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

fix bug in computing rhs in momentum solve

Browse Source
This commit is contained in:
Xuchen Han
2019-10-05 17:42:37 -07:00
parent 0cb7cb2445
commit c610ba49df
9 changed files with 50 additions and 47 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/BulletSoftBody/btConjugateGradient.h
View File

@@ -66,7 +66,6 @@ public:
// temp = A*p
A.multiply(p, temp);
A.project(temp);
// alpha = r^T * z / (p^T * A * p)
if (dot(p,temp) < SIMD_EPSILON)
{
if (verbose)
@@ -77,6 +76,7 @@ public:
}
return k;
}
// alpha = r^T * z / (p^T * A * p)
btScalar alpha = r_dot_z_new / dot(p, temp);
// x += alpha * p;
multAndAddTo(alpha, p, x);

3
src/BulletSoftBody/btDeformableBodySolver.cpp
View File

@@ -21,7 +21,7 @@
btDeformableBodySolver::btDeformableBodySolver()
: m_numNodes(0)
, m_cg(20)
, m_cg(200)
, m_maxNewtonIterations(5)
, m_newtonTolerance(1e-4)
, m_lineSearch(true)
@@ -301,6 +301,7 @@ void btDeformableBodySolver::setupDeformableSolve(bool implicit)
m_backupVelocity[counter] = psb->m_nodes[j].m_vn;
}
m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter];
psb->m_nodes[j].m_v = m_backupVelocity[counter];
++counter;
}
}

7
src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp
View File

@@ -23,7 +23,7 @@ btScalar btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlyIteration
///this is a special step to resolve penetrations (just for contacts)
solveGroupCacheFriendlySplitImpulseIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
m_maxOverrideNumSolverIterations = 50;
// m_maxOverrideNumSolverIterations = 10;
int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations;
for (int iteration = 0; iteration < maxIterations; iteration++)
{
@@ -33,10 +33,9 @@ btScalar btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlyIteration
m_leastSquaresResidual = solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
// solver body velocity -> rigid body velocity
solverBodyWriteBack(infoGlobal);
btScalar deformableResidual = m_deformableSolver->solveContactConstraints();
// update rigid body velocity in rigid/deformable contact
m_leastSquaresResidual = btMax(m_leastSquaresResidual, m_deformableSolver->solveContactConstraints());
m_leastSquaresResidual = btMax(m_leastSquaresResidual, deformableResidual);
// solver body velocity <- rigid body velocity
writeToSolverBody(bodies, numBodies, infoGlobal);