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deformable code refactor

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This commit is contained in:
Xuchen Han
2019-07-21 18:32:54 -07:00
parent dc10336d45
commit a90cad2a96
17 changed files with 1065 additions and 382 deletions
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51
src/BulletSoftBody/btCGProjection.h
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@@ -8,53 +8,61 @@
#define BT_CG_PROJECTION_H
#include "btSoftBody.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
#include <unordered_map>
class btDeformableRigidDynamicsWorld;
struct Constraint
struct DeformableContactConstraint
{
btAlignedObjectArray<const btSoftBody::RContact*> m_contact;
btAlignedObjectArray<btVector3> m_direction;
btAlignedObjectArray<btScalar> m_value;
// the magnitude of the total impulse the node applied to the rb in the normal direction in the cg solve
btAlignedObjectArray<btScalar> m_accumulated_normal_impulse;
btAlignedObjectArray<btMultiBodyJacobianData> m_normal_jacobian;
Constraint(const btSoftBody::RContact& rcontact)
DeformableContactConstraint(const btSoftBody::RContact& rcontact, const btMultiBodyJacobianData& jacobian)
{
append(rcontact);
append(rcontact, jacobian);
}
Constraint(const btVector3 dir)
DeformableContactConstraint(const btVector3 dir)
{
m_contact.push_back(nullptr);
m_direction.push_back(dir);
m_value.push_back(0);
m_accumulated_normal_impulse.push_back(0);
btMultiBodyJacobianData j;
m_normal_jacobian.push_back(j);
}
Constraint()
DeformableContactConstraint()
{
m_contact.push_back(nullptr);
m_direction.push_back(btVector3(0,0,0));
m_value.push_back(0);
m_accumulated_normal_impulse.push_back(0);
btMultiBodyJacobianData j;
m_normal_jacobian.push_back(j);
}
void append(const btSoftBody::RContact& rcontact)
void append(const btSoftBody::RContact& rcontact, const btMultiBodyJacobianData& jacobian)
{
m_contact.push_back(&rcontact);
m_direction.push_back(rcontact.m_cti.m_normal);
m_value.push_back(0);
m_accumulated_normal_impulse.push_back(0);
m_normal_jacobian.push_back(jacobian);
}
~Constraint()
~DeformableContactConstraint()
{
}
};
struct Friction
struct DeformableFrictionConstraint
{
btAlignedObjectArray<bool> m_static; // whether the friction is static
@@ -69,16 +77,24 @@ struct Friction
btAlignedObjectArray<btVector3> m_direction_prev;
btAlignedObjectArray<bool> m_released; // whether the contact is released
btAlignedObjectArray<btMultiBodyJacobianData> m_complementary_jacobian;
btAlignedObjectArray<btVector3> m_complementaryDirection;
// the total impulse the node applied to the rb in the tangential direction in the cg solve
btAlignedObjectArray<btVector3> m_accumulated_tangent_impulse;
Friction()
DeformableFrictionConstraint()
{
append();
}
DeformableFrictionConstraint(const btVector3& complementaryDir, const btMultiBodyJacobianData& jacobian)
{
append();
addJacobian(complementaryDir, jacobian);
}
void append()
{
m_static.push_back(false);
@@ -96,6 +112,13 @@ struct Friction
m_accumulated_tangent_impulse.push_back(btVector3(0,0,0));
m_released.push_back(false);
}
void addJacobian(const btVector3& complementaryDir, const btMultiBodyJacobianData& jacobian)
{
m_complementary_jacobian.push_back(jacobian);
m_complementaryDirection.push_back(complementaryDir);
}
};
class btCGProjection
@@ -109,8 +132,6 @@ public:
btDeformableRigidDynamicsWorld* m_world;
std::unordered_map<btSoftBody::Node *, size_t> m_indices;
const btScalar& m_dt;
std::unordered_map<btSoftBody::Node *, btAlignedObjectArray<Constraint> > m_constraints;
std::unordered_map<btSoftBody::Node *, btAlignedObjectArray<Friction> > m_frictions;
btCGProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt)
: m_softBodies(softBodies)
@@ -123,19 +144,17 @@ public:
}
// apply the constraints
virtual void operator()(TVStack& x) = 0;
virtual void project(TVStack& x) = 0;
virtual void setConstraints() = 0;
// update the constraints
virtual void update(const TVStack& dv, const TVStack& backup_v) = 0;
virtual void update() = 0;
virtual void reinitialize(bool nodeUpdated)
{
if (nodeUpdated)
updateId();
m_constraints.clear();
m_frictions.clear();
}
void updateId()