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add position error into deformable vs. rigid solve

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This commit is contained in:
Xuchen Han
2019-12-31 19:18:37 -08:00
parent 78a8ddb466
commit a274bcbfa3
10 changed files with 33 additions and 33 deletions
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8
examples/DeformableDemo/GraspDeformable.cpp
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@@ -275,12 +275,12 @@ void GraspDeformable::initPhysics()
{ {
char absolute_path[1024]; char absolute_path[1024];
b3BulletDefaultFileIO fileio; b3BulletDefaultFileIO fileio;
// fileio.findResourcePath("ditto.vtk", absolute_path, 1024); fileio.findResourcePath("ditto.vtk", absolute_path, 1024);
// fileio.findResourcePath("banana.vtk", absolute_path, 1024); // fileio.findResourcePath("banana.vtk", absolute_path, 1024);
// fileio.findResourcePath("ball.vtk", absolute_path, 1024); // fileio.findResourcePath("ball.vtk", absolute_path, 1024);
// fileio.findResourcePath("deformable_crumpled_napkin_sim.vtk", absolute_path, 1024); // fileio.findResourcePath("deformable_crumpled_napkin_sim.vtk", absolute_path, 1024);
// fileio.findResourcePath("single_tet.vtk", absolute_path, 1024); // fileio.findResourcePath("single_tet.vtk", absolute_path, 1024);
fileio.findResourcePath("tube.vtk", absolute_path, 1024); // fileio.findResourcePath("tube.vtk", absolute_path, 1024);
// fileio.findResourcePath("torus.vtk", absolute_path, 1024); // fileio.findResourcePath("torus.vtk", absolute_path, 1024);
// fileio.findResourcePath("paper_roll.vtk", absolute_path, 1024); // fileio.findResourcePath("paper_roll.vtk", absolute_path, 1024);
// fileio.findResourcePath("bread.vtk", absolute_path, 1024); // fileio.findResourcePath("bread.vtk", absolute_path, 1024);
@@ -295,8 +295,8 @@ void GraspDeformable::initPhysics()
// psb->scale(btVector3(30, 30, 30)); // for banana // psb->scale(btVector3(30, 30, 30)); // for banana
psb->scale(btVector3(.7, .7, .7)); psb->scale(btVector3(.7, .7, .7));
// psb->scale(btVector3(2, 2, 2)); // psb->scale(btVector3(2, 2, 2));
psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot // psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot
// psb->scale(btVector3(.1, .1, .1)); // for ditto psb->scale(btVector3(.1, .1, .1)); // for ditto
// psb->translate(btVector3(.25, 10, 0.4)); // psb->translate(btVector3(.25, 10, 0.4));
psb->getCollisionShape()->setMargin(0.0005); psb->getCollisionShape()->setMargin(0.0005);
psb->setMaxStress(50); psb->setMaxStress(50);

2
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
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@@ -82,7 +82,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_numIterations = 10; m_numIterations = 10;
m_erp = btScalar(0.2); m_erp = btScalar(0.2);
m_erp2 = btScalar(0.2); m_erp2 = btScalar(0.2);
m_deformable_erp = btScalar(0.0); m_deformable_erp = btScalar(0.1);
m_globalCfm = btScalar(0.); m_globalCfm = btScalar(0.);
m_frictionERP = btScalar(0.2); //positional friction 'anchors' are disabled by default m_frictionERP = btScalar(0.2); //positional friction 'anchors' are disabled by default
m_frictionCFM = btScalar(0.); m_frictionCFM = btScalar(0.);

4
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -234,10 +234,10 @@ void btDeformableBodySolver::setConstraints(const btContactSolverInfo& infoGloba
m_objective->setConstraints(infoGlobal); m_objective->setConstraints(infoGlobal);
} }
btScalar btDeformableBodySolver::solveContactConstraints(btCollisionObject** deformableBodies,int numDeformableBodies) btScalar btDeformableBodySolver::solveContactConstraints(btCollisionObject** deformableBodies,int numDeformableBodies, const btContactSolverInfo& infoGlobal)
{ {
BT_PROFILE("solveContactConstraints"); BT_PROFILE("solveContactConstraints");
btScalar maxSquaredResidual = m_objective->m_projection.update(deformableBodies,numDeformableBodies); btScalar maxSquaredResidual = m_objective->m_projection.update(deformableBodies,numDeformableBodies, infoGlobal);
return maxSquaredResidual; return maxSquaredResidual;
} }

2
src/BulletSoftBody/btDeformableBodySolver.h
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@@ -65,7 +65,7 @@ public:
virtual void solveDeformableConstraints(btScalar solverdt); virtual void solveDeformableConstraints(btScalar solverdt);
// solve the contact between deformable and rigid as well as among deformables // solve the contact between deformable and rigid as well as among deformables
btScalar solveContactConstraints(btCollisionObject** deformableBodies,int numDeformableBodies); btScalar solveContactConstraints(btCollisionObject** deformableBodies,int numDeformableBodies, const btContactSolverInfo& infoGlobal);
// solve the position error between deformable and rigid as well as among deformables; // solve the position error between deformable and rigid as well as among deformables;
btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal); btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal);

18
src/BulletSoftBody/btDeformableContactConstraint.cpp
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@@ -79,7 +79,7 @@ btVector3 btDeformableNodeAnchorConstraint::getVa() const
return va; return va;
} }
btScalar btDeformableNodeAnchorConstraint::solveConstraint() btScalar btDeformableNodeAnchorConstraint::solveConstraint(const btContactSolverInfo& infoGlobal)
{ {
const btSoftBody::sCti& cti = m_anchor->m_cti; const btSoftBody::sCti& cti = m_anchor->m_cti;
btVector3 va = getVa(); btVector3 va = getVa();
@@ -141,7 +141,7 @@ btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btS
m_total_normal_dv.setZero(); m_total_normal_dv.setZero();
m_total_tangent_dv.setZero(); m_total_tangent_dv.setZero();
// The magnitude of penetration is the depth of penetration. // The magnitude of penetration is the depth of penetration.
m_penetration = c.m_cti.m_offset; m_penetration = btMin(btScalar(0),c.m_cti.m_offset);
} }
btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btDeformableRigidContactConstraint& other) btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btDeformableRigidContactConstraint& other)
@@ -206,16 +206,16 @@ btVector3 btDeformableRigidContactConstraint::getVa() const
return va; return va;
} }
btScalar btDeformableRigidContactConstraint::solveConstraint() btScalar btDeformableRigidContactConstraint::solveConstraint(const btContactSolverInfo& infoGlobal)
{ {
const btSoftBody::sCti& cti = m_contact->m_cti; const btSoftBody::sCti& cti = m_contact->m_cti;
btVector3 va = getVa(); btVector3 va = getVa();
btVector3 vb = getVb(); btVector3 vb = getVb();
btVector3 vr = vb - va; btVector3 vr = vb - va;
const btScalar dn = btDot(vr, cti.m_normal); const btScalar dn = btDot(vr, cti.m_normal) + m_penetration * infoGlobal.m_deformable_erp / infoGlobal.m_timeStep;
// dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt // dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt
btScalar residualSquare = dn*dn; btScalar residualSquare = dn*dn;
btVector3 impulse = m_contact->m_c0 * vr; btVector3 impulse = m_contact->m_c0 * (vr + m_penetration * infoGlobal.m_deformable_erp / infoGlobal.m_timeStep * cti.m_normal) ;
const btVector3 impulse_normal = m_contact->m_c0 * (cti.m_normal * dn); const btVector3 impulse_normal = m_contact->m_c0 * (cti.m_normal * dn);
btVector3 impulse_tangent = impulse - impulse_normal; btVector3 impulse_tangent = impulse - impulse_normal;
btVector3 old_total_tangent_dv = m_total_tangent_dv; btVector3 old_total_tangent_dv = m_total_tangent_dv;
@@ -457,9 +457,9 @@ void btDeformableFaceRigidContactConstraint::applyImpulse(const btVector3& impul
btScalar m02 = (relaxation/(im0 + im2)); btScalar m02 = (relaxation/(im0 + im2));
btScalar m12 = (relaxation/(im1 + im2)); btScalar m12 = (relaxation/(im1 + im2));
// btVector3 dv0 = im0 * (m01 * (v1-v0) + m02 * (v2-v0)); // btVector3 dv0 = im0 * (m01 * (v1-v0) + m02 * (v2-v0));
// btVector3 dv1 = im1 * (m01 * (v0-v1) + m12 * (v2-v1)); // btVector3 dv1 = im1 * (m01 * (v0-v1) + m12 * (v2-v1));
// btVector3 dv2 = im2 * (m12 * (v1-v2) + m02 * (v0-v2)); // btVector3 dv2 = im2 * (m12 * (v1-v2) + m02 * (v0-v2));
btVector3 dv0 = im0 * (m01 * u[0]*(-dn[0]) + m02 * u[1]*-(dn[1])); btVector3 dv0 = im0 * (m01 * u[0]*(-dn[0]) + m02 * u[1]*-(dn[1]));
btVector3 dv1 = im1 * (m01 * u[0]*(dn[0]) + m12 * u[2]*(-dn[2])); btVector3 dv1 = im1 * (m01 * u[0]*(dn[0]) + m12 * u[2]*(-dn[2]));
@@ -530,7 +530,7 @@ btVector3 btDeformableFaceNodeContactConstraint::getDv(const btSoftBody::Node* n
return dv * contact->m_weights[2]; return dv * contact->m_weights[2];
} }
btScalar btDeformableFaceNodeContactConstraint::solveConstraint() btScalar btDeformableFaceNodeContactConstraint::solveConstraint(const btContactSolverInfo& infoGlobal)
{ {
btVector3 va = getVa(); btVector3 va = getVa();
btVector3 vb = getVb(); btVector3 vb = getVb();

10
src/BulletSoftBody/btDeformableContactConstraint.h
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@@ -50,7 +50,7 @@ public:
// solve the constraint with inelastic impulse and return the error, which is the square of normal component of velocity diffrerence // solve the constraint with inelastic impulse and return the error, which is the square of normal component of velocity diffrerence
// the constraint is solved by calculating the impulse between object A and B in the contact and apply the impulse to both objects involved in the contact // the constraint is solved by calculating the impulse between object A and B in the contact and apply the impulse to both objects involved in the contact
virtual btScalar solveConstraint() = 0; virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal) = 0;
// solve the position error by applying an inelastic impulse that changes only the position (not velocity) // solve the position error by applying an inelastic impulse that changes only the position (not velocity)
virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal) = 0; virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal) = 0;
@@ -93,7 +93,7 @@ public:
virtual ~btDeformableStaticConstraint(){} virtual ~btDeformableStaticConstraint(){}
virtual btScalar solveConstraint() virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal)
{ {
return 0; return 0;
} }
@@ -136,7 +136,7 @@ public:
virtual ~btDeformableNodeAnchorConstraint() virtual ~btDeformableNodeAnchorConstraint()
{ {
} }
virtual btScalar solveConstraint(); virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal);
virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal) virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal)
{ {
// todo xuchenhan@ // todo xuchenhan@
@@ -179,7 +179,7 @@ public:
// object A is the rigid/multi body, and object B is the deformable node/face // object A is the rigid/multi body, and object B is the deformable node/face
virtual btVector3 getVa() const; virtual btVector3 getVa() const;
virtual btScalar solveConstraint(); virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal);
virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal); virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal);
@@ -264,7 +264,7 @@ public:
btDeformableFaceNodeContactConstraint(){} btDeformableFaceNodeContactConstraint(){}
virtual ~btDeformableFaceNodeContactConstraint(){} virtual ~btDeformableFaceNodeContactConstraint(){}
virtual btScalar solveConstraint(); virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal);
virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal) virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal)
{ {

10
src/BulletSoftBody/btDeformableContactProjection.cpp
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@@ -17,7 +17,7 @@
#include "btDeformableMultiBodyDynamicsWorld.h" #include "btDeformableMultiBodyDynamicsWorld.h"
#include <algorithm> #include <algorithm>
#include <cmath> #include <cmath>
btScalar btDeformableContactProjection::update(btCollisionObject** deformableBodies,int numDeformableBodies) btScalar btDeformableContactProjection::update(btCollisionObject** deformableBodies,int numDeformableBodies, const btContactSolverInfo& infoGlobal)
{ {
btScalar residualSquare = 0; btScalar residualSquare = 0;
for (int i = 0; i < numDeformableBodies; ++i) for (int i = 0; i < numDeformableBodies; ++i)
@@ -32,25 +32,25 @@ btScalar btDeformableContactProjection::update(btCollisionObject** deformableBod
for (int k = 0; k < m_nodeRigidConstraints[j].size(); ++k) for (int k = 0; k < m_nodeRigidConstraints[j].size(); ++k)
{ {
btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[j][k]; btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[j][k];
btScalar localResidualSquare = constraint.solveConstraint(); btScalar localResidualSquare = constraint.solveConstraint(infoGlobal);
residualSquare = btMax(residualSquare, localResidualSquare); residualSquare = btMax(residualSquare, localResidualSquare);
} }
for (int k = 0; k < m_nodeAnchorConstraints[j].size(); ++k) for (int k = 0; k < m_nodeAnchorConstraints[j].size(); ++k)
{ {
btDeformableNodeAnchorConstraint& constraint = m_nodeAnchorConstraints[j][k]; btDeformableNodeAnchorConstraint& constraint = m_nodeAnchorConstraints[j][k];
btScalar localResidualSquare = constraint.solveConstraint(); btScalar localResidualSquare = constraint.solveConstraint(infoGlobal);
residualSquare = btMax(residualSquare, localResidualSquare); residualSquare = btMax(residualSquare, localResidualSquare);
} }
for (int k = 0; k < m_faceRigidConstraints[j].size(); ++k) for (int k = 0; k < m_faceRigidConstraints[j].size(); ++k)
{ {
btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[j][k]; btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[j][k];
btScalar localResidualSquare = constraint.solveConstraint(); btScalar localResidualSquare = constraint.solveConstraint(infoGlobal);
residualSquare = btMax(residualSquare, localResidualSquare); residualSquare = btMax(residualSquare, localResidualSquare);
} }
for (int k = 0; k < m_deformableConstraints[j].size(); ++k) for (int k = 0; k < m_deformableConstraints[j].size(); ++k)
{ {
btDeformableFaceNodeContactConstraint& constraint = m_deformableConstraints[j][k]; btDeformableFaceNodeContactConstraint& constraint = m_deformableConstraints[j][k];
btScalar localResidualSquare = constraint.solveConstraint(); btScalar localResidualSquare = constraint.solveConstraint(infoGlobal);
residualSquare = btMax(residualSquare, localResidualSquare); residualSquare = btMax(residualSquare, localResidualSquare);
} }
} }

2
src/BulletSoftBody/btDeformableContactProjection.h
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@@ -72,7 +72,7 @@ public:
virtual void applyDynamicFriction(TVStack& f); virtual void applyDynamicFriction(TVStack& f);
// update and solve the constraints // update and solve the constraints
virtual btScalar update(btCollisionObject** deformableBodies,int numDeformableBodies); virtual btScalar update(btCollisionObject** deformableBodies,int numDeformableBodies, const btContactSolverInfo& infoGlobal);
// solve the position error using split impulse // solve the position error using split impulse
virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal); virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal);

4
src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp
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@@ -32,7 +32,7 @@ btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations(b
m_leastSquaresResidual = solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); m_leastSquaresResidual = solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
// solver body velocity -> rigid body velocity // solver body velocity -> rigid body velocity
solverBodyWriteBack(infoGlobal); solverBodyWriteBack(infoGlobal);
btScalar deformableResidual = m_deformableSolver->solveContactConstraints(deformableBodies,numDeformableBodies); btScalar deformableResidual = m_deformableSolver->solveContactConstraints(deformableBodies,numDeformableBodies, infoGlobal);
// update rigid body velocity in rigid/deformable contact // update rigid body velocity in rigid/deformable contact
m_leastSquaresResidual = btMax(m_leastSquaresResidual, deformableResidual); m_leastSquaresResidual = btMax(m_leastSquaresResidual, deformableResidual);
// solver body velocity <- rigid body velocity // solver body velocity <- rigid body velocity
@@ -112,7 +112,7 @@ void btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlySplitImpulseI
if (infoGlobal.m_splitImpulse) if (infoGlobal.m_splitImpulse)
{ {
{ {
m_deformableSolver->splitImpulseSetup(infoGlobal); // m_deformableSolver->splitImpulseSetup(infoGlobal);
for (iteration = 0; iteration < infoGlobal.m_numIterations; iteration++) for (iteration = 0; iteration < infoGlobal.m_numIterations; iteration++)
{ {
btScalar leastSquaresResidual = 0.f; btScalar leastSquaresResidual = 0.f;

4
src/BulletSoftBody/btSoftBody.cpp
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@@ -53,7 +53,7 @@ btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo, int node_count, const btV
n.m_material = pm; n.m_material = pm;
} }
updateBounds(); updateBounds();
setCollisionQuadrature(2); setCollisionQuadrature(3);
} }
btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo) btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo)
@@ -2459,7 +2459,7 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO
: colObjWrap->getWorldTransform(); : colObjWrap->getWorldTransform();
btScalar dst; btScalar dst;
#define USE_QUADRATURE 1 //#define USE_QUADRATURE 1
//#define CACHE_PREV_COLLISION //#define CACHE_PREV_COLLISION
// use the contact position of the previous collision // use the contact position of the previous collision