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finished refactoring; start adding face contact

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This commit is contained in:
Xuchen Han
2019-08-30 14:16:56 -07:00
parent f813cb1c88
commit f99cf56149
16 changed files with 937 additions and 355 deletions
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55
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -16,6 +16,7 @@
#include <stdio.h>
#include <limits>
#include "btDeformableBodySolver.h"
#include "btSoftBodyInternals.h"
#include "LinearMath/btQuickprof.h"
btDeformableBodySolver::btDeformableBodySolver()
@@ -23,11 +24,7 @@ btDeformableBodySolver::btDeformableBodySolver()
, m_cg(20)
, m_maxNewtonIterations(5)
, m_newtonTolerance(1e-4)
//, m_lineSearch(false)
//, m_cg(10)
//, m_maxNewtonIterations(5)
//, m_newtonTolerance(1e-3)
, m_lineSearch(true)
, m_lineSearch(false)
{
m_objective = new btDeformableBackwardEulerObjective(m_softBodySet, m_backupVelocity);
}
@@ -155,7 +152,7 @@ void btDeformableBodySolver::updateEnergy(btScalar scale)
btScalar btDeformableBodySolver::computeDescentStep(TVStack& ddv, const TVStack& residual)
{
btScalar relative_tolerance = btMin(0.5, std::sqrt(btMax(m_objective->computeNorm(residual), m_newtonTolerance)));
btScalar relative_tolerance = btMin(btScalar(0.5), std::sqrt(btMax(m_objective->computeNorm(residual), m_newtonTolerance)));
m_cg.solve(*m_objective, ddv, residual, relative_tolerance, false);
btScalar inner_product = m_cg.dot(residual, m_ddv);
btScalar tol = 1e-5 * m_objective->computeNorm(residual) * m_objective->computeNorm(m_ddv);
@@ -199,7 +196,7 @@ void btDeformableBodySolver::updateDv(btScalar scale)
void btDeformableBodySolver::computeStep(TVStack& ddv, const TVStack& residual)
{
//btScalar tolerance = std::numeric_limits<btScalar>::epsilon() * m_objective->computeNorm(residual);
btScalar relative_tolerance = btMin(0.5, std::sqrt(btMax(m_objective->computeNorm(residual), m_newtonTolerance)));
btScalar relative_tolerance = btMin(btScalar(0.5), std::sqrt(btMax(m_objective->computeNorm(residual), m_newtonTolerance)));
m_cg.solve(*m_objective, ddv, residual, relative_tolerance, false);
}
@@ -237,8 +234,18 @@ void btDeformableBodySolver::setConstraints()
btScalar btDeformableBodySolver::solveContactConstraints()
{
BT_PROFILE("setConstraint");
for (int i = 0; i < m_dv.size();++i)
{
m_dv[i].setZero();
}
btScalar maxSquaredResidual = m_objective->projection.update();
m_objective->enforceConstraint(m_dv);
// std::cout << "=================" << std::endl;
// for (int i = 0; i < m_dv.size(); ++i)
// {
// std::cout << m_dv[i].getX() << " " << m_dv[i].getY() << " " << m_dv[i].getZ() << std::endl;
// }
m_objective->updateVelocity(m_dv);
return maxSquaredResidual;
}
@@ -302,7 +309,7 @@ void btDeformableBodySolver::backupVn()
// Here:
// dv = 0 for nodes not in constraints
// dv = v_{n+1} - v_{n+1}^* for nodes in constraints
if (m_objective->projection.m_constraints.find(psb->m_nodes[j].index)!=NULL)
if (m_objective->projection.m_projectionsDict.find(psb->m_nodes[j].index)!=NULL)
{
m_dv[counter] += m_backupVelocity[counter] - psb->m_nodes[j].m_vn;
}
@@ -361,6 +368,18 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d
{
int i, ni;
/* Update */
if (psb->m_bUpdateRtCst)
{
psb->m_bUpdateRtCst = false;
psb->updateConstants();
psb->m_fdbvt.clear();
if (psb->m_cfg.collisions & btSoftBody::fCollision::SDF_RDF)
{
psb->initializeFaceTree();
}
}
/* Prepare */
psb->m_sst.sdt = dt * psb->m_cfg.timescale;
psb->m_sst.isdt = 1 / psb->m_sst.sdt;
@@ -388,11 +407,29 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d
psb->m_sst.updmrg);
}
if (!psb->m_fdbvt.empty())
{
for (int i = 0; i < psb->m_faces.size(); ++i)
{
btSoftBody::Face& f = psb->m_faces[i];
const btVector3 v = (f.m_n[0]->m_v +
f.m_n[1]->m_v +
f.m_n[2]->m_v) /
3;
vol = VolumeOf(f, psb->m_sst.radmrg);
psb->m_fdbvt.update(f.m_leaf,
vol,
v * psb->m_sst.velmrg,
psb->m_sst.updmrg);
}
}
/* Clear contacts */
psb->m_rcontacts.resize(0);
psb->m_nodeRigidContacts.resize(0);
psb->m_faceRigidContacts.resize(0);
psb->m_scontacts.resize(0);
/* Optimize dbvt's */
psb->m_ndbvt.optimizeIncremental(1);
psb->m_fdbvt.optimizeIncremental(1);
}
void btDeformableBodySolver::updateSoftBodies()