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switch explicit elastic force

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This commit is contained in:
Xuchen Han
2019-07-17 15:58:55 -07:00
parent 2fc376e8f5
commit 7846dd38dd
13 changed files with 193 additions and 77 deletions
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36
src/BulletSoftBody/btBackwardEulerObjective.h
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@@ -76,15 +76,6 @@ class btBackwardEulerObjective
{
public:
using TVStack = btAlignedObjectArray<btVector3>;
// struct DefaultPreconditioner
// {
// void operator()(const TVStack& x, TVStack& b)
// {
// btAssert(b.size() == x.size());
// for (int i = 0; i < b.size(); ++i)
// b[i] = x[i];
// }
// };
btScalar m_dt;
btConjugateGradient<btBackwardEulerObjective> cg;
btDeformableRigidDynamicsWorld* m_world;
@@ -102,11 +93,29 @@ public:
void computeResidual(btScalar dt, TVStack& residual) const
{
// gravity is treated explicitly in predictUnconstraintMotion
// add force
// add implicit force
for (int i = 0; i < m_lf.size(); ++i)
{
m_lf[i]->addScaledForce(dt, residual);
m_lf[i]->addScaledImplicitForce(dt, residual);
}
}
void applyExplicitForce(TVStack& force)
{
for (int i = 0; i < m_lf.size(); ++i)
m_lf[i]->addScaledExplicitForce(m_dt, force);
size_t counter = 0;
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
btScalar one_over_mass = (psb->m_nodes[j].m_im == 0) ? 0 : psb->m_nodes[j].m_im;
psb->m_nodes[j].m_v += one_over_mass * force[counter];
force[counter].setZero();
counter++;
}
}
}
@@ -117,7 +126,7 @@ public:
{
norm_squared += residual[i].length2();
}
return std::sqrt(norm_squared);
return std::sqrt(norm_squared+SIMD_EPSILON);
}
void computeStep(TVStack& dv, const TVStack& residual, const btScalar& dt);
@@ -128,6 +137,7 @@ public:
{
projection.update(dv, m_backupVelocity);
}
void initialGuess(TVStack& dv, const TVStack& residual);
void reinitialize(bool nodeUpdated);