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Merge pull request #2462 from xhan0619/master

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Deformable Improvement
This commit is contained in:
erwincoumans
2019-10-31 15:13:21 -07:00
committed by GitHub
parent bda04cf904 93835c195b
commit aac7370179
5 changed files with 78 additions and 27 deletions
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2
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -1458,7 +1458,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
BodyJointInfoCache* bodyJoints = new BodyJointInfoCache;
m_data->m_bodyJointMap.insert(bodyUniqueId, bodyJoints);
bodyJoints->m_bodyName = serverCmd.m_dataStreamArguments.m_bodyName;
bodyJoints->m_baseName = "baseLink";
bodyJoints->m_baseName = serverCmd.m_dataStreamArguments.m_bodyName;
if (bf.ok())
{

2
examples/SharedMemory/PhysicsDirect.cpp
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@@ -1218,7 +1218,7 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
BodyJointInfoCache2* bodyJoints = new BodyJointInfoCache2;
m_data->m_bodyJointMap.insert(bodyUniqueId, bodyJoints);
bodyJoints->m_bodyName = serverCmd.m_dataStreamArguments.m_bodyName;
bodyJoints->m_baseName = "baseLink";
bodyJoints->m_baseName = serverCmd.m_dataStreamArguments.m_bodyName;
break;
}
case CMD_SYNC_USER_DATA_FAILED:

16
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3463,8 +3463,6 @@ int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char*
btDefaultSerializer ser(bufferSizeInBytes, (unsigned char*)bufferServerToClient);
ser.startSerialization();
ser.registerNameForPointer(sb, bodyHandle->m_bodyName.c_str());
int len = sb->calculateSerializeBufferSize();
btChunk* chunk = ser.allocate(len, 1);
const char* structType = sb->serialize(chunk->m_oldPtr, &ser);
@@ -7259,6 +7257,7 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
serverCmd.m_numDataStreamBytes = sizeof(SendActualStateSharedMemoryStorage);
serverCmd.m_sendActualStateArgs.m_stateDetails = 0;
serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[0] =
body->m_rootLocalInertialFrame.getOrigin()[0];
serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[1] =
@@ -7275,11 +7274,12 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[6] =
body->m_rootLocalInertialFrame.getRotation()[3];
btVector3 center_of_mass(sb->getCenterOfMass());
btTransform tr = sb->getWorldTransform();
//base position in world space, cartesian
stateDetails->m_actualStateQ[0] = tr.getOrigin()[0];
stateDetails->m_actualStateQ[1] = tr.getOrigin()[1];
stateDetails->m_actualStateQ[2] = tr.getOrigin()[2];
stateDetails->m_actualStateQ[0] = center_of_mass[0];
stateDetails->m_actualStateQ[1] = center_of_mass[1];
stateDetails->m_actualStateQ[2] = center_of_mass[2];
//base orientation, quaternion x,y,z,w, in world space, cartesian
stateDetails->m_actualStateQ[3] = tr.getRotation()[0];
@@ -8227,6 +8227,12 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
serverStatusOut.m_loadSoftBodyResultArguments.m_objectUniqueId = bodyUniqueId;
serverStatusOut.m_type = CMD_LOAD_SOFT_BODY_COMPLETED;
int pos = strlen(relativeFileName)-1;
while(pos>=0 && relativeFileName[pos]!='/') { pos--;}
btAssert(strlen(relativeFileName)-pos-5>0);
std::string object_name (std::string(relativeFileName).substr(pos+1, strlen(relativeFileName)- 5 - pos));
bodyHandle->m_bodyName = object_name;
int streamSizeInBytes = createBodyInfoStream(bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
serverStatusOut.m_numDataStreamBytes = streamSizeInBytes;

74
src/BulletSoftBody/btDeformableContactConstraint.cpp
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@@ -14,7 +14,6 @@
*/
#include "btDeformableContactConstraint.h"
/* ================ Deformable Node Anchor =================== */
btDeformableNodeAnchorConstraint::btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& a)
: m_anchor(&a)
@@ -216,12 +215,11 @@ btScalar btDeformableRigidContactConstraint::solveConstraint()
btVector3 impulse = m_contact->m_c0 * vr;
const btVector3 impulse_normal = m_contact->m_c0 * (cti.m_normal * dn);
btVector3 impulse_tangent = impulse - impulse_normal;
btVector3 old_total_tangent_dv = m_total_tangent_dv;
// m_c2 is the inverse mass of the deformable node/face
m_total_normal_dv -= impulse_normal * m_contact->m_c2;
m_total_tangent_dv -= impulse_tangent * m_contact->m_c2;
if (m_total_normal_dv.dot(cti.m_normal) < 0)
{
// separating in the normal direction
@@ -236,13 +234,13 @@ btScalar btDeformableRigidContactConstraint::solveConstraint()
// dynamic friction
// with dynamic friction, the impulse are still applied to the two objects colliding, however, it does not pose a constraint in the cg solve, hence the change to dv merely serves to update velocity in the contact iterations.
m_static = false;
if (m_total_tangent_dv.norm() < SIMD_EPSILON)
if (m_total_tangent_dv.safeNorm() < SIMD_EPSILON)
{
m_total_tangent_dv = btVector3(0,0,0);
}
else
{
m_total_tangent_dv = m_total_tangent_dv.normalized() * m_total_normal_dv.norm() * m_contact->m_c3;
m_total_tangent_dv = m_total_tangent_dv.normalized() * m_total_normal_dv.safeNorm() * m_contact->m_c3;
}
impulse_tangent = -btScalar(1)/m_contact->m_c2 * (m_total_tangent_dv - old_total_tangent_dv);
}
@@ -255,7 +253,6 @@ btScalar btDeformableRigidContactConstraint::solveConstraint()
impulse = impulse_normal + impulse_tangent;
// apply impulse to deformable nodes involved and change their velocities
applyImpulse(impulse);
// apply impulse to the rigid/multibodies involved and change their velocities
if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
{
@@ -361,12 +358,32 @@ void btDeformableFaceRigidContactConstraint::applyImpulse(const btVector3& impul
const btSoftBody::DeformableFaceRigidContact* contact = getContact();
btVector3 dv = impulse * contact->m_c2;
btSoftBody::Face* face = contact->m_face;
if (face->m_n[0]->m_im > 0)
face->m_n[0]->m_v -= dv * contact->m_weights[0];
if (face->m_n[1]->m_im > 0)
face->m_n[1]->m_v -= dv * contact->m_weights[1];
if (face->m_n[2]->m_im > 0)
face->m_n[2]->m_v -= dv * contact->m_weights[2];
btVector3& v0 = face->m_n[0]->m_v;
btVector3& v1 = face->m_n[1]->m_v;
btVector3& v2 = face->m_n[2]->m_v;
const btScalar& im0 = face->m_n[0]->m_im;
const btScalar& im1 = face->m_n[1]->m_im;
const btScalar& im2 = face->m_n[2]->m_im;
if (im0 > 0)
v0 -= dv * contact->m_weights[0];
if (im1 > 0)
v1 -= dv * contact->m_weights[1];
if (im2 > 0)
v2 -= dv * contact->m_weights[2];
// apply strain limiting to prevent undamped modes
btScalar m01 = (btScalar(1)/(im0 + im1));
btScalar m02 = (btScalar(1)/(im0 + im2));
btScalar m12 = (btScalar(1)/(im1 + im2));
btVector3 dv0 = im0 * (m01 * (v1-v0) + m02 * (v2-v0));
btVector3 dv1 = im1 * (m01 * (v0-v1) + m12 * (v2-v1));
btVector3 dv2 = im2 * (m12 * (v1-v2) + m02 * (v0-v2));
v0 += dv0;
v1 += dv1;
v2 += dv2;
}
/* ================ Face vs. Node =================== */
@@ -449,13 +466,13 @@ btScalar btDeformableFaceNodeContactConstraint::solveConstraint()
// dynamic friction
// with dynamic friction, the impulse are still applied to the two objects colliding, however, it does not pose a constraint in the cg solve, hence the change to dv merely serves to update velocity in the contact iterations.
m_static = false;
if (m_total_tangent_dv.norm() < SIMD_EPSILON)
if (m_total_tangent_dv.safeNorm() < SIMD_EPSILON)
{
m_total_tangent_dv = btVector3(0,0,0);
}
else
{
m_total_tangent_dv = m_total_tangent_dv.normalized() * m_total_normal_dv.norm() * m_contact->m_friction;
m_total_tangent_dv = m_total_tangent_dv.normalized() * m_total_normal_dv.safeNorm() * m_contact->m_friction;
}
impulse_tangent = -btScalar(1)/m_node->m_im * (m_total_tangent_dv - old_total_tangent_dv);
}
@@ -482,16 +499,33 @@ void btDeformableFaceNodeContactConstraint::applyImpulse(const btVector3& impuls
}
btSoftBody::Face* face = contact->m_face;
if (face->m_n[0]->m_im > 0)
btVector3& v0 = face->m_n[0]->m_v;
btVector3& v1 = face->m_n[1]->m_v;
btVector3& v2 = face->m_n[2]->m_v;
const btScalar& im0 = face->m_n[0]->m_im;
const btScalar& im1 = face->m_n[1]->m_im;
const btScalar& im2 = face->m_n[2]->m_im;
if (im0 > 0)
{
face->m_n[0]->m_v -= dvb * contact->m_weights[0];
v0 -= dvb * contact->m_weights[0];
}
if (face->m_n[1]->m_im > 0)
if (im1 > 0)
{
face->m_n[1]->m_v -= dvb * contact->m_weights[1];
v1 -= dvb * contact->m_weights[1];
}
if (face->m_n[2]->m_im > 0)
if (im2 > 0)
{
face->m_n[2]->m_v -= dvb * contact->m_weights[2];
v2 -= dvb * contact->m_weights[2];
}
// todo: Face node constraints needs more work
// btScalar m01 = (btScalar(1)/(im0 + im1));
// btScalar m02 = (btScalar(1)/(im0 + im2));
// btScalar m12 = (btScalar(1)/(im1 + im2));
//
// btVector3 dv0 = im0 * (m01 * (v1-v0) + m02 * (v2-v0));
// btVector3 dv1 = im1 * (m01 * (v0-v1) + m12 * (v2-v1));
// btVector3 dv2 = im2 * (m12 * (v1-v2) + m02 * (v0-v2));
// v0 += dv0;
// v1 += dv1;
// v2 += dv2;
}

11
src/BulletSoftBody/btSoftBody.h
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@@ -20,6 +20,7 @@ subject to the following restrictions:
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btIDebugDraw.h"
#include "LinearMath/btVector3.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "BulletCollision/CollisionShapes/btConcaveShape.h"
@@ -973,6 +974,16 @@ public:
/* Return the volume */
btScalar getVolume() const;
/* Cluster count */
btVector3 getCenterOfMass() const
{
btVector3 com(0, 0, 0);
for (int i = 0; i < m_nodes.size(); i++)
{
com += (m_nodes[i].m_x * this->getMass(i));
}
com /= this->getTotalMass();
return com;
}
int clusterCount() const;
/* Cluster center of mass */
static btVector3 clusterCom(const Cluster* cluster);