510 lines
15 KiB
C++
510 lines
15 KiB
C++
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/*
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Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2019 Google Inc. http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btDeformableContactProjection.h"
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#include "btDeformableMultiBodyDynamicsWorld.h"
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#include <algorithm>
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#include <cmath>
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btScalar btDeformableContactProjection::update(btCollisionObject** deformableBodies,int numDeformableBodies)
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{
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btScalar residualSquare = 0;
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for (int i = 0; i < numDeformableBodies; ++i)
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{
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for (int j = 0; j < m_softBodies.size(); ++j)
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{
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btCollisionObject* psb = m_softBodies[j];
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if (psb != deformableBodies[i])
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{
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continue;
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}
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for (int k = 0; k < m_nodeRigidConstraints[j].size(); ++k)
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{
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btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[j][k];
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btScalar localResidualSquare = constraint.solveConstraint();
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residualSquare = btMax(residualSquare, localResidualSquare);
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}
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for (int k = 0; k < m_nodeAnchorConstraints[j].size(); ++k)
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{
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btDeformableNodeAnchorConstraint& constraint = m_nodeAnchorConstraints[j][k];
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btScalar localResidualSquare = constraint.solveConstraint();
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residualSquare = btMax(residualSquare, localResidualSquare);
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}
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for (int k = 0; k < m_faceRigidConstraints[j].size(); ++k)
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{
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btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[j][k];
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btScalar localResidualSquare = constraint.solveConstraint();
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residualSquare = btMax(residualSquare, localResidualSquare);
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}
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for (int k = 0; k < m_deformableConstraints[j].size(); ++k)
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{
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btDeformableFaceNodeContactConstraint& constraint = m_deformableConstraints[j][k];
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btScalar localResidualSquare = constraint.solveConstraint();
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residualSquare = btMax(residualSquare, localResidualSquare);
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}
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}
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}
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return residualSquare;
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}
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void btDeformableContactProjection::splitImpulseSetup(const btContactSolverInfo& infoGlobal)
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{
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for (int i = 0; i < m_softBodies.size(); ++i)
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{
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// node constraints
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for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j)
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{
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btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[i][j];
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constraint.setPenetrationScale(infoGlobal.m_deformable_erp);
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}
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// face constraints
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for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j)
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{
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btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[i][j];
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constraint.setPenetrationScale(infoGlobal.m_deformable_erp);
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}
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}
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}
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btScalar btDeformableContactProjection::solveSplitImpulse(const btContactSolverInfo& infoGlobal)
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{
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btScalar residualSquare = 0;
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for (int i = 0; i < m_softBodies.size(); ++i)
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{
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// node constraints
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for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j)
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{
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btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[i][j];
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btScalar localResidualSquare = constraint.solveSplitImpulse(infoGlobal);
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residualSquare = btMax(residualSquare, localResidualSquare);
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}
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// anchor constraints
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for (int j = 0; j < m_nodeAnchorConstraints[i].size(); ++j)
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{
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btDeformableNodeAnchorConstraint& constraint = m_nodeAnchorConstraints[i][j];
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btScalar localResidualSquare = constraint.solveSplitImpulse(infoGlobal);
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residualSquare = btMax(residualSquare, localResidualSquare);
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}
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// face constraints
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for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j)
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{
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btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[i][j];
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btScalar localResidualSquare = constraint.solveSplitImpulse(infoGlobal);
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residualSquare = btMax(residualSquare, localResidualSquare);
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}
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}
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return residualSquare;
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}
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void btDeformableContactProjection::setConstraints()
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{
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BT_PROFILE("setConstraints");
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for (int i = 0; i < m_softBodies.size(); ++i)
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{
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btSoftBody* psb = m_softBodies[i];
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if (!psb->isActive())
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{
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continue;
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}
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// set Dirichlet constraint
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for (int j = 0; j < psb->m_nodes.size(); ++j)
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{
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if (psb->m_nodes[j].m_im == 0)
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{
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btDeformableStaticConstraint static_constraint(&psb->m_nodes[j]);
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m_staticConstraints[i].push_back(static_constraint);
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}
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}
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// set up deformable anchors
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for (int j = 0; j < psb->m_deformableAnchors.size(); ++j)
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{
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btSoftBody::DeformableNodeRigidAnchor& anchor = psb->m_deformableAnchors[j];
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// skip fixed points
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if (anchor.m_node->m_im == 0)
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{
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continue;
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}
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anchor.m_c1 = anchor.m_cti.m_colObj->getWorldTransform().getBasis() * anchor.m_local;
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btDeformableNodeAnchorConstraint constraint(anchor);
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m_nodeAnchorConstraints[i].push_back(constraint);
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}
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// set Deformable Node vs. Rigid constraint
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for (int j = 0; j < psb->m_nodeRigidContacts.size(); ++j)
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{
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const btSoftBody::DeformableNodeRigidContact& contact = psb->m_nodeRigidContacts[j];
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// skip fixed points
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if (contact.m_node->m_im == 0)
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{
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continue;
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}
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btDeformableNodeRigidContactConstraint constraint(contact);
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btVector3 va = constraint.getVa();
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btVector3 vb = constraint.getVb();
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const btVector3 vr = vb - va;
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const btSoftBody::sCti& cti = contact.m_cti;
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const btScalar dn = btDot(vr, cti.m_normal);
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if (dn < SIMD_EPSILON)
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{
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m_nodeRigidConstraints[i].push_back(constraint);
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}
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}
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// set Deformable Face vs. Rigid constraint
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for (int j = 0; j < psb->m_faceRigidContacts.size(); ++j)
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{
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const btSoftBody::DeformableFaceRigidContact& contact = psb->m_faceRigidContacts[j];
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// skip fixed faces
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if (contact.m_c2 == 0)
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{
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continue;
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}
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btDeformableFaceRigidContactConstraint constraint(contact);
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btVector3 va = constraint.getVa();
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btVector3 vb = constraint.getVb();
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const btVector3 vr = vb - va;
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const btSoftBody::sCti& cti = contact.m_cti;
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const btScalar dn = btDot(vr, cti.m_normal);
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if (dn < SIMD_EPSILON)
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{
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m_faceRigidConstraints[i].push_back(constraint);
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}
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}
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// set Deformable Face vs. Deformable Node constraint
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for (int j = 0; j < psb->m_faceNodeContacts.size(); ++j)
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{
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const btSoftBody::DeformableFaceNodeContact& contact = psb->m_faceNodeContacts[j];
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btDeformableFaceNodeContactConstraint constraint(contact);
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btVector3 va = constraint.getVa();
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btVector3 vb = constraint.getVb();
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const btVector3 vr = vb - va;
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const btScalar dn = btDot(vr, contact.m_normal);
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if (dn > -SIMD_EPSILON)
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{
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m_deformableConstraints[i].push_back(constraint);
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}
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}
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}
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}
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void btDeformableContactProjection::project(TVStack& x)
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{
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const int dim = 3;
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for (int index = 0; index < m_projectionsDict.size(); ++index)
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{
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btAlignedObjectArray<btVector3>& projectionDirs = *m_projectionsDict.getAtIndex(index);
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size_t i = m_projectionsDict.getKeyAtIndex(index).getUid1();
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if (projectionDirs.size() >= dim)
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{
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// static node
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x[i].setZero();
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continue;
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}
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else if (projectionDirs.size() == 2)
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{
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btVector3 dir0 = projectionDirs[0];
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btVector3 dir1 = projectionDirs[1];
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btVector3 free_dir = btCross(dir0, dir1);
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if (free_dir.safeNorm() < SIMD_EPSILON)
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{
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x[i] -= x[i].dot(dir0) * dir0;
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x[i] -= x[i].dot(dir1) * dir1;
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}
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else
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{
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free_dir.normalize();
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x[i] = x[i].dot(free_dir) * free_dir;
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}
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}
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else
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{
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btAssert(projectionDirs.size() == 1);
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btVector3 dir0 = projectionDirs[0];
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x[i] -= x[i].dot(dir0) * dir0;
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}
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}
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}
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void btDeformableContactProjection::setProjection()
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{
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btAlignedObjectArray<btVector3> units;
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units.push_back(btVector3(1,0,0));
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units.push_back(btVector3(0,1,0));
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units.push_back(btVector3(0,0,1));
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for (int i = 0; i < m_softBodies.size(); ++i)
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{
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btSoftBody* psb = m_softBodies[i];
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if (!psb->isActive())
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{
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continue;
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}
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for (int j = 0; j < m_staticConstraints[i].size(); ++j)
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{
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int index = m_staticConstraints[i][j].m_node->index;
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if (m_projectionsDict.find(index) == NULL)
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{
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m_projectionsDict.insert(index, units);
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}
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else
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{
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btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index];
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for (int k = 0; k < 3; ++k)
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{
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projections.push_back(units[k]);
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}
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}
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}
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for (int j = 0; j < m_nodeAnchorConstraints[i].size(); ++j)
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{
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int index = m_nodeAnchorConstraints[i][j].m_anchor->m_node->index;
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if (m_projectionsDict.find(index) == NULL)
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{
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m_projectionsDict.insert(index, units);
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}
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else
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{
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btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index];
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for (int k = 0; k < 3; ++k)
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{
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projections.push_back(units[k]);
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}
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}
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}
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for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j)
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{
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int index = m_nodeRigidConstraints[i][j].m_node->index;
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if (m_nodeRigidConstraints[i][j].m_static)
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{
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if (m_projectionsDict.find(index) == NULL)
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{
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m_projectionsDict.insert(index, units);
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}
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else
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{
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btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index];
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for (int k = 0; k < 3; ++k)
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{
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projections.push_back(units[k]);
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}
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}
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}
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else
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{
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if (m_projectionsDict.find(index) == NULL)
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{
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btAlignedObjectArray<btVector3> projections;
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projections.push_back(m_nodeRigidConstraints[i][j].m_normal);
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m_projectionsDict.insert(index, projections);
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}
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else
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{
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btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index];
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projections.push_back(m_nodeRigidConstraints[i][j].m_normal);
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}
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}
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}
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for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j)
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{
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const btSoftBody::Face* face = m_faceRigidConstraints[i][j].m_face;
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for (int k = 0; k < 3; ++k)
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{
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const btSoftBody::Node* node = face->m_n[k];
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int index = node->index;
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if (m_faceRigidConstraints[i][j].m_static)
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{
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if (m_projectionsDict.find(index) == NULL)
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{
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m_projectionsDict.insert(index, units);
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}
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else
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{
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btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index];
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for (int k = 0; k < 3; ++k)
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{
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projections.push_back(units[k]);
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}
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}
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}
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else
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{
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if (m_projectionsDict.find(index) == NULL)
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{
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btAlignedObjectArray<btVector3> projections;
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projections.push_back(m_faceRigidConstraints[i][j].m_normal);
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m_projectionsDict.insert(index, projections);
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}
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|
|
else
|
||
|
|
{
|
||
|
|
btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index];
|
||
|
|
projections.push_back(m_faceRigidConstraints[i][j].m_normal);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
for (int j = 0; j < m_deformableConstraints[i].size(); ++j)
|
||
|
|
{
|
||
|
|
const btSoftBody::Face* face = m_deformableConstraints[i][j].m_face;
|
||
|
|
for (int k = 0; k < 3; ++k)
|
||
|
|
{
|
||
|
|
const btSoftBody::Node* node = face->m_n[k];
|
||
|
|
int index = node->index;
|
||
|
|
if (m_deformableConstraints[i][j].m_static)
|
||
|
|
{
|
||
|
|
if (m_projectionsDict.find(index) == NULL)
|
||
|
|
{
|
||
|
|
m_projectionsDict.insert(index, units);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index];
|
||
|
|
for (int k = 0; k < 3; ++k)
|
||
|
|
{
|
||
|
|
projections.push_back(units[k]);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
if (m_projectionsDict.find(index) == NULL)
|
||
|
|
{
|
||
|
|
btAlignedObjectArray<btVector3> projections;
|
||
|
|
projections.push_back(m_deformableConstraints[i][j].m_normal);
|
||
|
|
m_projectionsDict.insert(index, projections);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index];
|
||
|
|
projections.push_back(m_deformableConstraints[i][j].m_normal);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
const btSoftBody::Node* node = m_deformableConstraints[i][j].m_node;
|
||
|
|
int index = node->index;
|
||
|
|
if (m_deformableConstraints[i][j].m_static)
|
||
|
|
{
|
||
|
|
if (m_projectionsDict.find(index) == NULL)
|
||
|
|
{
|
||
|
|
m_projectionsDict.insert(index, units);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index];
|
||
|
|
for (int k = 0; k < 3; ++k)
|
||
|
|
{
|
||
|
|
projections.push_back(units[k]);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
if (m_projectionsDict.find(index) == NULL)
|
||
|
|
{
|
||
|
|
btAlignedObjectArray<btVector3> projections;
|
||
|
|
projections.push_back(m_deformableConstraints[i][j].m_normal);
|
||
|
|
m_projectionsDict.insert(index, projections);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index];
|
||
|
|
projections.push_back(m_deformableConstraints[i][j].m_normal);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
void btDeformableContactProjection::applyDynamicFriction(TVStack& f)
|
||
|
|
{
|
||
|
|
for (int i = 0; i < m_softBodies.size(); ++i)
|
||
|
|
{
|
||
|
|
for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j)
|
||
|
|
{
|
||
|
|
const btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[i][j];
|
||
|
|
const btSoftBody::Node* node = constraint.m_node;
|
||
|
|
if (node->m_im != 0)
|
||
|
|
{
|
||
|
|
int index = node->index;
|
||
|
|
f[index] += constraint.getDv(node)* (1./node->m_im);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j)
|
||
|
|
{
|
||
|
|
const btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[i][j];
|
||
|
|
const btSoftBody::Face* face = constraint.getContact()->m_face;
|
||
|
|
for (int k = 0; k < 3; ++k)
|
||
|
|
{
|
||
|
|
const btSoftBody::Node* node = face->m_n[k];
|
||
|
|
if (node->m_im != 0)
|
||
|
|
{
|
||
|
|
int index = node->index;
|
||
|
|
f[index] += constraint.getDv(node)* (1./node->m_im);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
for (int j = 0; j < m_deformableConstraints[i].size(); ++j)
|
||
|
|
{
|
||
|
|
const btDeformableFaceNodeContactConstraint& constraint = m_deformableConstraints[i][j];
|
||
|
|
const btSoftBody::Face* face = constraint.getContact()->m_face;
|
||
|
|
const btSoftBody::Node* node = constraint.getContact()->m_node;
|
||
|
|
if (node->m_im != 0)
|
||
|
|
{
|
||
|
|
int index = node->index;
|
||
|
|
f[index] += constraint.getDv(node)* (1./node->m_im);
|
||
|
|
}
|
||
|
|
for (int k = 0; k < 3; ++k)
|
||
|
|
{
|
||
|
|
const btSoftBody::Node* node = face->m_n[k];
|
||
|
|
if (node->m_im != 0)
|
||
|
|
{
|
||
|
|
int index = node->index;
|
||
|
|
f[index] += constraint.getDv(node)* (1./node->m_im);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void btDeformableContactProjection::reinitialize(bool nodeUpdated)
|
||
|
|
{
|
||
|
|
int N = m_softBodies.size();
|
||
|
|
if (nodeUpdated)
|
||
|
|
{
|
||
|
|
m_staticConstraints.resize(N);
|
||
|
|
m_nodeAnchorConstraints.resize(N);
|
||
|
|
m_nodeRigidConstraints.resize(N);
|
||
|
|
m_faceRigidConstraints.resize(N);
|
||
|
|
m_deformableConstraints.resize(N);
|
||
|
|
|
||
|
|
}
|
||
|
|
for (int i = 0 ; i < N; ++i)
|
||
|
|
{
|
||
|
|
m_staticConstraints[i].clear();
|
||
|
|
m_nodeAnchorConstraints[i].clear();
|
||
|
|
m_nodeRigidConstraints[i].clear();
|
||
|
|
m_faceRigidConstraints[i].clear();
|
||
|
|
m_deformableConstraints[i].clear();
|
||
|
|
}
|
||
|
|
m_projectionsDict.clear();
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|