Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

fix bugs in poststablize and projection of colinear constraints

Browse Source
This commit is contained in:
Xuchen Han
2019-07-15 10:48:20 -07:00
parent ac628f4d39
commit bac7d461c5
5 changed files with 89 additions and 69 deletions
Download Patch File Download Diff File Expand all files Collapse all files

37
src/BulletSoftBody/btDeformableBodySolver.cpp
View File

@@ -77,8 +77,8 @@ void btDeformableBodySolver::postStabilize()
const btVector3 vr = vb - va;
const btScalar dn = btDot(vr, cti.m_normal);
const btScalar dp = btMin((btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg);
btScalar dp = btMin((btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg);
// dp += mrg;
// c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient
btScalar dvn = dn * c.m_c4;
@@ -86,23 +86,27 @@ void btDeformableBodySolver::postStabilize()
// TODO: only contact is considered here, add friction later
if (dp < 0)
{
c.m_node->m_x -= dp * cti.m_normal * c.m_c4;
// c.m_node->m_x -= impulse * c.m_c2;
////
if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
bool two_way = false;
if (two_way)
{
if (rigidCol)
rigidCol->applyImpulse(impulse, c.m_c1);
}
else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
{
if (multibodyLinkCol)
c.m_node->m_x -= impulse * c.m_c2;
if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
{
double multiplier = 0.5;
multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV, -impulse.length() * multiplier);
if (rigidCol)
rigidCol->applyImpulse(impulse, c.m_c1);
}
else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
{
if (multibodyLinkCol)
{
double multiplier = 0.5;
multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV, -impulse.length() * multiplier);
}
}
}
else
c.m_node->m_x -= dp * cti.m_normal * c.m_c4;
}
}
}
@@ -115,7 +119,6 @@ void btDeformableBodySolver::solveConstraints(float solverdt)
bool nodeUpdated = updateNodes();
reinitialize(nodeUpdated);
backupVelocity();
postStabilize();
for (int i = 0; i < m_solveIterations; ++i)
{
m_objective->computeResidual(solverdt, m_residual);
@@ -123,7 +126,7 @@ void btDeformableBodySolver::solveConstraints(float solverdt)
updateVelocity();
}
advect(solverdt);
// postStabilize();
postStabilize();
}
void btDeformableBodySolver::reinitialize(bool nodeUpdated)