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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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24
src/BulletSoftBody/btDeformableMassSpringForce.h
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@@ -14,15 +14,13 @@ class btDeformableMassSpringForce : public btDeformableLagrangianForce
{
public:
using TVStack = btDeformableLagrangianForce::TVStack;
btDeformableMassSpringForce(const btAlignedObjectArray<btSoftBody *>& softBodies) : btDeformableLagrangianForce(softBodies)
btDeformableMassSpringForce()
{
}
virtual void addScaledImplicitForce(btScalar scale, TVStack& force)
{
addScaledDampingForce(scale, force);
// addScaledElasticForce(scale, force);
}
virtual void addScaledExplicitForce(btScalar scale, TVStack& force)
@@ -33,7 +31,7 @@ public:
virtual void addScaledDampingForce(btScalar scale, TVStack& force)
{
int numNodes = getNumNodes();
btAssert(numNodes == force.size())
btAssert(numNodes <= force.size())
for (int i = 0; i < m_softBodies.size(); ++i)
{
const btSoftBody* psb = m_softBodies[i];
@@ -42,8 +40,8 @@ public:
const auto& link = psb->m_links[j];
const auto node1 = link.m_n[0];
const auto node2 = link.m_n[1];
size_t id1 = m_indices[node1];
size_t id2 = m_indices[node2];
size_t id1 = m_indices->at(node1);
size_t id2 = m_indices->at(node2);
// damping force
btVector3 v_diff = (node2->m_v - node1->m_v);
@@ -58,7 +56,7 @@ public:
virtual void addScaledElasticForce(btScalar scale, TVStack& force)
{
int numNodes = getNumNodes();
btAssert(numNodes == force.size())
btAssert(numNodes <= force.size())
for (int i = 0; i < m_softBodies.size(); ++i)
{
const btSoftBody* psb = m_softBodies[i];
@@ -69,8 +67,8 @@ public:
const auto node2 = link.m_n[1];
btScalar kLST = link.Feature::m_material->m_kLST;
btScalar r = link.m_rl;
size_t id1 = m_indices[node1];
size_t id2 = m_indices[node2];
size_t id1 = m_indices->at(node1);
size_t id2 = m_indices->at(node2);
// elastic force
// explicit elastic force
@@ -95,8 +93,8 @@ public:
const auto node1 = link.m_n[0];
const auto node2 = link.m_n[1];
btScalar k_damp = psb->m_dampingCoefficient;
size_t id1 = m_indices[node1];
size_t id2 = m_indices[node2];
size_t id1 = m_indices->at(node1);
size_t id2 = m_indices->at(node2);
btVector3 local_scaled_df = scale * k_damp * (dv[id2] - dv[id1]);
df[id1] += local_scaled_df;
df[id2] -= local_scaled_df;
@@ -104,6 +102,10 @@ public:
}
}
virtual btDeformableLagrangianForceType getForceType()
{
return BT_MASSSPRING_FORCE;
}
};