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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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33
src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp
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@@ -60,13 +60,12 @@ void btDeformableRigidDynamicsWorld::positionCorrection(btScalar dt)
if (c == nullptr || c->m_node->m_im == 0)
continue;
const btSoftBody::sCti& cti = c->m_cti;
btRigidBody* rigidCol = 0;
btVector3 va(0, 0, 0);
// grab the velocity of the rigid body
if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
{
rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
btRigidBody* rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c->m_c1)): btVector3(0, 0, 0);
}
else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
@@ -78,25 +77,25 @@ void btDeformableRigidDynamicsWorld::positionCorrection(btScalar dt)
const btScalar* J_n = &c->jacobianData_normal.m_jacobians[0];
const btScalar* J_t1 = &c->jacobianData_t1.m_jacobians[0];
const btScalar* J_t2 = &c->jacobianData_t2.m_jacobians[0];
const btScalar* local_v = multibodyLinkCol->m_multiBody->getVelocityVector();
// add in the normal component of the va
btScalar vel = 0.0;
for (int k = 0; k < ndof; ++k)
{
vel += multibodyLinkCol->m_multiBody->getVelocityVector()[k] * J_n[k];
vel += local_v[k] * J_n[k];
}
va = cti.m_normal * vel;
vel = 0.0;
for (int k = 0; k < ndof; ++k)
{
vel += multibodyLinkCol->m_multiBody->getVelocityVector()[k] * J_t1[k];
vel += local_v[k] * J_t1[k];
}
va += c->t1 * vel;
vel = 0.0;
for (int k = 0; k < ndof; ++k)
{
vel += multibodyLinkCol->m_multiBody->getVelocityVector()[k] * J_t2[k];
vel += local_v[k] * J_t2[k];
}
va += c->t2 * vel;
}
@@ -110,7 +109,6 @@ void btDeformableRigidDynamicsWorld::positionCorrection(btScalar dt)
if (cti.m_colObj->hasContactResponse())
{
btScalar dp = cti.m_offset;
rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
if (friction.m_static[j] == true)
{
c->m_node->m_v = va;
@@ -214,3 +212,24 @@ void btDeformableRigidDynamicsWorld::afterSolverCallbacks(btScalar timeStep)
for (int i = 0; i < m_beforeSolverCallbacks.size(); ++i)
m_beforeSolverCallbacks[i](m_internalTime, this);
}
void btDeformableRigidDynamicsWorld::addForce(btSoftBody* psb, btDeformableLagrangianForce* force)
{
btAlignedObjectArray<btDeformableLagrangianForce*>& forces = m_deformableBodySolver->m_objective->m_lf;
bool added = false;
for (int i = 0; i < forces.size(); ++i)
{
if (forces[i]->getForceType() == force->getForceType())
{
forces[i]->addSoftBody(psb);
added = true;
break;
}
}
if (!added)
{
force->addSoftBody(psb);
force->setIndices(m_deformableBodySolver->m_objective->getIndices());
forces.push_back(force);
}
}