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add multibody interpolation transform so that collision detection is consistent with rigidbody

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This commit is contained in:
Xuchen Han
2019-07-31 20:40:22 -07:00
parent ec403f790d
commit f1e7ce9ce1
10 changed files with 196 additions and 46 deletions
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5
src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
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@@ -12,12 +12,7 @@ btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAligned
, 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));
m_preconditioner = new DefaultPreconditioner();
// m_lf.push_back(mass_spring);
// m_lf.push_back(gravity);
}
void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated)

2
src/BulletSoftBody/btDeformableContactProjection.cpp
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@@ -44,7 +44,7 @@ static btVector3 generateUnitOrthogonalVector(const btVector3& u)
void btDeformableContactProjection::update()
{
///solve rigid body constraints
m_world->getSolverInfo().m_numIterations = 10;
m_world->getSolverInfo().m_numIterations = 1;
m_world->btMultiBodyDynamicsWorld::solveInternalConstraints(m_world->getSolverInfo());
// loop through constraints to set constrained values

2
src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp
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@@ -161,7 +161,7 @@ void btDeformableRigidDynamicsWorld::addSoftBody(btSoftBody* body, int collision
void btDeformableRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep);
btMultiBodyDynamicsWorld::predictUnconstraintMotion(timeStep);
m_deformableBodySolver->predictMotion(float(timeStep));
}

8
src/BulletSoftBody/btSoftBody.cpp
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@@ -2270,12 +2270,10 @@ bool btSoftBody::checkContact(const btCollisionObjectWrapper* colObjWrap,
{
btVector3 nrm;
const btCollisionShape* shp = colObjWrap->getCollisionShape();
const btRigidBody *tmpRigid = btRigidBody::upcast(colObjWrap->getCollisionObject());
const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject();
// get the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg
const btTransform &wtr = (tmpRigid&&predict) ? tmpRigid->getInterpolationWorldTransform() : colObjWrap->getWorldTransform();
// const btTransform &wtr = predict ? colObjWrap->getInterpolationWorldTransform() : colObjWrap->getWorldTransform();
// TODO: get the correct transform for multibody
const btTransform &wtr = (predict) ? tmpCollisionObj->getInterpolationWorldTransform() : colObjWrap->getWorldTransform();
// const btTransform &wtr = colObjWrap->getWorldTransform();
btScalar dst =
m_worldInfo->m_sparsesdf.Evaluate(

9
src/BulletSoftBody/btSoftBodyInternals.h
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@@ -985,13 +985,8 @@ struct btSoftColliders
btVector3 t2 = btCross(normal, t1);
btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2;
findJacobian(multibodyLinkCol, jacobianData_normal, c.m_node->m_q, normal);
// findJacobian is hella expensive, avoid calling if possible
if (fc != 0)
{
findJacobian(multibodyLinkCol, jacobianData_t1, c.m_node->m_q, t1);
findJacobian(multibodyLinkCol, jacobianData_t2, c.m_node->m_q, t2);
}
findJacobian(multibodyLinkCol, jacobianData_t1, c.m_node->m_q, t1);
findJacobian(multibodyLinkCol, jacobianData_t2, c.m_node->m_q, t2);
btScalar* J_n = &jacobianData_normal.m_jacobians[0];
btScalar* J_t1 = &jacobianData_t1.m_jacobians[0];