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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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27
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
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@@ -29,6 +29,7 @@ typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
class btDeformableBodySolver;
class btDeformableLagrangianForce;
struct MultiBodyInplaceSolverIslandCallback;
struct DeformableBodyInplaceSolverIslandCallback;
class btDeformableMultiBodyConstraintSolver;
typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
@@ -49,6 +50,7 @@ class btDeformableMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld
bool m_implicit;
bool m_lineSearch;
bool m_selfCollision;
DeformableBodyInplaceSolverIslandCallback* m_solverDeformableBodyIslandCallback;
typedef void (*btSolverCallback)(btScalar time, btDeformableMultiBodyDynamicsWorld* world);
btSolverCallback m_solverCallback;
@@ -67,30 +69,7 @@ protected:
void clearGravity();
public:
btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btDeformableMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0)
: 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;
}
btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btDeformableMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0);
virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.));