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separate deformable contact solve by islands WIP

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This commit is contained in:
Xuchen Han
2019-12-17 18:27:23 -08:00
parent d38ea87027
commit f65a8b03c0
7 changed files with 92 additions and 33 deletions
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33
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
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@@ -36,9 +36,36 @@ The algorithm also closely resembles the one in http://physbam.stanford.edu/~fed
#include <stdio.h>
#include "btDeformableMultiBodyDynamicsWorld.h"
#include "DeformableBodyInplaceSolverIslandCallback.h"
#include "btDeformableBodySolver.h"
#include "LinearMath/btQuickprof.h"
#include "btSoftBodyInternals.h"
btDeformableMultiBodyDynamicsWorld::btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btDeformableMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver)
: btMultiBodyDynamicsWorld(dispatcher, pairCache, (btMultiBodyConstraintSolver*)constraintSolver, collisionConfiguration),
m_deformableBodySolver(deformableBodySolver), m_solverCallback(0)
{
m_drawFlags = fDrawFlags::Std;
m_drawNodeTree = true;
m_drawFaceTree = false;
m_drawClusterTree = false;
m_sbi.m_broadphase = pairCache;
m_sbi.m_dispatcher = dispatcher;
m_sbi.m_sparsesdf.Initialize();
m_sbi.m_sparsesdf.setDefaultVoxelsz(0.005);
m_sbi.m_sparsesdf.Reset();
m_sbi.air_density = (btScalar)1.2;
m_sbi.water_density = 0;
m_sbi.water_offset = 0;
m_sbi.water_normal = btVector3(0, 0, 0);
m_sbi.m_gravity.setValue(0, -10, 0);
m_internalTime = 0.0;
m_implicit = false;
m_lineSearch = false;
m_selfCollision = true;
m_solverDeformableBodyIslandCallback = new DeformableBodyInplaceSolverIslandCallback(constraintSolver, dispatcher);
}
void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
{
BT_PROFILE("internalSingleStepSimulation");
@@ -261,7 +288,7 @@ void btDeformableMultiBodyDynamicsWorld::setupConstraints()
// setup the solver callback
btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0;
btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0;
m_solverMultiBodyIslandCallback->setup(&m_solverInfo, constraintsPtr, m_sortedConstraints.size(), sortedMultiBodyConstraints, m_sortedMultiBodyConstraints.size(), getDebugDrawer());
m_solverDeformableBodyIslandCallback->setup(&m_solverInfo, constraintsPtr, m_sortedConstraints.size(), sortedMultiBodyConstraints, m_sortedMultiBodyConstraints.size(), getDebugDrawer());
// build islands
m_islandManager->buildIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld());
@@ -290,10 +317,10 @@ void btDeformableMultiBodyDynamicsWorld::sortConstraints()
void btDeformableMultiBodyDynamicsWorld::solveContactConstraints()
{
// process constraints on each island
m_islandManager->processIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback);
m_islandManager->processIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverDeformableBodyIslandCallback);
// process deferred
m_solverMultiBodyIslandCallback->processConstraints();
m_solverDeformableBodyIslandCallback->processConstraints();
m_constraintSolver->allSolved(m_solverInfo, m_debugDrawer);
// write joint feedback