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each node only allows a single contact; initial guess for newton set to x = x_n + dt*v_n

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This commit is contained in:
Xuchen Han
2019-08-29 10:08:34 -07:00
committed by Xuchen Han
parent 482458c9df
commit e124c62a70
4 changed files with 34 additions and 4 deletions
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13
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -96,7 +96,7 @@ void btDeformableBodySolver::updateDv()
void btDeformableBodySolver::computeStep(TVStack& ddv, const TVStack& residual)
{
// btScalar tolerance = std::numeric_limits<btScalar>::epsilon() * m_objective->computeNorm(residual);
//btScalar tolerance = std::numeric_limits<btScalar>::epsilon() * m_objective->computeNorm(residual);
btScalar tolerance = std::numeric_limits<btScalar>::epsilon();
m_cg.solve(*m_objective, ddv, residual, tolerance);
}
@@ -197,7 +197,16 @@ void btDeformableBodySolver::backupVn()
btSoftBody* psb = m_softBodySet[i];
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
m_dv[counter] += m_backupVelocity[counter] - psb->m_nodes[j].m_vn;
// Here:
// dv = 0 for nodes not in constraints
// dv = v_{n+1} - v_{n+1}^* for nodes in constraints
if (m_objective->projection.m_constraints.find(psb->m_nodes[j].index)!=NULL)
{
m_dv[counter] += m_backupVelocity[counter] - psb->m_nodes[j].m_vn;
}
// Now:
// dv = 0 for nodes not in constraints
// dv = v_{n+1} - v_n for nodes in constraints
m_backupVelocity[counter++] = psb->m_nodes[j].m_vn;
}
}