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bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
2020-01-08 17:05:43 +00:00
/*
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 "btDeformableContactConstraint.h"
/* ================ Deformable Node Anchor =================== */
Update to bullet master (2.90)
2020-04-27 08:15:23 +00:00
btDeformableNodeAnchorConstraint::btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& a, const btContactSolverInfo& infoGlobal)
bullet: Sync with upstream 3.07
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: m_anchor(&a), btDeformableContactConstraint(a.m_cti.m_normal, infoGlobal)
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
2020-01-08 17:05:43 +00:00
{
}
btDeformableNodeAnchorConstraint::btDeformableNodeAnchorConstraint(const btDeformableNodeAnchorConstraint& other)
bullet: Sync with upstream 3.07
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: m_anchor(other.m_anchor), btDeformableContactConstraint(other)
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
2020-01-08 17:05:43 +00:00
{
}
btVector3 btDeformableNodeAnchorConstraint::getVa() const
{
bullet: Sync with upstream 3.07
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const btSoftBody::sCti& cti = m_anchor->m_cti;
btVector3 va(0, 0, 0);
if (cti.m_colObj->hasContactResponse())
{
btRigidBody* rigidCol = 0;
btMultiBodyLinkCollider* multibodyLinkCol = 0;
// grab the velocity of the rigid body
if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
{
rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
va = rigidCol ? (rigidCol->getVelocityInLocalPoint(m_anchor->m_c1)) : btVector3(0, 0, 0);
}
else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
{
multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj);
if (multibodyLinkCol)
{
const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6;
const btScalar* J_n = &m_anchor->jacobianData_normal.m_jacobians[0];
const btScalar* J_t1 = &m_anchor->jacobianData_t1.m_jacobians[0];
const btScalar* J_t2 = &m_anchor->jacobianData_t2.m_jacobians[0];
const btScalar* local_v = multibodyLinkCol->m_multiBody->getVelocityVector();
const btScalar* local_dv = multibodyLinkCol->m_multiBody->getDeltaVelocityVector();
// add in the normal component of the va
btScalar vel = 0.0;
for (int k = 0; k < ndof; ++k)
{
vel += (local_v[k] + local_dv[k]) * J_n[k];
}
va = cti.m_normal * vel;
// add in the tangential components of the va
vel = 0.0;
for (int k = 0; k < ndof; ++k)
{
vel += (local_v[k] + local_dv[k]) * J_t1[k];
}
va += m_anchor->t1 * vel;
vel = 0.0;
for (int k = 0; k < ndof; ++k)
{
vel += (local_v[k] + local_dv[k]) * J_t2[k];
}
va += m_anchor->t2 * vel;
}
}
}
return va;
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
2020-01-08 17:05:43 +00:00
}
Update to bullet master (2.90)
2020-04-27 08:15:23 +00:00
btScalar btDeformableNodeAnchorConstraint::solveConstraint(const btContactSolverInfo& infoGlobal)
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
2020-01-08 17:05:43 +00:00
{
bullet: Sync with upstream 3.07
2020-12-17 12:51:12 +00:00
const btSoftBody::sCti& cti = m_anchor->m_cti;
btVector3 va = getVa();
btVector3 vb = getVb();
btVector3 vr = (vb - va);
// + (m_anchor->m_node->m_x - cti.m_colObj->getWorldTransform() * m_anchor->m_local) * 10.0
const btScalar dn = btDot(vr, vr);
// dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt
btScalar residualSquare = dn * dn;
btVector3 impulse = m_anchor->m_c0 * vr;
// apply impulse to deformable nodes involved and change their velocities
applyImpulse(impulse);
// apply impulse to the rigid/multibodies involved and change their velocities
if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
{
btRigidBody* rigidCol = 0;
rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
if (rigidCol)
{
rigidCol->applyImpulse(impulse, m_anchor->m_c1);
}
}
else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
{
btMultiBodyLinkCollider* multibodyLinkCol = 0;
multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj);
if (multibodyLinkCol)
{
const btScalar* deltaV_normal = &m_anchor->jacobianData_normal.m_deltaVelocitiesUnitImpulse[0];
// apply normal component of the impulse
multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_normal, impulse.dot(cti.m_normal));
// apply tangential component of the impulse
const btScalar* deltaV_t1 = &m_anchor->jacobianData_t1.m_deltaVelocitiesUnitImpulse[0];
multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t1, impulse.dot(m_anchor->t1));
const btScalar* deltaV_t2 = &m_anchor->jacobianData_t2.m_deltaVelocitiesUnitImpulse[0];
multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t2, impulse.dot(m_anchor->t2));
}
}
return residualSquare;
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
2020-01-08 17:05:43 +00:00
}
btVector3 btDeformableNodeAnchorConstraint::getVb() const
{
bullet: Sync with upstream 3.07
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return m_anchor->m_node->m_v;
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
2020-01-08 17:05:43 +00:00
}
void btDeformableNodeAnchorConstraint::applyImpulse(const btVector3& impulse)
{
bullet: Sync with upstream 3.07
2020-12-17 12:51:12 +00:00
btVector3 dv = impulse * m_anchor->m_c2;
m_anchor->m_node->m_v -= dv;
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
2020-01-08 17:05:43 +00:00
}
/* ================ Deformable vs. Rigid =================== */
Update to bullet master (2.90)
2020-04-27 08:15:23 +00:00
btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c, const btContactSolverInfo& infoGlobal)
bullet: Sync with upstream 3.07
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: m_contact(&c), btDeformableContactConstraint(c.m_cti.m_normal, infoGlobal)
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
2020-01-08 17:05:43 +00:00
{
bullet: Sync with upstream 3.07
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m_total_normal_dv.setZero();
m_total_tangent_dv.setZero();
// The magnitude of penetration is the depth of penetration.
m_penetration = c.m_cti.m_offset;
m_total_split_impulse = 0;
m_binding = false;
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
2020-01-08 17:05:43 +00:00
}
btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btDeformableRigidContactConstraint& other)
bullet: Sync with upstream 3.07
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: m_contact(other.m_contact), btDeformableContactConstraint(other), m_penetration(other.m_penetration), m_total_split_impulse(other.m_total_split_impulse), m_binding(other.m_binding)
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
2020-01-08 17:05:43 +00:00
{
bullet: Sync with upstream 3.07
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m_total_normal_dv = other.m_total_normal_dv;
m_total_tangent_dv = other.m_total_tangent_dv;
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
2020-01-08 17:05:43 +00:00
}
btVector3 btDeformableRigidContactConstraint::getVa() const
{
bullet: Sync with upstream 3.07
2020-12-17 12:51:12 +00:00
const btSoftBody::sCti& cti = m_contact->m_cti;
btVector3 va(0, 0, 0);
if (cti.m_colObj->hasContactResponse())
{
btRigidBody* rigidCol = 0;
btMultiBodyLinkCollider* multibodyLinkCol = 0;
// grab the velocity of the rigid body
if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
{
rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
va = rigidCol ? (rigidCol->getVelocityInLocalPoint(m_contact->m_c1)) : btVector3(0, 0, 0);
}
else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
{
multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj);
if (multibodyLinkCol)
{
const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6;
const btScalar* J_n = &m_contact->jacobianData_normal.m_jacobians[0];
const btScalar* J_t1 = &m_contact->jacobianData_t1.m_jacobians[0];
const btScalar* J_t2 = &m_contact->jacobianData_t2.m_jacobians[0];
const btScalar* local_v = multibodyLinkCol->m_multiBody->getVelocityVector();
const btScalar* local_dv = multibodyLinkCol->m_multiBody->getDeltaVelocityVector();
// add in the normal component of the va
btScalar vel = 0.0;
for (int k = 0; k < ndof; ++k)
{
vel += (local_v[k] + local_dv[k]) * J_n[k];
}
va = cti.m_normal * vel;
// add in the tangential components of the va
vel = 0.0;
for (int k = 0; k < ndof; ++k)
{
vel += (local_v[k] + local_dv[k]) * J_t1[k];
}
va += m_contact->t1 * vel;
vel = 0.0;
for (int k = 0; k < ndof; ++k)
{
vel += (local_v[k] + local_dv[k]) * J_t2[k];
}
va += m_contact->t2 * vel;
}
}
}
return va;
}
btVector3 btDeformableRigidContactConstraint::getSplitVa() const
{
const btSoftBody::sCti& cti = m_contact->m_cti;
btVector3 va(0, 0, 0);
if (cti.m_colObj->hasContactResponse())
{
btRigidBody* rigidCol = 0;
btMultiBodyLinkCollider* multibodyLinkCol = 0;
// grab the velocity of the rigid body
if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
{
rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
va = rigidCol ? (rigidCol->getPushVelocityInLocalPoint(m_contact->m_c1)) : btVector3(0, 0, 0);
}
else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
{
multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj);
if (multibodyLinkCol)
{
const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6;
const btScalar* J_n = &m_contact->jacobianData_normal.m_jacobians[0];
const btScalar* J_t1 = &m_contact->jacobianData_t1.m_jacobians[0];
const btScalar* J_t2 = &m_contact->jacobianData_t2.m_jacobians[0];
const btScalar* local_split_v = multibodyLinkCol->m_multiBody->getSplitVelocityVector();
// add in the normal component of the va
btScalar vel = 0.0;
for (int k = 0; k < ndof; ++k)
{
vel += local_split_v[k] * J_n[k];
}
va = cti.m_normal * vel;
// add in the tangential components of the va
vel = 0.0;
for (int k = 0; k < ndof; ++k)
{
vel += local_split_v[k] * J_t1[k];
}
va += m_contact->t1 * vel;
vel = 0.0;
for (int k = 0; k < ndof; ++k)
{
vel += local_split_v[k] * J_t2[k];
}
va += m_contact->t2 * vel;
}
}
}
return va;
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
2020-01-08 17:05:43 +00:00
}
Update to bullet master (2.90)
2020-04-27 08:15:23 +00:00
btScalar btDeformableRigidContactConstraint::solveConstraint(const btContactSolverInfo& infoGlobal)
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
2020-01-08 17:05:43 +00:00
{
bullet: Sync with upstream 3.07
2020-12-17 12:51:12 +00:00
const btSoftBody::sCti& cti = m_contact->m_cti;
btVector3 va = getVa();
btVector3 vb = getVb();
btVector3 vr = vb - va;
btScalar dn = btDot(vr, cti.m_normal) + m_total_normal_dv.dot(cti.m_normal) * infoGlobal.m_deformable_cfm;
if (m_penetration > 0)
{
dn += m_penetration / infoGlobal.m_timeStep;
}
if (!infoGlobal.m_splitImpulse)
{
dn += m_penetration * infoGlobal.m_deformable_erp / infoGlobal.m_timeStep;
}
// dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt
btVector3 impulse = m_contact->m_c0 * (vr + m_total_normal_dv * infoGlobal.m_deformable_cfm + ((m_penetration > 0) ? m_penetration / infoGlobal.m_timeStep * cti.m_normal : btVector3(0, 0, 0)));
if (!infoGlobal.m_splitImpulse)
{
impulse += m_contact->m_c0 * (m_penetration * infoGlobal.m_deformable_erp / infoGlobal.m_timeStep * cti.m_normal);
}
btVector3 impulse_normal = m_contact->m_c0 * (cti.m_normal * dn);
btVector3 impulse_tangent = impulse - impulse_normal;
if (dn > 0)
{
return 0;
}
m_binding = true;
btScalar residualSquare = dn * dn;
btVector3 old_total_tangent_dv = m_total_tangent_dv;
// m_c5 is the inverse mass of the deformable node/face
m_total_normal_dv -= m_contact->m_c5 * impulse_normal;
m_total_tangent_dv -= m_contact->m_c5 * impulse_tangent;
if (m_total_normal_dv.dot(cti.m_normal) < 0)
{
// separating in the normal direction
m_binding = false;
m_static = false;
impulse_tangent.setZero();
}
else
{
if (m_total_normal_dv.norm() * m_contact->m_c3 < m_total_tangent_dv.norm())
{
// dynamic friction
// with dynamic friction, the impulse are still applied to the two objects colliding, however, it does not pose a constraint in the cg solve, hence the change to dv merely serves to update velocity in the contact iterations.
m_static = false;
if (m_total_tangent_dv.safeNorm() < SIMD_EPSILON)
{
m_total_tangent_dv = btVector3(0, 0, 0);
}
else
{
m_total_tangent_dv = m_total_tangent_dv.normalized() * m_total_normal_dv.safeNorm() * m_contact->m_c3;
}
// impulse_tangent = -btScalar(1)/m_contact->m_c2 * (m_total_tangent_dv - old_total_tangent_dv);
impulse_tangent = m_contact->m_c5.inverse() * (old_total_tangent_dv - m_total_tangent_dv);
}
else
{
// static friction
m_static = true;
}
}
impulse = impulse_normal + impulse_tangent;
// apply impulse to deformable nodes involved and change their velocities
applyImpulse(impulse);
// apply impulse to the rigid/multibodies involved and change their velocities
if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
{
btRigidBody* rigidCol = 0;
rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
if (rigidCol)
{
rigidCol->applyImpulse(impulse, m_contact->m_c1);
}
}
else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
{
btMultiBodyLinkCollider* multibodyLinkCol = 0;
multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj);
if (multibodyLinkCol)
{
const btScalar* deltaV_normal = &m_contact->jacobianData_normal.m_deltaVelocitiesUnitImpulse[0];
// apply normal component of the impulse
multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_normal, impulse.dot(cti.m_normal));
if (impulse_tangent.norm() > SIMD_EPSILON)
{
// apply tangential component of the impulse
const btScalar* deltaV_t1 = &m_contact->jacobianData_t1.m_deltaVelocitiesUnitImpulse[0];
multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t1, impulse.dot(m_contact->t1));
const btScalar* deltaV_t2 = &m_contact->jacobianData_t2.m_deltaVelocitiesUnitImpulse[0];
multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t2, impulse.dot(m_contact->t2));
}
}
}
return residualSquare;
}
btScalar btDeformableRigidContactConstraint::solveSplitImpulse(const btContactSolverInfo& infoGlobal)
{
btScalar MAX_PENETRATION_CORRECTION = infoGlobal.m_deformable_maxErrorReduction;
const btSoftBody::sCti& cti = m_contact->m_cti;
btVector3 vb = getSplitVb();
btVector3 va = getSplitVa();
btScalar p = m_penetration;
if (p > 0)
{
return 0;
}
btVector3 vr = vb - va;
btScalar dn = btDot(vr, cti.m_normal) + p * infoGlobal.m_deformable_erp / infoGlobal.m_timeStep;
if (dn > 0)
{
return 0;
}
if (m_total_split_impulse + dn > MAX_PENETRATION_CORRECTION)
{
dn = MAX_PENETRATION_CORRECTION - m_total_split_impulse;
}
if (m_total_split_impulse + dn < -MAX_PENETRATION_CORRECTION)
{
dn = -MAX_PENETRATION_CORRECTION - m_total_split_impulse;
}
m_total_split_impulse += dn;
btScalar residualSquare = dn * dn;
const btVector3 impulse = m_contact->m_c0 * (cti.m_normal * dn);
applySplitImpulse(impulse);
// apply split impulse to the rigid/multibodies involved and change their velocities
if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
{
btRigidBody* rigidCol = 0;
rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
if (rigidCol)
{
rigidCol->applyPushImpulse(impulse, m_contact->m_c1);
}
}
else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
{
btMultiBodyLinkCollider* multibodyLinkCol = 0;
multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj);
if (multibodyLinkCol)
{
const btScalar* deltaV_normal = &m_contact->jacobianData_normal.m_deltaVelocitiesUnitImpulse[0];
// apply normal component of the impulse
multibodyLinkCol->m_multiBody->applyDeltaSplitVeeMultiDof(deltaV_normal, impulse.dot(cti.m_normal));
}
}
return residualSquare;
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
2020-01-08 17:05:43 +00:00
}
/* ================ Node vs. Rigid =================== */
Update to bullet master (2.90)
2020-04-27 08:15:23 +00:00
btDeformableNodeRigidContactConstraint::btDeformableNodeRigidContactConstraint(const btSoftBody::DeformableNodeRigidContact& contact, const btContactSolverInfo& infoGlobal)
bullet: Sync with upstream 3.07
2020-12-17 12:51:12 +00:00
: m_node(contact.m_node), btDeformableRigidContactConstraint(contact, infoGlobal)
{
}
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
2020-01-08 17:05:43 +00:00
btDeformableNodeRigidContactConstraint::btDeformableNodeRigidContactConstraint(const btDeformableNodeRigidContactConstraint& other)
bullet: Sync with upstream 3.07
2020-12-17 12:51:12 +00:00
: m_node(other.m_node), btDeformableRigidContactConstraint(other)
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
2020-01-08 17:05:43 +00:00
{
}
btVector3 btDeformableNodeRigidContactConstraint::getVb() const
{
bullet: Sync with upstream 3.07
2020-12-17 12:51:12 +00:00
return m_node->m_v;
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
2020-01-08 17:05:43 +00:00
}
bullet: Sync with upstream 3.07
2020-12-17 12:51:12 +00:00
btVector3 btDeformableNodeRigidContactConstraint::getSplitVb() const
{
return m_node->m_splitv;
}
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
2020-01-08 17:05:43 +00:00
btVector3 btDeformableNodeRigidContactConstraint::getDv(const btSoftBody::Node* node) const
{
bullet: Sync with upstream 3.07
2020-12-17 12:51:12 +00:00
return m_total_normal_dv + m_total_tangent_dv;
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
2020-01-08 17:05:43 +00:00
}
void btDeformableNodeRigidContactConstraint::applyImpulse(const btVector3& impulse)
{
bullet: Sync with upstream 3.07
2020-12-17 12:51:12 +00:00
const btSoftBody::DeformableNodeRigidContact* contact = getContact();
btVector3 dv = contact->m_c5 * impulse;
contact->m_node->m_v -= dv;
}
void btDeformableNodeRigidContactConstraint::applySplitImpulse(const btVector3& impulse)
{
const btSoftBody::DeformableNodeRigidContact* contact = getContact();
btVector3 dv = contact->m_c5 * impulse;
contact->m_node->m_splitv -= dv;
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
2020-01-08 17:05:43 +00:00
}
/* ================ Face vs. Rigid =================== */
Update to bullet master (2.90)
2020-04-27 08:15:23 +00:00
btDeformableFaceRigidContactConstraint::btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact, const btContactSolverInfo& infoGlobal, bool useStrainLimiting)
bullet: Sync with upstream 3.07
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: m_face(contact.m_face), m_useStrainLimiting(useStrainLimiting), btDeformableRigidContactConstraint(contact, infoGlobal)
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
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{
}
btDeformableFaceRigidContactConstraint::btDeformableFaceRigidContactConstraint(const btDeformableFaceRigidContactConstraint& other)
bullet: Sync with upstream 3.07
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: m_face(other.m_face), m_useStrainLimiting(other.m_useStrainLimiting), btDeformableRigidContactConstraint(other)
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
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{
}
btVector3 btDeformableFaceRigidContactConstraint::getVb() const
{
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const btSoftBody::DeformableFaceRigidContact* contact = getContact();
btVector3 vb = m_face->m_n[0]->m_v * contact->m_bary[0] + m_face->m_n[1]->m_v * contact->m_bary[1] + m_face->m_n[2]->m_v * contact->m_bary[2];
return vb;
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
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}
btVector3 btDeformableFaceRigidContactConstraint::getDv(const btSoftBody::Node* node) const
{
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btVector3 face_dv = m_total_normal_dv + m_total_tangent_dv;
const btSoftBody::DeformableFaceRigidContact* contact = getContact();
if (m_face->m_n[0] == node)
{
return face_dv * contact->m_weights[0];
}
if (m_face->m_n[1] == node)
{
return face_dv * contact->m_weights[1];
}
btAssert(node == m_face->m_n[2]);
return face_dv * contact->m_weights[2];
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
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}
void btDeformableFaceRigidContactConstraint::applyImpulse(const btVector3& impulse)
{
bullet: Sync with upstream 3.07
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const btSoftBody::DeformableFaceRigidContact* contact = getContact();
btVector3 dv = impulse * contact->m_c2;
btSoftBody::Face* face = contact->m_face;
btVector3& v0 = face->m_n[0]->m_v;
btVector3& v1 = face->m_n[1]->m_v;
btVector3& v2 = face->m_n[2]->m_v;
const btScalar& im0 = face->m_n[0]->m_im;
const btScalar& im1 = face->m_n[1]->m_im;
const btScalar& im2 = face->m_n[2]->m_im;
if (im0 > 0)
v0 -= dv * contact->m_weights[0];
if (im1 > 0)
v1 -= dv * contact->m_weights[1];
if (im2 > 0)
v2 -= dv * contact->m_weights[2];
Update to bullet master (2.90)
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if (m_useStrainLimiting)
{
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btScalar relaxation = 1. / btScalar(m_infoGlobal->m_numIterations);
btScalar m01 = (relaxation / (im0 + im1));
btScalar m02 = (relaxation / (im0 + im2));
btScalar m12 = (relaxation / (im1 + im2));
#ifdef USE_STRAIN_RATE_LIMITING
Update to bullet master (2.90)
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// apply strain limiting to prevent the new velocity to change the current length of the edge by more than 1%.
btScalar p = 0.01;
btVector3& x0 = face->m_n[0]->m_x;
btVector3& x1 = face->m_n[1]->m_x;
btVector3& x2 = face->m_n[2]->m_x;
bullet: Sync with upstream 3.07
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const btVector3 x_diff[3] = {x1 - x0, x2 - x0, x2 - x1};
const btVector3 v_diff[3] = {v1 - v0, v2 - v0, v2 - v1};
Update to bullet master (2.90)
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btVector3 u[3];
btScalar x_diff_dot_u, dn[3];
btScalar dt = m_infoGlobal->m_timeStep;
for (int i = 0; i < 3; ++i)
{
btScalar x_diff_norm = x_diff[i].safeNorm();
btScalar x_diff_norm_new = (x_diff[i] + v_diff[i] * dt).safeNorm();
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btScalar strainRate = x_diff_norm_new / x_diff_norm;
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u[i] = v_diff[i];
u[i].safeNormalize();
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if (x_diff_norm == 0 || (1 - p <= strainRate && strainRate <= 1 + p))
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{
dn[i] = 0;
continue;
}
x_diff_dot_u = btDot(x_diff[i], u[i]);
btScalar s;
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if (1 - p > strainRate)
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{
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s = 1 / dt * (-x_diff_dot_u - btSqrt(x_diff_dot_u * x_diff_dot_u + (p * p - 2 * p) * x_diff_norm * x_diff_norm));
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}
else
{
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s = 1 / dt * (-x_diff_dot_u + btSqrt(x_diff_dot_u * x_diff_dot_u + (p * p + 2 * p) * x_diff_norm * x_diff_norm));
Update to bullet master (2.90)
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}
// x_diff_norm_new = (x_diff[i] + s * u[i] * dt).safeNorm();
// strainRate = x_diff_norm_new/x_diff_norm;
dn[i] = s - v_diff[i].safeNorm();
}
bullet: Sync with upstream 3.07
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btVector3 dv0 = im0 * (m01 * u[0] * (-dn[0]) + m02 * u[1] * -(dn[1]));
btVector3 dv1 = im1 * (m01 * u[0] * (dn[0]) + m12 * u[2] * (-dn[2]));
btVector3 dv2 = im2 * (m12 * u[2] * (dn[2]) + m02 * u[1] * (dn[1]));
#else
Update to bullet master (2.90)
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// apply strain limiting to prevent undamped modes
bullet: Sync with upstream 3.07
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btVector3 dv0 = im0 * (m01 * (v1 - v0) + m02 * (v2 - v0));
btVector3 dv1 = im1 * (m01 * (v0 - v1) + m12 * (v2 - v1));
btVector3 dv2 = im2 * (m12 * (v1 - v2) + m02 * (v0 - v2));
#endif
Update to bullet master (2.90)
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v0 += dv0;
v1 += dv1;
v2 += dv2;
}
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
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}
bullet: Sync with upstream 3.07
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btVector3 btDeformableFaceRigidContactConstraint::getSplitVb() const
{
const btSoftBody::DeformableFaceRigidContact* contact = getContact();
btVector3 vb = (m_face->m_n[0]->m_splitv) * contact->m_bary[0] + (m_face->m_n[1]->m_splitv) * contact->m_bary[1] + (m_face->m_n[2]->m_splitv) * contact->m_bary[2];
return vb;
}
void btDeformableFaceRigidContactConstraint::applySplitImpulse(const btVector3& impulse)
{
const btSoftBody::DeformableFaceRigidContact* contact = getContact();
btVector3 dv = impulse * contact->m_c2;
btSoftBody::Face* face = contact->m_face;
btVector3& v0 = face->m_n[0]->m_splitv;
btVector3& v1 = face->m_n[1]->m_splitv;
btVector3& v2 = face->m_n[2]->m_splitv;
const btScalar& im0 = face->m_n[0]->m_im;
const btScalar& im1 = face->m_n[1]->m_im;
const btScalar& im2 = face->m_n[2]->m_im;
if (im0 > 0)
{
v0 -= dv * contact->m_weights[0];
}
if (im1 > 0)
{
v1 -= dv * contact->m_weights[1];
}
if (im2 > 0)
{
v2 -= dv * contact->m_weights[2];
}
}
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
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/* ================ Face vs. Node =================== */
Update to bullet master (2.90)
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btDeformableFaceNodeContactConstraint::btDeformableFaceNodeContactConstraint(const btSoftBody::DeformableFaceNodeContact& contact, const btContactSolverInfo& infoGlobal)
bullet: Sync with upstream 3.07
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: m_node(contact.m_node), m_face(contact.m_face), m_contact(&contact), btDeformableContactConstraint(contact.m_normal, infoGlobal)
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
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{
bullet: Sync with upstream 3.07
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m_total_normal_dv.setZero();
m_total_tangent_dv.setZero();
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
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}
btVector3 btDeformableFaceNodeContactConstraint::getVa() const
{
bullet: Sync with upstream 3.07
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return m_node->m_v;
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
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}
btVector3 btDeformableFaceNodeContactConstraint::getVb() const
{
bullet: Sync with upstream 3.07
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const btSoftBody::DeformableFaceNodeContact* contact = getContact();
btVector3 vb = m_face->m_n[0]->m_v * contact->m_bary[0] + m_face->m_n[1]->m_v * contact->m_bary[1] + m_face->m_n[2]->m_v * contact->m_bary[2];
return vb;
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
2020-01-08 17:05:43 +00:00
}
btVector3 btDeformableFaceNodeContactConstraint::getDv(const btSoftBody::Node* n) const
{
bullet: Sync with upstream 3.07
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btVector3 dv = m_total_normal_dv + m_total_tangent_dv;
if (n == m_node)
return dv;
const btSoftBody::DeformableFaceNodeContact* contact = getContact();
if (m_face->m_n[0] == n)
{
return dv * contact->m_weights[0];
}
if (m_face->m_n[1] == n)
{
return dv * contact->m_weights[1];
}
btAssert(n == m_face->m_n[2]);
return dv * contact->m_weights[2];
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
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}
Update to bullet master (2.90)
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btScalar btDeformableFaceNodeContactConstraint::solveConstraint(const btContactSolverInfo& infoGlobal)
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
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{
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btVector3 va = getVa();
btVector3 vb = getVb();
btVector3 vr = vb - va;
const btScalar dn = btDot(vr, m_contact->m_normal);
// dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt
btScalar residualSquare = dn * dn;
btVector3 impulse = m_contact->m_c0 * vr;
const btVector3 impulse_normal = m_contact->m_c0 * (m_contact->m_normal * dn);
btVector3 impulse_tangent = impulse - impulse_normal;
btVector3 old_total_tangent_dv = m_total_tangent_dv;
// m_c2 is the inverse mass of the deformable node/face
if (m_node->m_im > 0)
{
m_total_normal_dv -= impulse_normal * m_node->m_im;
m_total_tangent_dv -= impulse_tangent * m_node->m_im;
}
else
{
m_total_normal_dv -= impulse_normal * m_contact->m_imf;
m_total_tangent_dv -= impulse_tangent * m_contact->m_imf;
}
if (m_total_normal_dv.dot(m_contact->m_normal) > 0)
{
// separating in the normal direction
m_static = false;
m_total_tangent_dv = btVector3(0, 0, 0);
impulse_tangent.setZero();
}
else
{
if (m_total_normal_dv.norm() * m_contact->m_friction < m_total_tangent_dv.norm())
{
// dynamic friction
// with dynamic friction, the impulse are still applied to the two objects colliding, however, it does not pose a constraint in the cg solve, hence the change to dv merely serves to update velocity in the contact iterations.
m_static = false;
if (m_total_tangent_dv.safeNorm() < SIMD_EPSILON)
{
m_total_tangent_dv = btVector3(0, 0, 0);
}
else
{
m_total_tangent_dv = m_total_tangent_dv.normalized() * m_total_normal_dv.safeNorm() * m_contact->m_friction;
}
impulse_tangent = -btScalar(1) / m_node->m_im * (m_total_tangent_dv - old_total_tangent_dv);
}
else
{
// static friction
m_static = true;
}
}
impulse = impulse_normal + impulse_tangent;
// apply impulse to deformable nodes involved and change their velocities
applyImpulse(impulse);
return residualSquare;
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
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}
void btDeformableFaceNodeContactConstraint::applyImpulse(const btVector3& impulse)
{
bullet: Sync with upstream 3.07
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const btSoftBody::DeformableFaceNodeContact* contact = getContact();
btVector3 dva = impulse * contact->m_node->m_im;
btVector3 dvb = impulse * contact->m_imf;
if (contact->m_node->m_im > 0)
{
contact->m_node->m_v += dva;
}
btSoftBody::Face* face = contact->m_face;
btVector3& v0 = face->m_n[0]->m_v;
btVector3& v1 = face->m_n[1]->m_v;
btVector3& v2 = face->m_n[2]->m_v;
const btScalar& im0 = face->m_n[0]->m_im;
const btScalar& im1 = face->m_n[1]->m_im;
const btScalar& im2 = face->m_n[2]->m_im;
if (im0 > 0)
{
v0 -= dvb * contact->m_weights[0];
}
if (im1 > 0)
{
v1 -= dvb * contact->m_weights[1];
}
if (im2 > 0)
{
v2 -= dvb * contact->m_weights[2];
}
bullet: Sync with upstream 2.89 This allows distro unbundling again for distros that ship Bullet 2.89+.
2020-01-08 17:05:43 +00:00
}