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prevent velocity of deformable from getting too big from explicit force

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This commit is contained in:
Xuchen Han
2019-10-10 14:26:44 -07:00
parent 45c4497711
commit 87546bb7c3
2 changed files with 70 additions and 27 deletions
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15
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -372,15 +372,26 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d
psb->m_sst.velmrg = psb->m_sst.sdt * 3; psb->m_sst.velmrg = psb->m_sst.sdt * 3;
psb->m_sst.radmrg = psb->getCollisionShape()->getMargin(); psb->m_sst.radmrg = psb->getCollisionShape()->getMargin();
psb->m_sst.updmrg = psb->m_sst.radmrg * (btScalar)0.25; psb->m_sst.updmrg = psb->m_sst.radmrg * (btScalar)0.25;
/* Bounds */
psb->updateBounds();
/* Integrate */ /* Integrate */
// do not allow particles to move more than 10% of the bounding box size
btScalar max_v = 0.1 * (psb->m_bounds[1]-psb->m_bounds[0]).norm() / dt;
for (i = 0, ni = psb->m_nodes.size(); i < ni; ++i) for (i = 0, ni = psb->m_nodes.size(); i < ni; ++i)
{ {
btSoftBody::Node& n = psb->m_nodes[i]; btSoftBody::Node& n = psb->m_nodes[i];
// apply drag
n.m_v *= (1 - psb->m_cfg.drag); n.m_v *= (1 - psb->m_cfg.drag);
// scale velocity back
if (n.m_v.norm() > max_v)
{
n.m_v.safeNormalize();
n.m_v *= max_v;
}
n.m_q = n.m_x + n.m_v * dt; n.m_q = n.m_x + n.m_v * dt;
} }
/* Bounds */
psb->updateBounds();
/* Nodes */ /* Nodes */
ATTRIBUTE_ALIGNED16(btDbvtVolume) ATTRIBUTE_ALIGNED16(btDbvtVolume)
vol; vol;

82
src/BulletSoftBody/btSoftBody.cpp
View File

@@ -2428,31 +2428,63 @@ void btSoftBody::updateBounds()
m_bounds[1] = btVector3(1000, 1000, 1000); m_bounds[1] = btVector3(1000, 1000, 1000);
} else {*/ } else {*/
if (m_ndbvt.m_root) // if (m_ndbvt.m_root)
{ // {
const btVector3& mins = m_ndbvt.m_root->volume.Mins(); // const btVector3& mins = m_ndbvt.m_root->volume.Mins();
const btVector3& maxs = m_ndbvt.m_root->volume.Maxs(); // const btVector3& maxs = m_ndbvt.m_root->volume.Maxs();
const btScalar csm = getCollisionShape()->getMargin(); // const btScalar csm = getCollisionShape()->getMargin();
const btVector3 mrg = btVector3(csm, // const btVector3 mrg = btVector3(csm,
csm, // csm,
csm) * // csm) *
1; // ??? to investigate... // 1; // ??? to investigate...
m_bounds[0] = mins - mrg; // m_bounds[0] = mins - mrg;
m_bounds[1] = maxs + mrg; // m_bounds[1] = maxs + mrg;
if (0 != getBroadphaseHandle()) // if (0 != getBroadphaseHandle())
{ // {
m_worldInfo->m_broadphase->setAabb(getBroadphaseHandle(), // m_worldInfo->m_broadphase->setAabb(getBroadphaseHandle(),
m_bounds[0], // m_bounds[0],
m_bounds[1], // m_bounds[1],
m_worldInfo->m_dispatcher); // m_worldInfo->m_dispatcher);
} // }
} // }
else // else
{ // {
m_bounds[0] = // m_bounds[0] =
m_bounds[1] = btVector3(0, 0, 0); // m_bounds[1] = btVector3(0, 0, 0);
} // }
//} if (m_nodes.size())
{
btVector3 mins = m_nodes[0].m_x;
btVector3 maxs = m_nodes[0].m_x;
for (int i = 1; i < m_nodes.size(); ++i)
{
for (int d = 0; d < 3; ++d)
{
if (m_nodes[i].m_x[d] > maxs[d])
maxs[d] = m_nodes[i].m_x[d];
if (m_nodes[i].m_x[d] < mins[d])
mins[d] = m_nodes[i].m_x[d];
}
}
const btScalar csm = getCollisionShape()->getMargin();
const btVector3 mrg = btVector3(csm,
csm,
csm);
m_bounds[0] = mins - mrg;
m_bounds[1] = maxs + mrg;
if (0 != getBroadphaseHandle())
{
m_worldInfo->m_broadphase->setAabb(getBroadphaseHandle(),
m_bounds[0],
m_bounds[1],
m_worldInfo->m_dispatcher);
}
}
else
{
m_bounds[0] =
m_bounds[1] = btVector3(0, 0, 0);
}
} }
// //