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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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29
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
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@@ -33,7 +33,6 @@ The algorithm also closely resembles the one in http://physbam.stanford.edu/~fed
#include "btDeformableMultiBodyDynamicsWorld.h"
#include "btDeformableBodySolver.h"
#include "LinearMath/btQuickprof.h"
void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
{
BT_PROFILE("internalSingleStepSimulation");
@@ -52,7 +51,7 @@ void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar t
beforeSolverCallbacks(timeStep);
///solve deformable bodies constraints
solveDeformableBodiesConstraints(timeStep);
solveConstraints(timeStep);
afterSolverCallbacks(timeStep);
@@ -172,9 +171,31 @@ void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
m_deformableBodySolver->revertVelocity();
}
void btDeformableMultiBodyDynamicsWorld::solveDeformableBodiesConstraints(btScalar timeStep)
void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep)
{
m_deformableBodySolver->solveConstraints(timeStep);
// save v_{n+1}^* velocity after explicit forces
m_deformableBodySolver->backupVelocity();
// setup constraints among multibodies and between multibodies and deformable bodies
setupConstraints();
solveMultiBodyConstraints();
m_deformableBodySolver->solveDeformableConstraints(timeStep);
}
void btDeformableMultiBodyDynamicsWorld::setupConstraints()
{
m_deformableBodySolver->setConstraints();
m_islandManager->buildIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld());
}
void btDeformableMultiBodyDynamicsWorld::solveMultiBodyConstraints()
{
for (int i = 0; i < m_contact_iterations; ++i)
{
m_islandManager->processIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), (btSimulationIslandManager::IslandCallback*)m_solverMultiBodyIslandCallback);
btMultiBodyDynamicsWorld::processConstraintsAndDeltaVee();
m_deformableBodySolver->solveContactConstraints();
}
}
void btDeformableMultiBodyDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask)