144 lines
7.8 KiB
C++
144 lines
7.8 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::solveDeformableGroupIterations(btCollisionObject** bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, 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, deformableBodies, numDeformableBodies, 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++)
|
|
{
|
|
// rigid bodies are solved using solver body velocity, but rigid/deformable contact directly uses the velocity of the actual rigid body. So we have to do the following: Solve one iteration of the rigid/rigid contact, get the updated velocity in the solver body and update the velocity of the underlying rigid body. Then solve the rigid/deformable contact. Finally, grab the (once again) updated rigid velocity and update the velocity of the wrapping solver body
|
|
|
|
// solve rigid/rigid in solver body
|
|
m_leastSquaresResidual = solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
|
|
// solver body velocity -> rigid body velocity
|
|
solverBodyWriteBack(infoGlobal);
|
|
btScalar deformableResidual = m_deformableSolver->solveContactConstraints(deformableBodies, numDeformableBodies, infoGlobal);
|
|
// update rigid body velocity in rigid/deformable contact
|
|
m_leastSquaresResidual = btMax(m_leastSquaresResidual, deformableResidual);
|
|
// solver body velocity <- rigid body velocity
|
|
writeToSolverBody(bodies, numBodies, infoGlobal);
|
|
|
|
if (m_leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || (iteration >= (maxIterations - 1)))
|
|
{
|
|
#ifdef VERBOSE_RESIDUAL_PRINTF
|
|
if (iteration >= (maxIterations - 1))
|
|
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;
|
|
}
|
|
|
|
void btDeformableMultiBodyConstraintSolver::solveDeformableBodyGroup(btCollisionObject** bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher)
|
|
{
|
|
m_tmpMultiBodyConstraints = multiBodyConstraints;
|
|
m_tmpNumMultiBodyConstraints = numMultiBodyConstraints;
|
|
|
|
// inherited from MultiBodyConstraintSolver
|
|
solveGroupCacheFriendlySetup(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer);
|
|
|
|
// overriden
|
|
solveDeformableGroupIterations(bodies, numBodies, deformableBodies, numDeformableBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer);
|
|
|
|
// inherited from MultiBodyConstraintSolver
|
|
solveGroupCacheFriendlyFinish(bodies, numBodies, info);
|
|
|
|
m_tmpMultiBodyConstraints = 0;
|
|
m_tmpNumMultiBodyConstraints = 0;
|
|
}
|
|
|
|
void btDeformableMultiBodyConstraintSolver::writeToSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
|
|
{
|
|
for (int i = 0; i < numBodies; i++)
|
|
{
|
|
int bodyId = getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep);
|
|
|
|
btRigidBody* body = btRigidBody::upcast(bodies[i]);
|
|
if (body && body->getInvMass())
|
|
{
|
|
btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId];
|
|
solverBody.m_linearVelocity = body->getLinearVelocity() - solverBody.m_deltaLinearVelocity;
|
|
solverBody.m_angularVelocity = body->getAngularVelocity() - solverBody.m_deltaAngularVelocity;
|
|
}
|
|
}
|
|
}
|
|
|
|
void btDeformableMultiBodyConstraintSolver::solverBodyWriteBack(const btContactSolverInfo& infoGlobal)
|
|
{
|
|
for (int i = 0; i < m_tmpSolverBodyPool.size(); i++)
|
|
{
|
|
btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody;
|
|
if (body)
|
|
{
|
|
m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(m_tmpSolverBodyPool[i].m_linearVelocity + m_tmpSolverBodyPool[i].m_deltaLinearVelocity);
|
|
m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(m_tmpSolverBodyPool[i].m_angularVelocity + m_tmpSolverBodyPool[i].m_deltaAngularVelocity);
|
|
}
|
|
}
|
|
}
|
|
|
|
void btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
|
|
{
|
|
BT_PROFILE("solveGroupCacheFriendlySplitImpulseIterations");
|
|
int iteration;
|
|
if (infoGlobal.m_splitImpulse)
|
|
{
|
|
{
|
|
for (iteration = 0; iteration < infoGlobal.m_numIterations; iteration++)
|
|
{
|
|
btScalar leastSquaresResidual = 0.f;
|
|
{
|
|
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
|
|
int j;
|
|
for (j = 0; j < numPoolConstraints; j++)
|
|
{
|
|
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
|
|
|
|
btScalar residual = resolveSplitPenetrationImpulse(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
|
|
leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
|
|
}
|
|
// solve the position correction between deformable and rigid/multibody
|
|
// btScalar residual = m_deformableSolver->solveSplitImpulse(infoGlobal);
|
|
btScalar residual = m_deformableSolver->m_objective->m_projection.solveSplitImpulse(deformableBodies, numDeformableBodies, infoGlobal);
|
|
leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
|
|
}
|
|
if (leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration >= (infoGlobal.m_numIterations - 1))
|
|
{
|
|
#ifdef VERBOSE_RESIDUAL_PRINTF
|
|
if (iteration >= (infoGlobal.m_numIterations - 1))
|
|
printf("split impulse residual = %f at iteration #%d\n", leastSquaresResidual, iteration);
|
|
#endif
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|