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factor out force; now btDeformableLagrangianceForce can be specified at configuration time and to specific softbody

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This commit is contained in:
Xuchen Han
2019-07-25 13:51:44 -07:00
parent 233a381e7c
commit ec403f790d
18 changed files with 150 additions and 204 deletions
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13
src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
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@@ -9,21 +9,22 @@
btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAlignedObjectArray<btSoftBody *>& softBodies, const TVStack& backup_v)
: m_softBodies(softBodies)
, projection(m_softBodies, m_dt)
, projection(m_softBodies, m_dt, &m_indices)
, m_backupVelocity(backup_v)
{
// TODO: this should really be specified in initialization instead of here
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(m_softBodies);
btDeformableGravityForce* gravity = new btDeformableGravityForce(m_softBodies, btVector3(0,-10,0));
// btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(m_softBodies);
// btDeformableGravityForce* gravity = new btDeformableGravityForce(m_softBodies, btVector3(0,-10,0));
m_preconditioner = new DefaultPreconditioner();
m_lf.push_back(mass_spring);
m_lf.push_back(gravity);
// m_lf.push_back(mass_spring);
// m_lf.push_back(gravity);
}
void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated)
{
if(nodeUpdated)
{
updateId();
projection.setSoftBodies(m_softBodies);
}
for (int i = 0; i < m_lf.size(); ++i)
@@ -69,7 +70,7 @@ void btDeformableBackwardEulerObjective::updateVelocity(const TVStack& dv)
// only the velocity of the constrained nodes needs to be updated during CG solve
for (auto it : projection.m_constraints)
{
int i = projection.m_indices[it.first];
int i = m_indices[it.first];
it.first->m_v = m_backupVelocity[i] + dv[i];
}
}