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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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2
examples/DeformableDemo/DeformableMultibody.cpp
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@@ -122,7 +122,7 @@ void DeformableMultibody::initPhysics()
m_solver = sol;
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
deformableBodySolver->setWorld(getDeformableDynamicsWorld());
// deformableBodySolver->setWorld(getDeformableDynamicsWorld());
btVector3 gravity = btVector3(0, -10, 0);
m_dynamicsWorld->setGravity(gravity);
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;

2
examples/DeformableDemo/DeformableRigid.cpp
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@@ -164,7 +164,7 @@ void DeformableRigid::initPhysics()
m_solver = sol;
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
deformableBodySolver->setWorld(getDeformableDynamicsWorld());
// deformableBodySolver->setWorld(getDeformableDynamicsWorld());
// m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality
btVector3 gravity = btVector3(0, -10, 0);
m_dynamicsWorld->setGravity(gravity);

3
examples/DeformableDemo/GraspDeformable.cpp
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@@ -190,7 +190,7 @@ void GraspDeformable::initPhysics()
m_solver = sol;
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
deformableBodySolver->setWorld(getDeformableDynamicsWorld());
// deformableBodySolver->setWorld(getDeformableDynamicsWorld());
btVector3 gravity = btVector3(0, -9.81, 0);
m_dynamicsWorld->setGravity(gravity);
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
@@ -357,6 +357,7 @@ void GraspDeformable::initPhysics()
// linear damping
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(.5,0.04, true));
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(3,0.04, true));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableNeoHookeanForce(2,10));
}

2
examples/DeformableDemo/Pinch.cpp
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@@ -248,7 +248,7 @@ void Pinch::initPhysics()
m_solver = sol;
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
deformableBodySolver->setWorld(getDeformableDynamicsWorld());
// deformableBodySolver->setWorld(getDeformableDynamicsWorld());
// m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality
btVector3 gravity = btVector3(0, -10, 0);
m_dynamicsWorld->setGravity(gravity);

2
examples/DeformableDemo/VolumetricDeformable.cpp
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@@ -182,7 +182,7 @@ void VolumetricDeformable::initPhysics()
m_solver = sol;
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
deformableBodySolver->setWorld(getDeformableDynamicsWorld());
// deformableBodySolver->setWorld(getDeformableDynamicsWorld());
// m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality
btVector3 gravity = btVector3(0, -10, 0);
m_dynamicsWorld->setGravity(gravity);

4
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
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@@ -57,9 +57,11 @@ public:
};
void buildAndProcessIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback);
void processIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback);
void buildIslands(btDispatcher* dispatcher, btCollisionWorld* colWorld);
void processIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback);
bool getSplitIslands()
{
return m_splitIslands;

48
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -428,27 +428,41 @@ void btMultiBodyDynamicsWorld::forwardKinematics()
void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
{
solveExternalForces(solverInfo);
m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback);
buildIslands();
solveInternalConstraints(solverInfo);
}
void btMultiBodyDynamicsWorld::buildIslands()
{
m_islandManager->buildIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld());
}
void btMultiBodyDynamicsWorld::processIslands()
{
m_islandManager->processIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback);
m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback);
}
void btMultiBodyDynamicsWorld::solveInternalConstraints(btContactSolverInfo& solverInfo)
{
/// solve all the constraints for this island
m_solverMultiBodyIslandCallback->processConstraints();
m_constraintSolver->allSolved(solverInfo, m_debugDrawer);
calculateJointForce(solverInfo);
processDeltaVee();
}
void btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld::processConstraintsAndDeltaVee()
{
m_solverMultiBodyIslandCallback->processConstraints();
processDeltaVee();
}
void btMultiBodyDynamicsWorld::processDeltaVee()
{
for (int i = 0; i < this->m_multiBodies.size(); i++)
{
btMultiBody* bod = m_multiBodies[i];
bod->processDeltaVeeMultiDof2();
}
}
void btMultiBodyDynamicsWorld::calculateJointForce(btContactSolverInfo& solverInfo)
{
{
BT_PROFILE("btMultiBody stepVelocities");
for (int i = 0; i < this->m_multiBodies.size(); i++)
@@ -489,13 +503,7 @@ void btMultiBodyDynamicsWorld::solveInternalConstraints(btContactSolverInfo& sol
}
}
}
}
for (int i = 0; i < this->m_multiBodies.size(); i++)
{
btMultiBody* bod = m_multiBodies[i];
bod->processDeltaVeeMultiDof2();
}
}
}
void btMultiBodyDynamicsWorld::solveExternalForces(btContactSolverInfo& solverInfo)
@@ -1087,8 +1095,8 @@ void btMultiBodyDynamicsWorld::serializeMultiBodies(btSerializer* serializer)
}
}
}
void btMultiBodyDynamicsWorld::setSplitIslands(bool split)
{
m_islandManager->setSplitIslands(split);
}
//
//void btMultiBodyDynamicsWorld::setSplitIslands(bool split)
//{
// m_islandManager->setSplitIslands(split);
//}

7
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
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@@ -57,6 +57,7 @@ public:
virtual ~btMultiBodyDynamicsWorld();
virtual void solveConstraints(btContactSolverInfo& solverInfo);
virtual void addMultiBody(btMultiBody* body, int group = btBroadphaseProxy::DefaultFilter, int mask = btBroadphaseProxy::AllFilter);
virtual void removeMultiBody(btMultiBody* body);
@@ -118,8 +119,8 @@ public:
virtual void solveExternalForces(btContactSolverInfo& solverInfo);
virtual void solveInternalConstraints(btContactSolverInfo& solverInfo);
void buildIslands();
void processIslands();
void setSplitIslands(bool split);
void calculateJointForce(btContactSolverInfo& solverInfo);
void processDeltaVee();
void processConstraintsAndDeltaVee();
};
#endif //BT_MULTIBODY_DYNAMICS_WORLD_H

8
src/BulletSoftBody/btCGProjection.h
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@@ -20,7 +20,7 @@
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
class btDeformableMultiBodyDynamicsWorld;
//class btDeformableMultiBodyDynamicsWorld;
struct DeformableContactConstraint
{
@@ -62,7 +62,6 @@ public:
typedef btAlignedObjectArray<btAlignedObjectArray<btVector3> > TVArrayStack;
typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > TArrayStack;
btAlignedObjectArray<btSoftBody *>& m_softBodies;
btDeformableMultiBodyDynamicsWorld* m_world;
const btScalar& m_dt;
btCGProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt)
@@ -86,11 +85,6 @@ public:
virtual void reinitialize(bool nodeUpdated)
{
}
virtual void setWorld(btDeformableMultiBodyDynamicsWorld* world)
{
m_world = world;
}
};

4
src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
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@@ -151,10 +151,6 @@ void btDeformableBackwardEulerObjective::initialGuess(TVStack& dv, const TVStack
//set constraints as projections
void btDeformableBackwardEulerObjective::setConstraints()
{
// build islands for multibody solve
m_world->btMultiBodyDynamicsWorld::buildIslands();
// for repeated constraint solve, splitIslands has to be set to true
m_world->setSplitIslands(true);
projection.setConstraints();
}

12
src/BulletSoftBody/btDeformableBackwardEulerObjective.h
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@@ -26,13 +26,13 @@
#include "btDeformableMultiBodyDynamicsWorld.h"
#include "LinearMath/btQuickprof.h"
class btDeformableMultiBodyDynamicsWorld;
//class btDeformableMultiBodyDynamicsWorld;
class btDeformableBackwardEulerObjective
{
public:
typedef btAlignedObjectArray<btVector3> TVStack;
btScalar m_dt;
btDeformableMultiBodyDynamicsWorld* m_world;
// btDeformableMultiBodyDynamicsWorld* m_world;
btAlignedObjectArray<btDeformableLagrangianForce*> m_lf;
btAlignedObjectArray<btSoftBody *>& m_softBodies;
Preconditioner* m_preconditioner;
@@ -98,13 +98,7 @@ public:
{
m_preconditioner->operator()(x,b);
}
virtual void setWorld(btDeformableMultiBodyDynamicsWorld* world)
{
m_world = world;
projection.setWorld(world);
}
virtual void updateId()
{
size_t id = 0;

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;

11
src/BulletSoftBody/btDeformableBodySolver.h
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@@ -61,7 +61,11 @@ public:
void extracted(float solverdt);
virtual void solveConstraints(float solverdt);
virtual void solveDeformableConstraints(btScalar solverdt);
void solveContactConstraints();
virtual void solveConstraints(float dt){}
void reinitialize(const btAlignedObjectArray<btSoftBody *>& softBodies, btScalar dt);
@@ -77,7 +81,7 @@ public:
void computeStep(TVStack& dv, const TVStack& residual);
virtual void predictMotion(float solverdt);
virtual void predictMotion(btScalar solverdt);
virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer) {}
@@ -90,8 +94,9 @@ public:
softBody->defaultCollisionHandler(otherSoftBody);
}
virtual void optimize(btAlignedObjectArray<btSoftBody *> &softBodies, bool forceUpdate = false){}
virtual bool checkInitialized(){return true;}
virtual void setWorld(btDeformableMultiBodyDynamicsWorld* world);
};
#endif /* btDeformableBodySolver_h */

9
src/BulletSoftBody/btDeformableContactProjection.cpp
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@@ -19,13 +19,8 @@
#include <cmath>
void btDeformableContactProjection::update()
{
///solve rigid body constraints
{
// m_numIterations get temporarily to 1 so that we interleave one step of multibody solve with one step of multibody/deformable contact solve
m_world->getSolverInfo().m_numIterations = 1;
m_world->processIslands();
m_world->btMultiBodyDynamicsWorld::solveInternalConstraints(m_world->getSolverInfo()); // process constraints deferred in the previous step
}
// m_world->getSolverInfo().m_numIterations = 1;
// loop through constraints to set constrained values
for (int index = 0; index < m_constraints.size(); ++index)
{

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)

10
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
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@@ -21,11 +21,14 @@
#include "btDeformableMassSpringForce.h"
#include "btDeformableBodySolver.h"
#include "btSoftBodyHelpers.h"
#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
#include <functional>
typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
class btDeformableBodySolver;
class btDeformableLagrangianForce;
struct MultiBodyInplaceSolverIslandCallback;
typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
class btDeformableMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld
@@ -41,6 +44,7 @@ class btDeformableMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld
bool m_drawClusterTree;
btSoftBodyWorldInfo m_sbi;
btScalar m_internalTime;
int m_contact_iterations;
typedef void (*btSolverCallback)(btScalar time, btDeformableMultiBodyDynamicsWorld* world);
btSolverCallback m_solverCallback;
@@ -52,7 +56,7 @@ protected:
void positionCorrection(btScalar timeStep);
void solveDeformableBodiesConstraints(btScalar timeStep);
void solveConstraints(btScalar timeStep);
public:
btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0)
@@ -76,6 +80,7 @@ public:
m_sbi.m_sparsesdf.Initialize();
m_internalTime = 0.0;
m_contact_iterations = 1;
}
void setSolverCallback(btSolverCallback cb)
@@ -140,6 +145,9 @@ public:
int getDrawFlags() const { return (m_drawFlags); }
void setDrawFlags(int f) { m_drawFlags = f; }
void setupConstraints();
void solveMultiBodyConstraints();
};
#endif //BT_DEFORMABLE_RIGID_DYNAMICS_WORLD_H