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switch to damping model from Irvine 05 for its SPDness

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This commit is contained in:
Xuchen Han
2019-10-10 22:55:11 -07:00
parent 87546bb7c3
commit e87df18544
2 changed files with 10 additions and 4 deletions
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4
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -376,8 +376,8 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d
psb->updateBounds();
/* Integrate */
// do not allow particles to move more than 10% of the bounding box size
btScalar max_v = 0.1 * (psb->m_bounds[1]-psb->m_bounds[0]).norm() / dt;
// do not allow particles to move more than the bounding box size
btScalar max_v = (psb->m_bounds[1]-psb->m_bounds[0]).norm() / dt;
for (i = 0, ni = psb->m_nodes.size(); i < ni; ++i)
{
btSoftBody::Node& n = psb->m_nodes[i];

10
src/BulletSoftBody/btDeformableNeoHookeanForce.h
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@@ -73,7 +73,10 @@ public:
size_t id3 = node3->index;
btMatrix3x3 dF = DsFromVelocity(node0, node1, node2, node3) * tetra.m_Dm_inverse;
btMatrix3x3 dP;
firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP);
// firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP);
btMatrix3x3 I;
I.setIdentity();
dP = (dF + dF.transpose()) * m_mu_damp + I * (dF[0][0]+dF[1][1]+dF[2][2]) * m_lambda_damp;
btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col);
btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose();
@@ -210,7 +213,10 @@ public:
size_t id3 = node3->index;
btMatrix3x3 dF = Ds(id0, id1, id2, id3, dv) * tetra.m_Dm_inverse;
btMatrix3x3 dP;
firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP);
// firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP);
btMatrix3x3 I;
I.setIdentity();
dP = (dF + dF.transpose()) * m_mu_damp + I * (dF[0][0]+dF[1][1]+dF[2][2]) * m_lambda_damp;
// btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col);
btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose();
btVector3 df_on_node0 = df_on_node123 * grad_N_hat_1st_col;