54 lines
3.1 KiB
C++
54 lines
3.1 KiB
C++
/*
|
|
Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
|
|
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2019 Google Inc. http://bulletphysics.org
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
|
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.
|
|
*/
|
|
|
|
|
|
#include "btDeformableMultiBodyConstraintSolver.h"
|
|
#include <iostream>
|
|
// override the iterations method to include deformable/multibody contact
|
|
btScalar btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
|
|
{
|
|
{
|
|
///this is a special step to resolve penetrations (just for contacts)
|
|
solveGroupCacheFriendlySplitImpulseIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
|
|
|
|
int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations;
|
|
for (int iteration = 0; iteration < maxIterations; iteration++)
|
|
{
|
|
m_leastSquaresResidual = solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
|
|
|
|
solverBodyWriteBack(infoGlobal);
|
|
m_leastSquaresResidual = btMax(m_leastSquaresResidual, m_deformableSolver->solveContactConstraints());
|
|
writeToSolverBody(bodies, numBodies, infoGlobal);
|
|
|
|
if (m_leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || (iteration >= (maxIterations - 1)))
|
|
{
|
|
#ifdef VERBOSE_RESIDUAL_PRINTF
|
|
printf("residual = %f at iteration #%d\n", m_leastSquaresResidual, iteration);
|
|
#endif
|
|
m_analyticsData.m_numSolverCalls++;
|
|
m_analyticsData.m_numIterationsUsed = iteration+1;
|
|
m_analyticsData.m_islandId = -2;
|
|
if (numBodies>0)
|
|
m_analyticsData.m_islandId = bodies[0]->getCompanionId();
|
|
m_analyticsData.m_numBodies = numBodies;
|
|
m_analyticsData.m_numContactManifolds = numManifolds;
|
|
m_analyticsData.m_remainingLeastSquaresResidual = m_leastSquaresResidual;
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
return 0.f;
|
|
}
|