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add options to toggle between whether line search is used & add more documentation

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This commit is contained in:
Xuchen Han
2019-09-19 16:56:55 -07:00
parent 0501fe1bbd
commit ef5aa6e73b
12 changed files with 47 additions and 95 deletions
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5
examples/DeformableDemo/ClothFriction.cpp
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@@ -25,9 +25,7 @@
#include "../CommonInterfaces/CommonRigidBodyBase.h"
#include "../Utils/b3ResourcePath.h"
///The ClothFriction shows the use of rolling friction.
///Spheres will come to a rest on a sloped plane using a constraint. Damping cannot achieve the same.
///Generally it is best to leave the rolling friction coefficient zero (or close to zero).
///The ClothFriction shows the use of deformable friction.
class ClothFriction : public CommonRigidBodyBase
{
btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
@@ -197,6 +195,7 @@ void ClothFriction::initPhysics()
getDeformableDynamicsWorld()->addForce(psb2, gravity_force2);
m_forces.push_back(gravity_force2);
}
getDeformableDynamicsWorld()->setImplicit(false);
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}

4
examples/DeformableDemo/DeformableContact.cpp
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@@ -25,9 +25,7 @@
#include "../CommonInterfaces/CommonRigidBodyBase.h"
#include "../Utils/b3ResourcePath.h"
///The DeformableContact shows the use of rolling friction.
///Spheres will come to a rest on a sloped plane using a constraint. Damping cannot achieve the same.
///Generally it is best to leave the rolling friction coefficient zero (or close to zero).
///The DeformableContact shows the contact between deformable objects
class DeformableContact : public CommonRigidBodyBase
{
btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;

14
examples/DeformableDemo/DeformableMultibody.cpp
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@@ -11,20 +11,6 @@
3. This notice may not be removed or altered from any source distribution.
*/
///create 125 (5x5x5) dynamic object
#define ARRAY_SIZE_X 5
#define ARRAY_SIZE_Y 5
#define ARRAY_SIZE_Z 5
//maximum number of objects (and allow user to shoot additional boxes)
#define MAX_PROXIES (ARRAY_SIZE_X * ARRAY_SIZE_Y * ARRAY_SIZE_Z + 1024)
///scaling of the objects (0.1 = 20 centimeter boxes )
#define SCALING 1.
#define START_POS_X -5
#define START_POS_Y -5
#define START_POS_Z -3
#include "DeformableMultibody.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"

19
examples/DeformableDemo/DeformableRigid.cpp
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@@ -10,21 +10,6 @@
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///create 125 (5x5x5) dynamic object
#define ARRAY_SIZE_X 5
#define ARRAY_SIZE_Y 5
#define ARRAY_SIZE_Z 5
//maximum number of objects (and allow user to shoot additional boxes)
#define MAX_PROXIES (ARRAY_SIZE_X * ARRAY_SIZE_Y * ARRAY_SIZE_Z + 1024)
///scaling of the objects (0.1 = 20 centimeter boxes )
#define SCALING 1.
#define START_POS_X -5
#define START_POS_Y -5
#define START_POS_Z -3
#include "DeformableRigid.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
@@ -39,9 +24,7 @@
#include "../CommonInterfaces/CommonRigidBodyBase.h"
#include "../Utils/b3ResourcePath.h"
///The DeformableRigid shows the use of rolling friction.
///Spheres will come to a rest on a sloped plane using a constraint. Damping cannot achieve the same.
///Generally it is best to leave the rolling friction coefficient zero (or close to zero).
///The DeformableRigid shows contact between deformable objects and rigid objects.
class DeformableRigid : public CommonRigidBodyBase
{
btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;

4
examples/DeformableDemo/GraspDeformable.cpp
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@@ -34,9 +34,7 @@
#include "../CommonInterfaces/CommonFileIOInterface.h"
#include "Bullet3Common/b3FileUtils.h"
///The GraspDeformable shows the use of rolling friction.
///Spheres will come to a rest on a sloped plane using a constraint. Damping cannot achieve the same.
///Generally it is best to leave the rolling friction coefficient zero (or close to zero).
///The GraspDeformable shows grasping a volumetric deformable objects with multibody gripper with moter constraints.
static btScalar sGripperVerticalVelocity = 0.f;
static btScalar sGripperClosingTargetVelocity = 0.f;
static float friction = 1.;

24
examples/DeformableDemo/Pinch.cpp
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@@ -11,20 +11,6 @@
3. This notice may not be removed or altered from any source distribution.
*/
///create 125 (5x5x5) dynamic object
#define ARRAY_SIZE_X 5
#define ARRAY_SIZE_Y 5
#define ARRAY_SIZE_Z 5
//maximum number of objects (and allow user to shoot additional boxes)
#define MAX_PROXIES (ARRAY_SIZE_X * ARRAY_SIZE_Y * ARRAY_SIZE_Z + 1024)
///scaling of the objects (0.1 = 20 centimeter boxes )
#define SCALING 1.
#define START_POS_X -5
#define START_POS_Y -5
#define START_POS_Z -3
#include "Pinch.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
@@ -39,21 +25,13 @@
#include "../CommonInterfaces/CommonRigidBodyBase.h"
#include "../Utils/b3ResourcePath.h"
///The Pinch shows the use of rolling friction.
///Spheres will come to a rest on a sloped plane using a constraint. Damping cannot achieve the same.
///Generally it is best to leave the rolling friction coefficient zero (or close to zero).
///The Pinch shows the frictional contact between kinematic rigid objects with deformable objects
struct TetraCube
{
#include "../SoftDemo/cube.inl"
};
struct TetraBunny
{
#include "../SoftDemo/bunny.inl"
};
class Pinch : public CommonRigidBodyBase
{
btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;

4
examples/DeformableDemo/PinchFriction.cpp
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@@ -24,9 +24,7 @@
#include "../CommonInterfaces/CommonRigidBodyBase.h"
#include "../Utils/b3ResourcePath.h"
///The PinchFriction shows the use of rolling friction.
///Spheres will come to a rest on a sloped plane using a constraint. Damping cannot achieve the same.
///Generally it is best to leave the rolling friction coefficient zero (or close to zero).
///The PinchFriction shows the frictional contacts among volumetric deformable objects
struct TetraCube
{

19
examples/DeformableDemo/VolumetricDeformable.cpp
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@@ -11,20 +11,6 @@
3. This notice may not be removed or altered from any source distribution.
*/
///create 125 (5x5x5) dynamic object
#define ARRAY_SIZE_X 5
#define ARRAY_SIZE_Y 5
#define ARRAY_SIZE_Z 5
//maximum number of objects (and allow user to shoot additional boxes)
#define MAX_PROXIES (ARRAY_SIZE_X * ARRAY_SIZE_Y * ARRAY_SIZE_Z + 1024)
///scaling of the objects (0.1 = 20 centimeter boxes )
#define SCALING 1.
#define START_POS_X -5
#define START_POS_Y -5
#define START_POS_Z -3
#include "VolumetricDeformable.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
@@ -39,10 +25,7 @@
#include "../CommonInterfaces/CommonRigidBodyBase.h"
#include "../Utils/b3ResourcePath.h"
///The VolumetricDeformable shows the use of rolling friction.
///Spheres will come to a rest on a sloped plane using a constraint. Damping cannot achieve the same.
///Generally it is best to leave the rolling friction coefficient zero (or close to zero).
///The VolumetricDeformable shows the contact between volumetric deformable objects and rigid objects.
struct TetraCube
{

5
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -429,3 +429,8 @@ void btDeformableBodySolver::setImplicit(bool implicit)
m_implicit = implicit;
m_objective->setImplicit(implicit);
}
void btDeformableBodySolver::setLineSearch(bool lineSearch)
{
m_lineSearch = lineSearch;
}

22
src/BulletSoftBody/btDeformableBodySolver.h
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@@ -103,16 +103,38 @@ public:
virtual bool checkInitialized(){return true;}
// If true, implicit time stepping scheme is used.
// Otherwise, explicit time stepping scheme is used
void setImplicit(bool implicit);
// If true, newton's method with line search is used when implicit time stepping scheme is turned on
void setLineSearch(bool lineSearch);
// set temporary position x^* = x_n + dt * v
// update the deformation gradient at position x^*
void updateState();
// set dv = dv + scale * ddv
void updateDv(btScalar scale = 1);
// set temporary position x^* = x_n + dt * v^*
void updateTempPosition();
// save the current dv to m_backup_dv;
void backupDv();
// set dv to the backed-up value
void revertDv();
// set dv = dv + scale * ddv
// set v^* = v_n + dv
// set temporary position x^* = x_n + dt * v^*
// update the deformation gradient at position x^*
void updateEnergy(btScalar scale);
// calculates the appropriately scaled kinetic energy in the system, which is
// 1/2 * dv^T * M * dv
// used in line search
btScalar kineticEnergy();
};

16
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
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@@ -69,14 +69,14 @@ void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar t
// End solver-wise simulation step
// ///////////////////////////////
}
//
//void btDeformableMultiBodyDynamicsWorld::positionCorrection(btScalar timeStep)
//{
// // perform position correction for all constraints
// // perform position correction for all constraints
// BT_PROFILE("positionCorrection");
// for (int index = 0; index < m_deformableBodySolver->m_objective->projection.m_constraints.size(); ++index)
// for (int index = 0; index < m_deformableBodySolver->m_objective->m_projection.m_constraints.size(); ++index)
// {
// DeformableContactConstraint& constraint = *m_deformableBodySolver->m_objective->projection.m_constraints.getAtIndex(index);
// DeformableContactConstraint& constraint = *m_deformableBodySolver->m_objective->m_projection.m_constraints.getAtIndex(index);
// for (int j = 0; j < constraint.m_contact.size(); ++j)
// {
// const btSoftBody::RContact* c = constraint.m_contact[j];
@@ -144,16 +144,11 @@ void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar t
// }
//}
void btDeformableMultiBodyDynamicsWorld::positionCorrection(btScalar timeStep)
{
}
void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
{
BT_PROFILE("integrateTransforms");
//m_deformableBodySolver->backupVelocity();
//positionCorrection(timeStep);
//positionCorrection(timeStep); // looks like position correction is no longer necessary
btMultiBodyDynamicsWorld::integrateTransforms(timeStep);
for (int i = 0; i < m_softBodies.size(); ++i)
{
@@ -329,6 +324,7 @@ void btDeformableMultiBodyDynamicsWorld::reinitialize(btScalar timeStep)
{
m_internalTime += timeStep;
m_deformableBodySolver->setImplicit(m_implicit);
m_deformableBodySolver->setLineSearch(m_lineSearch);
m_deformableBodySolver->reinitialize(m_softBodies, timeStep);
btDispatcherInfo& dispatchInfo = btMultiBodyDynamicsWorld::getDispatchInfo();
dispatchInfo.m_timeStep = timeStep;

6
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
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@@ -47,6 +47,7 @@ class btDeformableMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld
btScalar m_internalTime;
int m_contact_iterations;
bool m_implicit;
bool m_lineSearch;
typedef void (*btSolverCallback)(btScalar time, btDeformableMultiBodyDynamicsWorld* world);
btSolverCallback m_solverCallback;
@@ -159,6 +160,11 @@ public:
{
m_implicit = implicit;
}
void setLineSearch(bool lineSearch)
{
m_lineSearch = lineSearch;
}
};
#endif //BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H