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change deformable/multibody solve to be in dv space

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This commit is contained in:
Xuchen Han
2019-08-24 14:58:11 -07:00
parent 8b38076376
commit 908cf69f06
2 changed files with 12 additions and 9 deletions
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5
src/BulletDynamics/Featherstone/btMultiBody.h
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@@ -273,6 +273,11 @@ public:
{ {
return &m_realBuf[0]; return &m_realBuf[0];
} }
const btScalar *getDeltaVelocityVector() const
{
return &m_deltaV[0];
}
/* btScalar * getVelocityVector() /* btScalar * getVelocityVector()
{ {
return &real_buf[0]; return &real_buf[0];

16
src/BulletSoftBody/btDeformableContactProjection.cpp
View File

@@ -58,26 +58,26 @@ btScalar btDeformableContactProjection::update()
const btScalar* J_t1 = &c->jacobianData_t1.m_jacobians[0]; const btScalar* J_t1 = &c->jacobianData_t1.m_jacobians[0];
const btScalar* J_t2 = &c->jacobianData_t2.m_jacobians[0]; const btScalar* J_t2 = &c->jacobianData_t2.m_jacobians[0];
const btScalar* local_v = multibodyLinkCol->m_multiBody->getVelocityVector(); const btScalar* local_v = multibodyLinkCol->m_multiBody->getVelocityVector();
const btScalar* local_dv = multibodyLinkCol->m_multiBody->getDeltaVelocityVector();
deltaV_normal = &c->jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; deltaV_normal = &c->jacobianData_normal.m_deltaVelocitiesUnitImpulse[0];
// add in the normal component of the va // add in the normal component of the va
btScalar vel = 0.0; btScalar vel = 0.0;
for (int k = 0; k < ndof; ++k) for (int k = 0; k < ndof; ++k)
{ {
vel += local_v[k] * J_n[k]; vel += (local_v[k]+local_dv[k]) * J_n[k];
} }
va = cti.m_normal * vel * m_dt; va = cti.m_normal * vel * m_dt;
// add in the tangential components of the va // add in the tangential components of the va
vel = 0.0; vel = 0.0;
for (int k = 0; k < ndof; ++k) for (int k = 0; k < ndof; ++k)
{ {
vel += local_v[k] * J_t1[k]; vel += (local_v[k]+local_dv[k]) * J_t1[k];
} }
va += c->t1 * vel * m_dt; va += c->t1 * vel * m_dt;
vel = 0.0; vel = 0.0;
for (int k = 0; k < ndof; ++k) for (int k = 0; k < ndof; ++k)
{ {
vel += local_v[k] * J_t2[k]; vel += (local_v[k]+local_dv[k]) * J_t2[k];
} }
va += c->t2 * vel * m_dt; va += c->t2 * vel * m_dt;
} }
@@ -131,7 +131,6 @@ btScalar btDeformableContactProjection::update()
// dn is the normal component of velocity diffrerence. Approximates the residual. // dn is the normal component of velocity diffrerence. Approximates the residual.
residualSquare = btMax(residualSquare, dn*dn); residualSquare = btMax(residualSquare, dn*dn);
if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
{ {
if (rigidCol) if (rigidCol)
@@ -143,16 +142,15 @@ btScalar btDeformableContactProjection::update()
{ {
if (multibodyLinkCol) if (multibodyLinkCol)
{ {
multibodyLinkCol->m_multiBody->processDeltaVeeMultiDof2(); // make sure velocity is up-to-date;
// apply normal component of the impulse // apply normal component of the impulse
multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_normal, impulse.dot(cti.m_normal)); multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_normal, impulse.dot(cti.m_normal));
if (impulse_tangent.norm() > SIMD_EPSILON) if (impulse_tangent.norm() > SIMD_EPSILON)
{ {
// apply tangential component of the impulse // 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)); multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t1, impulse.dot(c->t1));
const btScalar* deltaV_t2 = &c->jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; const btScalar* deltaV_t2 = &c->jacobianData_t2.m_deltaVelocitiesUnitImpulse[0];
multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV_t2, impulse.dot(c->t2)); multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t2, impulse.dot(c->t2));
} }
} }
} }