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update contact projection

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This commit is contained in:
Xuchen Han
2019-07-06 20:55:41 -07:00
parent 35ce2ae0e2
commit b8997c36b2
5 changed files with 37 additions and 7 deletions
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27
src/BulletSoftBody/btDeformableBodySolver.h
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@@ -8,6 +8,7 @@
#ifndef BT_DEFORMABLE_BODY_SOLVERS_H
#define BT_DEFORMABLE_BODY_SOLVERS_H
#include <iostream>
#include "btSoftBodySolvers.h"
#include "btBackwardEulerObjective.h"
#include "btDeformableRigidDynamicsWorld.h"
@@ -87,6 +88,7 @@ public:
// only need to advect x here if elastic force is implicit
// prepareSolve(solverdt);
m_objective.computeResidual(solverdt, m_residual);
moveTempVelocity(solverdt, m_residual);
m_objective.computeStep(m_dv, m_residual, solverdt);
updateVelocity();
@@ -94,6 +96,20 @@ public:
advect(solverdt);
}
void moveTempVelocity(btScalar dt, const TVStack& f)
{
size_t counter = 0;
for (int i = 0; i < m_softBodySet.size(); ++i)
{
btSoftBody* psb = m_softBodySet[i];
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
auto& node = psb->m_nodes[j];
node.m_v += node.m_im * dt * f[counter++];
}
}
}
void reinitialize(bool nodeUpdated)
{
if (nodeUpdated)
@@ -119,7 +135,7 @@ public:
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
auto& node = psb->m_nodes[j];
node.m_x = node.m_q + dt * node.m_v * psb->m_dampingCoefficient;
node.m_x = node.m_q + dt * node.m_v;
}
}
}
@@ -132,7 +148,13 @@ public:
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
auto& node = psb->m_nodes[j];
node.m_x += dt * m_dv[counter++];
// node.m_x += dt * m_dv[counter++];
node.m_x += dt * node.m_v;
if (j == 4)
{
std::cout << "x " << psb->m_nodes[j].m_x.getY() << std::endl;
std::cout << "v " << psb->m_nodes[j].m_v.getY() << std::endl;
}
}
}
}
@@ -147,6 +169,7 @@ public:
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
psb->m_nodes[j].m_v = m_backupVelocity[counter] + m_dv[counter];
++counter;
}
}