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move deformation update to before explicit force calculation to prevent repetition of F calculation

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Xuchen Han
2019-08-19 11:30:25 -07:00
parent 74adce7322
commit 54bd93aad2
4 changed files with 23 additions and 15 deletions
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16
src/BulletSoftBody/btDeformableCorotatedForce.h
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@@ -2,7 +2,7 @@
Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2016 Google Inc. http://bulletphysics.org
Copyright (c) 2019 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
@@ -63,10 +63,8 @@ public:
for (int j = 0; j < psb->m_tetras.size(); ++j)
{
btSoftBody::Tetra& tetra = psb->m_tetras[j];
updateDs(tetra);
btMatrix3x3 F = tetra.m_ds * tetra.m_Dm_inverse;
btMatrix3x3 P;
firstPiola(F,P);
firstPiola(tetra.m_F,P);
btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col);
btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose();
@@ -106,16 +104,6 @@ public:
P += (F-R) * 2 * m_mu;
}
}
void updateDs(btSoftBody::Tetra& t)
{
btVector3 c1 = t.m_n[1]->m_q - t.m_n[0]->m_q;
btVector3 c2 = t.m_n[2]->m_q - t.m_n[0]->m_q;
btVector3 c3 = t.m_n[3]->m_q - t.m_n[0]->m_q;
btMatrix3x3 Ds(c1.getX(), c2.getX(), c3.getX(),
c1.getY(), c2.getY(), c3.getY(),
c1.getZ(), c2.getZ(), c3.getZ());
t.m_ds = Ds;
}
virtual void addScaledForceDifferential(btScalar scale, const TVStack& dv, TVStack& df)
{