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refactor contact solve

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This commit is contained in:
Xuchen Han
2019-08-23 13:41:14 -07:00
parent ccd8c3a47c
commit 6beeac7065
18 changed files with 597 additions and 309 deletions
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15
src/BulletSoftBody/btDeformableContactProjection.cpp
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@@ -17,10 +17,9 @@
#include "btDeformableMultiBodyDynamicsWorld.h"
#include <algorithm>
#include <cmath>
void btDeformableContactProjection::update()
btScalar btDeformableContactProjection::update()
{
// m_world->getSolverInfo().m_numIterations = 1;
btScalar residualSquare = 0;
// loop through constraints to set constrained values
for (int index = 0; index < m_constraints.size(); ++index)
{
@@ -129,21 +128,28 @@ void btDeformableContactProjection::update()
}
}
impulse = impulse_normal + impulse_tangent;
// dn is the normal component of velocity diffrerence. Approximates the residual.
residualSquare = btMax(residualSquare, dn*dn);
if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
{
if (rigidCol)
{
rigidCol->applyImpulse(impulse, c->m_c1);
}
}
else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
{
if (multibodyLinkCol)
{
multibodyLinkCol->m_multiBody->processDeltaVeeMultiDof2(); // make sure velocity is up-to-date;
// apply normal component of the impulse
multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_normal, impulse.dot(cti.m_normal));
if (impulse_tangent.norm() > SIMD_EPSILON)
{
// apply tangential component of the impulse
const btScalar* deltaV_t1 = &c->jacobianData_t1.m_deltaVelocitiesUnitImpulse[0];
const btScalar* deltaV_t1 = &c->jacobianData_t1.m_deltaVelocitiesUnitImpulse[0];
multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_t1, impulse.dot(c->t1));
const btScalar* deltaV_t2 = &c->jacobianData_t2.m_deltaVelocitiesUnitImpulse[0];
multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_t2, impulse.dot(c->t2));
@@ -153,6 +159,7 @@ void btDeformableContactProjection::update()
}
}
}
return residualSquare;
}
void btDeformableContactProjection::setConstraints()