add corotated model to lagrangian forces

examples/ExampleBrowser/ExampleEntries.cpp

@@ -197,7 +197,7 @@ static ExampleEntry gDefaultExamples[] =
         ExampleEntry(0, "Deformabe Body"),
         ExampleEntry(1, "Deformable-RigidBody Contact", "Deformable test", DeformableRigidCreateFunc),
         ExampleEntry(1, "Grasp Deformable Cube", "Grasping test", PinchCreateFunc),
-        ExampleEntry(1, "Grasp Deformable with Motor", "Grasping test", GraspDeformableaCreateFunc),
+        ExampleEntry(1, "Grasp Deformable with Motor", "Grasping test", GraspDeformableCreateFunc),
         ExampleEntry(1, "Volumetric Deformable Objects", "Volumetric Deformable test", VolumetricDeformableCreateFunc),
         ExampleEntry(1, "Deformable-MultiBody Contact", "MultiBody and Deformable contact", DeformableMultibodyCreateFunc),
         // ExampleEntry(1, "MultiBody Baseline", "MultiBody Baseline", MultiBodyBaselineCreateFunc),

examples/GraspDeformable/GraspDeformable.cpp

@@ -332,14 +332,15 @@ void GraspDeformable::initPhysics()
         psb->translate(btVector3(0, 0, 0));
         psb->getCollisionShape()->setMargin(0.1);
         psb->setTotalMass(1);
-        psb->setSpringStiffness(2);
+        psb->setSpringStiffness(0);
-        psb->setDampingCoefficient(0.02);
+        psb->setDampingCoefficient(0.04);
         psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
         psb->m_cfg.kCHR = 1; // collision hardness with rigid body
         psb->m_cfg.kDF = 2;
         getDeformableDynamicsWorld()->addSoftBody(psb);
         getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce());
         getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
+        getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(2,2));
     }
     
 	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);

src/BulletSoftBody/btDeformableBackwardEulerObjective.h

@@ -17,6 +17,7 @@
 #include "btDeformableLagrangianForce.h"
 #include "btDeformableMassSpringForce.h"
 #include "btDeformableGravityForce.h"
+#include "btDeformableCorotatedForce.h"
 #include "btDeformableContactProjection.h"
 #include "btPreconditioner.h"
 #include "btDeformableRigidDynamicsWorld.h"

src/BulletSoftBody/btDeformableCorotatedForce.h

@@ -0,0 +1,143 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2016 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#ifndef BT_COROTATED_H
+#define BT_COROTATED_H
+
+#include "btDeformableLagrangianForce.h"
+#include "LinearMath/btPolarDecomposition.h"
+
+static inline int PolarDecompose(const btMatrix3x3& m, btMatrix3x3& q, btMatrix3x3& s)
+{
+    static const btPolarDecomposition polar;
+    return polar.decompose(m, q, s);
+}
+
+class btDeformableCorotatedForce : public btDeformableLagrangianForce
+{
+public:
+    typedef btAlignedObjectArray<btVector3> TVStack;
+    btScalar m_mu, m_lambda;
+    btDeformableCorotatedForce(): m_mu(1), m_lambda(1)
+    {
+        
+    }
+    
+    btDeformableCorotatedForce(btScalar mu, btScalar lambda): m_mu(mu), m_lambda(lambda)
+    {
+    }
+    
+    virtual void addScaledImplicitForce(btScalar scale, TVStack& force)
+    {
+    }
+    
+    virtual void addScaledExplicitForce(btScalar scale, TVStack& force)
+    {
+        addScaledElasticForce(scale, force);
+    }
+    
+    virtual void addScaledDampingForce(btScalar scale, TVStack& force)
+    {
+    }
+    
+    virtual void addScaledElasticForce(btScalar scale, TVStack& force)
+    {
+        int numNodes = getNumNodes();
+        btAssert(numNodes <= force.size())
+        for (int i = 0; i < m_softBodies.size(); ++i)
+        {
+            btSoftBody* psb = m_softBodies[i];
+            for (int j = 0; j < psb->m_tetras.size(); ++j)
+            {
+                btSoftBody::Tetra& tetra = psb->m_tetras[j];
+                updateDs(tetra);
+                btMatrix3x3 F = tetra.m_ds * tetra.m_Dm_inverse;
+                btMatrix3x3 P;
+                firstPiola(F,P);
+                btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1);
+                btVector3 force_on_node0 = P * tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col;
+                btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose();
+                
+                btSoftBody::Node* node0 = tetra.m_n[0];
+                btSoftBody::Node* node1 = tetra.m_n[1];
+                btSoftBody::Node* node2 = tetra.m_n[2];
+                btSoftBody::Node* node3 = tetra.m_n[3];
+                size_t id0 = node0->index;
+                size_t id1 = node1->index;
+                size_t id2 = node2->index;
+                size_t id3 = node3->index;
+                
+                // elastic force
+                // explicit elastic force
+                force[id0] -= scale * tetra.m_element_measure * force_on_node0;
+                force[id1] -= scale * tetra.m_element_measure * force_on_node123.getColumn(0);
+                force[id2] -= scale * tetra.m_element_measure * force_on_node123.getColumn(1);
+                force[id3] -= scale * tetra.m_element_measure * force_on_node123.getColumn(2);
+            }
+        }
+    }
+    
+    void firstPiola(const btMatrix3x3& F, btMatrix3x3& P)
+    {
+        btMatrix3x3 R,S;
+        btScalar J = F.determinant();
+        if (J < 1024 * SIMD_EPSILON)
+            R.setIdentity();
+        else
+            PolarDecompose(F, R, S); // this QR is not robust, consider using implicit shift svd
+        /*https://fuchuyuan.github.io/research/svd/paper.pdf*/
+        
+        btMatrix3x3 JFinvT = F.adjoint();
+        P =  JFinvT * (m_lambda * (J-1)) +  (F-R) * 2 * m_mu;
+    }
+    void updateDs(btSoftBody::Tetra& t)
+    {
+        btVector3 c1 = t.m_n[1]->m_q - t.m_n[0]->m_q;
+        btVector3 c2 = t.m_n[2]->m_q - t.m_n[0]->m_q;
+        btVector3 c3 = t.m_n[3]->m_q - t.m_n[0]->m_q;
+        btMatrix3x3 Ds(c1.getX(), c2.getX(), c3.getX(),
+                       c1.getY(), c2.getY(), c3.getY(),
+                       c1.getZ(), c2.getZ(), c3.getZ());
+        t.m_ds = Ds;
+    }
+    
+    virtual void addScaledForceDifferential(btScalar scale, const TVStack& dv, TVStack& df)
+    {
+        // implicit damping force differential
+        for (int i = 0; i < m_softBodies.size(); ++i)
+        {
+            const btSoftBody* psb = m_softBodies[i];
+            btScalar scaled_k_damp = psb->m_dampingCoefficient * scale;
+            for (int j = 0; j < psb->m_links.size(); ++j)
+            {
+                const btSoftBody::Link& link = psb->m_links[j];
+                btSoftBody::Node* node1 = link.m_n[0];
+                btSoftBody::Node* node2 = link.m_n[1];
+                size_t id1 = node1->index;
+                size_t id2 = node2->index;
+                btVector3 local_scaled_df = scaled_k_damp * (dv[id2] - dv[id1]);
+                df[id1] += local_scaled_df;
+                df[id2] -= local_scaled_df;
+            }
+        }
+    }
+    
+    virtual btDeformableLagrangianForceType getForceType()
+    {
+        return BT_COROTATED_FORCE;
+    }
+    
+};
+
+
+#endif /* btCorotated_h */

src/BulletSoftBody/btDeformableLagrangianForce.h

@@ -20,7 +20,8 @@
 enum btDeformableLagrangianForceType
 {
     BT_GRAVITY_FORCE = 1,
-    BT_MASSSPRING_FORCE = 2
+    BT_MASSSPRING_FORCE = 2,
+    BT_COROTATED_FORCE = 3
 };
 
 class btDeformableLagrangianForce

src/BulletSoftBody/btSoftBody.cpp

@@ -854,6 +854,7 @@ void btSoftBody::scale(const btVector3& scl)
 	updateNormals();
 	updateBounds();
 	updateConstants();
+    initializeDmInverse();
 }
 
 //
@@ -2811,6 +2812,24 @@ void btSoftBody::setSpringStiffness(btScalar k)
     }
 }
 
+void btSoftBody::initializeDmInverse()
+{
+    btScalar unit_simplex_measure = 1./6.;
+    
+    for (int i = 0; i < m_tetras.size(); ++i)
+    {
+        Tetra &t = m_tetras[i];
+        btVector3 c1 = t.m_n[1]->m_q - t.m_n[0]->m_q;
+        btVector3 c2 = t.m_n[2]->m_q - t.m_n[0]->m_q;
+        btVector3 c3 = t.m_n[3]->m_q - t.m_n[0]->m_q;
+        btMatrix3x3 Dm(c1.getX(), c2.getX(), c3.getX(),
+                       c1.getY(), c2.getY(), c3.getY(),
+                       c1.getZ(), c2.getZ(), c3.getZ());
+        t.m_element_measure = Dm.determinant() * unit_simplex_measure;
+        t.m_Dm_inverse = Dm.inverse();
+    }
+}
+
 //
 void btSoftBody::Joint::Prepare(btScalar dt, int)
 {

src/BulletSoftBody/btSoftBody.h

@@ -292,6 +292,9 @@ public:
 		btVector3 m_c0[4];   // gradients
 		btScalar m_c1;       // (4*kVST)/(im0+im1+im2+im3)
 		btScalar m_c2;       // m_c1/sum(|g0..3|^2)
+        btMatrix3x3 m_Dm_inverse; // rest Dm^-1
+        btMatrix3x3 m_ds;
+        btScalar m_element_measure;
 	};
 	/* RContact		*/
 	struct RContact
@@ -1023,6 +1026,7 @@ public:
 	void applyClusters(bool drift);
 	void dampClusters();
     void setSpringStiffness(btScalar k);
+    void initializeDmInverse();
 	void applyForces();
 	static void PSolve_Anchors(btSoftBody* psb, btScalar kst, btScalar ti);
 	static void PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti);

src/BulletSoftBody/btSoftBodyHelpers.cpp

@@ -1221,6 +1221,7 @@ if(face&&face[0])
 			}
 		}
 	}
+    psb->initializeDmInverse();
 	printf("Nodes:  %u\r\n", psb->m_nodes.size());
 	printf("Links:  %u\r\n", psb->m_links.size());
 	printf("Faces:  %u\r\n", psb->m_faces.size());