSolverInfo().m_numIterations;
for (int i = 0; i < m_contact_iterations; ++i)
{
m_objective->projection.update();
m_objective->enforceConstraint(m_dv);
m_objective->updateVelocity(m_dv);
}
// recover m_numIterations from m_contact_iterations
m_objective->m_world->getSolverInfo().m_numIterations = m_contact_iterations;
}
void btDeformableBodySolver::setWorld(btDeformableMultiBodyDynamicsWorld* world)
void btDeformableBodySolver::solveContactConstraints()
{
m_objective->setWorld(world);
BT_PROFILE("setConstraint");
m_objective->projection.update();
m_objective->enforceConstraint(m_dv);
m_objective->updateVelocity(m_dv);
}
void btDeformableBodySolver::updateVelocity()
{
int counter = 0;