Added preparation for GPU hardware accelerated solvers for BulletSoftBody (OpenCL and DirectCompute backends will follow)
Added assert to check for positive masses in btCompoundShape::calculatePrincipalAxisTransform, see Issue 399 Fixes for LLVM/GCC compilation issue in btSequentialImpulseConstraintSolver (Untested) fix for Linux 64bit compilation Issue 409
This commit is contained in:
erwin.coumans
@@ -15,6 +15,7 @@ subject to the following restrictions:
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///btSoftBody implementation by Nathanael Presson
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#include "btSoftBodyInternals.h"
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#include "BulletSoftBody/btSoftBodySolvers.h"
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//
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btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo,int node_count, const btVector3* x, const btScalar* m)
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@@ -88,6 +89,8 @@ btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo,int node_count, const btV
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updateBounds();
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m_initialWorldTransform.setIdentity();
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m_windVelocity = btVector3(0,0,0);
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}
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//
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@@ -606,6 +609,7 @@ void btSoftBody::rotate( const btQuaternion& rot)
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//
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void btSoftBody::scale(const btVector3& scl)
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{
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const btScalar margin=getCollisionShape()->getMargin();
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ATTRIBUTE_ALIGNED16(btDbvtVolume) vol;
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@@ -1488,6 +1492,7 @@ void btSoftBody::setSolver(eSolverPresets::_ preset)
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//
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void btSoftBody::predictMotion(btScalar dt)
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{
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int i,ni;
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/* Update */
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@@ -1579,6 +1584,7 @@ void btSoftBody::predictMotion(btScalar dt)
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//
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void btSoftBody::solveConstraints()
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{
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/* Apply clusters */
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applyClusters(false);
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/* Prepare links */
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@@ -1948,20 +1954,21 @@ bool btSoftBody::checkContact( btCollisionObject* colObj,
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btScalar margin,
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btSoftBody::sCti& cti) const
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{
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btVector3 nrm;
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btCollisionShape* shp=colObj->getCollisionShape();
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btRigidBody* tmpRigid = btRigidBody::upcast(colObj);
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const btTransform& wtr=tmpRigid? tmpRigid->getInterpolationWorldTransform() : colObj->getWorldTransform();
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btScalar dst=m_worldInfo->m_sparsesdf.Evaluate( wtr.invXform(x),
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shp,
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nrm,
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margin);
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btVector3 nrm;
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btCollisionShape *shp = colObj->getCollisionShape();
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btRigidBody *tmpRigid = btRigidBody::upcast(colObj);
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const btTransform &wtr = tmpRigid ? tmpRigid->getInterpolationWorldTransform() : colObj->getWorldTransform();
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btScalar dst =
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m_worldInfo->m_sparsesdf.Evaluate(
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wtr.invXform(x),
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shp,
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nrm,
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margin);
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if(dst<0)
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{
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cti.m_colObj = colObj;
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cti.m_normal = wtr.getBasis()*nrm;
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cti.m_offset = -btDot( cti.m_normal,
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x-cti.m_normal*dst);
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cti.m_colObj = colObj;
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cti.m_normal = wtr.getBasis()*nrm;
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cti.m_offset = -btDot( cti.m_normal, x - cti.m_normal * dst );
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return(true);
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}
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return(false);
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@@ -1970,6 +1977,7 @@ bool btSoftBody::checkContact( btCollisionObject* colObj,
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//
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void btSoftBody::updateNormals()
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{
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const btVector3 zv(0,0,0);
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int i,ni;
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@@ -1998,29 +2006,42 @@ void btSoftBody::updateNormals()
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//
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void btSoftBody::updateBounds()
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{
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if(m_ndbvt.m_root)
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/*if( m_acceleratedSoftBody )
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{
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const btVector3& mins=m_ndbvt.m_root->volume.Mins();
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const btVector3& maxs=m_ndbvt.m_root->volume.Maxs();
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const btScalar csm=getCollisionShape()->getMargin();
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const btVector3 mrg=btVector3( csm,
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csm,
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csm)*1; // ??? to investigate...
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m_bounds[0]=mins-mrg;
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m_bounds[1]=maxs+mrg;
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if(0!=getBroadphaseHandle())
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{
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m_worldInfo->m_broadphase->setAabb( getBroadphaseHandle(),
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m_bounds[0],
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m_bounds[1],
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m_worldInfo->m_dispatcher);
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// If we have an accelerated softbody we need to obtain the bounds correctly
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// For now (slightly hackily) just have a very large AABB
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// TODO: Write get bounds kernel
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// If that is updating in place, atomic collisions might be low (when the cloth isn't perfectly aligned to an axis) and we could
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// probably do a test and exchange reasonably efficiently.
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m_bounds[0] = btVector3(-1000, -1000, -1000);
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m_bounds[1] = btVector3(1000, 1000, 1000);
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} else {*/
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if(m_ndbvt.m_root)
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{
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const btVector3& mins=m_ndbvt.m_root->volume.Mins();
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const btVector3& maxs=m_ndbvt.m_root->volume.Maxs();
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const btScalar csm=getCollisionShape()->getMargin();
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const btVector3 mrg=btVector3( csm,
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csm,
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csm)*1; // ??? to investigate...
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m_bounds[0]=mins-mrg;
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m_bounds[1]=maxs+mrg;
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if(0!=getBroadphaseHandle())
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{
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m_worldInfo->m_broadphase->setAabb( getBroadphaseHandle(),
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m_bounds[0],
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m_bounds[1],
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m_worldInfo->m_dispatcher);
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}
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}
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}
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else
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{
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m_bounds[0]=
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m_bounds[1]=btVector3(0,0,0);
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}
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else
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{
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m_bounds[0]=
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m_bounds[1]=btVector3(0,0,0);
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}
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//}
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}
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@@ -2571,27 +2592,27 @@ void btSoftBody::applyForces()
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{
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BT_PROFILE("SoftBody applyForces");
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const btScalar dt=m_sst.sdt;
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const btScalar kLF=m_cfg.kLF;
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const btScalar kDG=m_cfg.kDG;
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const btScalar kPR=m_cfg.kPR;
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const btScalar kVC=m_cfg.kVC;
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const bool as_lift=kLF>0;
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const bool as_drag=kDG>0;
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const bool as_pressure=kPR!=0;
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const bool as_volume=kVC>0;
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const bool as_aero= as_lift ||
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as_drag ;
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const bool as_vaero= as_aero &&
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(m_cfg.aeromodel<btSoftBody::eAeroModel::F_TwoSided);
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const bool as_faero= as_aero &&
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(m_cfg.aeromodel>=btSoftBody::eAeroModel::F_TwoSided);
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const bool use_medium= as_aero;
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const bool use_volume= as_pressure ||
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const btScalar dt = m_sst.sdt;
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const btScalar kLF = m_cfg.kLF;
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const btScalar kDG = m_cfg.kDG;
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const btScalar kPR = m_cfg.kPR;
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const btScalar kVC = m_cfg.kVC;
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const bool as_lift = kLF>0;
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const bool as_drag = kDG>0;
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const bool as_pressure = kPR!=0;
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const bool as_volume = kVC>0;
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const bool as_aero = as_lift ||
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as_drag ;
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const bool as_vaero = as_aero &&
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(m_cfg.aeromodel < btSoftBody::eAeroModel::F_TwoSided);
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const bool as_faero = as_aero &&
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(m_cfg.aeromodel >= btSoftBody::eAeroModel::F_TwoSided);
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const bool use_medium = as_aero;
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const bool use_volume = as_pressure ||
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as_volume ;
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btScalar volume=0;
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btScalar ivolumetp=0;
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btScalar dvolumetv=0;
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btScalar volume = 0;
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btScalar ivolumetp = 0;
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btScalar dvolumetv = 0;
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btSoftBody::sMedium medium;
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if(use_volume)
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{
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@@ -2609,36 +2630,41 @@ void btSoftBody::applyForces()
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{
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if(use_medium)
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{
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EvaluateMedium(m_worldInfo,n.m_x,medium);
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EvaluateMedium(m_worldInfo, n.m_x, medium);
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medium.m_velocity = m_windVelocity;
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medium.m_density = m_worldInfo->air_density;
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/* Aerodynamics */
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if(as_vaero)
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{
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const btVector3 rel_v=n.m_v-medium.m_velocity;
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const btScalar rel_v2=rel_v.length2();
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const btVector3 rel_v = n.m_v - medium.m_velocity;
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const btScalar rel_v2 = rel_v.length2();
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if(rel_v2>SIMD_EPSILON)
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{
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btVector3 nrm=n.m_n;
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btVector3 nrm = n.m_n;
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/* Setup normal */
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switch(m_cfg.aeromodel)
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{
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case btSoftBody::eAeroModel::V_Point:
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nrm=NormalizeAny(rel_v);break;
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nrm = NormalizeAny(rel_v);
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break;
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case btSoftBody::eAeroModel::V_TwoSided:
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nrm*=(btScalar)(btDot(nrm,rel_v)<0?-1:+1);break;
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default:
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nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1);
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break;
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default:
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{
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}
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}
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const btScalar dvn=btDot(rel_v,nrm);
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const btScalar dvn = btDot(rel_v,nrm);
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/* Compute forces */
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if(dvn>0)
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{
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btVector3 force(0,0,0);
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const btScalar c0 = n.m_area*dvn*rel_v2/2;
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const btScalar c1 = c0*medium.m_density;
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const btScalar c0 = n.m_area * dvn * rel_v2/2;
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const btScalar c1 = c0 * medium.m_density;
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force += nrm*(-c1*kLF);
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force += rel_v.normalized()*(-c1*kDG);
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ApplyClampedForce(n,force,dt);
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force += rel_v.normalized() * (-c1 * kDG);
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ApplyClampedForce(n, force, dt);
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}
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}
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}
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@@ -2716,26 +2742,27 @@ void btSoftBody::PSolve_Anchors(btSoftBody* psb,btScalar kst,btScalar ti)
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}
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//
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void btSoftBody::PSolve_RContacts(btSoftBody* psb,btScalar kst,btScalar ti)
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void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti)
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{
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const btScalar dt=psb->m_sst.sdt;
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const btScalar mrg=psb->getCollisionShape()->getMargin();
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const btScalar dt = psb->m_sst.sdt;
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const btScalar mrg = psb->getCollisionShape()->getMargin();
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for(int i=0,ni=psb->m_rcontacts.size();i<ni;++i)
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{
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const RContact& c=psb->m_rcontacts[i];
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const sCti& cti=c.m_cti;
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const RContact& c = psb->m_rcontacts[i];
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const sCti& cti = c.m_cti;
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btRigidBody* tmpRigid = btRigidBody::upcast(cti.m_colObj);
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const btVector3 va=tmpRigid ? tmpRigid->getVelocityInLocalPoint(c.m_c1)*dt : btVector3(0,0,0);
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const btVector3 vb=c.m_node->m_x-c.m_node->m_q;
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const btVector3 vr=vb-va;
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const btScalar dn=btDot(vr,cti.m_normal);
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const btVector3 va = tmpRigid ? tmpRigid->getVelocityInLocalPoint(c.m_c1)*dt : btVector3(0,0,0);
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const btVector3 vb = c.m_node->m_x-c.m_node->m_q;
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const btVector3 vr = vb-va;
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const btScalar dn = btDot(vr, cti.m_normal);
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if(dn<=SIMD_EPSILON)
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{
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const btScalar dp=btMin(btDot(c.m_node->m_x,cti.m_normal)+cti.m_offset,mrg);
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const btVector3 fv=vr-cti.m_normal*dn;
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const btVector3 impulse=c.m_c0*((vr-fv*c.m_c3+cti.m_normal*(dp*c.m_c4))*kst);
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c.m_node->m_x-=impulse*c.m_c2;
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const btScalar dp = btMin( (btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg );
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const btVector3 fv = vr - (cti.m_normal * dn);
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// c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient
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const btVector3 impulse = c.m_c0 * ( (vr - (fv * c.m_c3) + (cti.m_normal * (dp * c.m_c4))) * kst );
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c.m_node->m_x -= impulse * c.m_c2;
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if (tmpRigid)
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tmpRigid->applyImpulse(impulse,c.m_c1);
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}
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@@ -2844,41 +2871,58 @@ btSoftBody::vsolver_t btSoftBody::getSolver(eVSolver::_ solver)
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//
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void btSoftBody::defaultCollisionHandler(btCollisionObject* pco)
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{
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switch(m_cfg.collisions&fCollision::RVSmask)
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#if 0
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// If we have a solver, skip this work.
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// It will have been done within the solver.
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// TODO: In the case of the collision handler we need to ensure that we're
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// updating the data structures correctly and in here we generate the
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// collision lists to deal with in the solver
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if( this->m_acceleratedSoftBody )
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{
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case fCollision::SDF_RS:
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// We need to pass the collision data through to the solver collision engine
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// Note that we only add the collision object here, we are not applying the collision or dealing with
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// an impulse response.
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m_acceleratedSoftBody->addCollisionObject(pco);
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} else {
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#endif
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switch(m_cfg.collisions&fCollision::RVSmask)
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{
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btSoftColliders::CollideSDF_RS docollide;
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btRigidBody* prb1=btRigidBody::upcast(pco);
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btTransform wtr=prb1 ? prb1->getInterpolationWorldTransform() : pco->getWorldTransform();
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case fCollision::SDF_RS:
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{
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btSoftColliders::CollideSDF_RS docollide;
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btRigidBody* prb1=btRigidBody::upcast(pco);
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btTransform wtr=prb1 ? prb1->getInterpolationWorldTransform() : pco->getWorldTransform();
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const btTransform ctr=pco->getWorldTransform();
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const btScalar timemargin=(wtr.getOrigin()-ctr.getOrigin()).length();
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const btScalar basemargin=getCollisionShape()->getMargin();
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btVector3 mins;
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btVector3 maxs;
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ATTRIBUTE_ALIGNED16(btDbvtVolume) volume;
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pco->getCollisionShape()->getAabb( pco->getInterpolationWorldTransform(),
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mins,
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maxs);
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volume=btDbvtVolume::FromMM(mins,maxs);
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volume.Expand(btVector3(basemargin,basemargin,basemargin));
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docollide.psb = this;
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docollide.m_colObj1 = pco;
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docollide.m_rigidBody = prb1;
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const btTransform ctr=pco->getWorldTransform();
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const btScalar timemargin=(wtr.getOrigin()-ctr.getOrigin()).length();
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const btScalar basemargin=getCollisionShape()->getMargin();
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btVector3 mins;
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btVector3 maxs;
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ATTRIBUTE_ALIGNED16(btDbvtVolume) volume;
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pco->getCollisionShape()->getAabb( pco->getInterpolationWorldTransform(),
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mins,
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maxs);
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volume=btDbvtVolume::FromMM(mins,maxs);
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volume.Expand(btVector3(basemargin,basemargin,basemargin));
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docollide.psb = this;
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docollide.m_colObj1 = pco;
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docollide.m_rigidBody = prb1;
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docollide.dynmargin = basemargin+timemargin;
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docollide.stamargin = basemargin;
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m_ndbvt.collideTV(m_ndbvt.m_root,volume,docollide);
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docollide.dynmargin = basemargin+timemargin;
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docollide.stamargin = basemargin;
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m_ndbvt.collideTV(m_ndbvt.m_root,volume,docollide);
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}
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break;
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case fCollision::CL_RS:
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{
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btSoftColliders::CollideCL_RS collider;
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collider.Process(this,pco);
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}
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break;
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}
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break;
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case fCollision::CL_RS:
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{
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btSoftColliders::CollideCL_RS collider;
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collider.Process(this,pco);
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}
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break;
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#if 0
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}
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#endif
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}
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//
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@@ -2929,3 +2973,16 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb)
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}
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}
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}
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void btSoftBody::setWindVelocity( const btVector3 &velocity )
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{
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m_windVelocity = velocity;
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}
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const btVector3& btSoftBody::getWindVelocity()
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{
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return m_windVelocity;
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}
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