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-rw-r--r--thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.cpp380
1 files changed, 226 insertions, 154 deletions
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
index 5381ee6265..2455ed2138 100644
--- a/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
+++ b/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
@@ -17,211 +17,283 @@
#include "btPreconditioner.h"
#include "LinearMath/btQuickprof.h"
-btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAlignedObjectArray<btSoftBody *>& softBodies, const TVStack& backup_v)
-: m_softBodies(softBodies)
-, m_projection(softBodies)
-, m_backupVelocity(backup_v)
-, m_implicit(false)
+btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAlignedObjectArray<btSoftBody*>& softBodies, const TVStack& backup_v)
+ : m_softBodies(softBodies), m_projection(softBodies), m_backupVelocity(backup_v), m_implicit(false)
{
- m_massPreconditioner = new MassPreconditioner(m_softBodies);
- m_KKTPreconditioner = new KKTPreconditioner(m_softBodies, m_projection, m_lf, m_dt, m_implicit);
- m_preconditioner = m_KKTPreconditioner;
+ m_massPreconditioner = new MassPreconditioner(m_softBodies);
+ m_KKTPreconditioner = new KKTPreconditioner(m_softBodies, m_projection, m_lf, m_dt, m_implicit);
+ m_preconditioner = m_KKTPreconditioner;
}
btDeformableBackwardEulerObjective::~btDeformableBackwardEulerObjective()
{
- delete m_KKTPreconditioner;
- delete m_massPreconditioner;
+ delete m_KKTPreconditioner;
+ delete m_massPreconditioner;
}
void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated, btScalar dt)
{
- BT_PROFILE("reinitialize");
- if (dt > 0)
- {
- setDt(dt);
- }
- if(nodeUpdated)
- {
- updateId();
- }
- for (int i = 0; i < m_lf.size(); ++i)
- {
- m_lf[i]->reinitialize(nodeUpdated);
- }
- m_projection.reinitialize(nodeUpdated);
-// m_preconditioner->reinitialize(nodeUpdated);
+ BT_PROFILE("reinitialize");
+ if (dt > 0)
+ {
+ setDt(dt);
+ }
+ if (nodeUpdated)
+ {
+ updateId();
+ }
+ for (int i = 0; i < m_lf.size(); ++i)
+ {
+ m_lf[i]->reinitialize(nodeUpdated);
+ }
+ btMatrix3x3 I;
+ I.setIdentity();
+ for (int i = 0; i < m_softBodies.size(); ++i)
+ {
+ btSoftBody* psb = m_softBodies[i];
+ for (int j = 0; j < psb->m_nodes.size(); ++j)
+ {
+ if (psb->m_nodes[j].m_im > 0)
+ psb->m_nodes[j].m_effectiveMass = I * (1.0 / psb->m_nodes[j].m_im);
+ }
+ }
+ m_projection.reinitialize(nodeUpdated);
+ // m_preconditioner->reinitialize(nodeUpdated);
}
void btDeformableBackwardEulerObjective::setDt(btScalar dt)
{
- m_dt = dt;
+ m_dt = dt;
}
void btDeformableBackwardEulerObjective::multiply(const TVStack& x, TVStack& b) const
{
- BT_PROFILE("multiply");
- // add in the mass term
- size_t counter = 0;
- for (int i = 0; i < m_softBodies.size(); ++i)
- {
- btSoftBody* psb = m_softBodies[i];
- for (int j = 0; j < psb->m_nodes.size(); ++j)
- {
- const btSoftBody::Node& node = psb->m_nodes[j];
- b[counter] = (node.m_im == 0) ? btVector3(0,0,0) : x[counter] / node.m_im;
- ++counter;
- }
- }
-
- for (int i = 0; i < m_lf.size(); ++i)
- {
- // add damping matrix
- m_lf[i]->addScaledDampingForceDifferential(-m_dt, x, b);
- if (m_implicit)
- {
- m_lf[i]->addScaledElasticForceDifferential(-m_dt*m_dt, x, b);
- }
- }
- int offset = m_nodes.size();
- for (int i = offset; i < b.size(); ++i)
- {
- b[i].setZero();
- }
- // add in the lagrange multiplier terms
-
- for (int c = 0; c < m_projection.m_lagrangeMultipliers.size(); ++c)
- {
- // C^T * lambda
- const LagrangeMultiplier& lm = m_projection.m_lagrangeMultipliers[c];
- for (int i = 0; i < lm.m_num_nodes; ++i)
- {
- for (int j = 0; j < lm.m_num_constraints; ++j)
- {
- b[lm.m_indices[i]] += x[offset+c][j] * lm.m_weights[i] * lm.m_dirs[j];
- }
- }
- // C * x
- for (int d = 0; d < lm.m_num_constraints; ++d)
- {
- for (int i = 0; i < lm.m_num_nodes; ++i)
- {
- b[offset+c][d] += lm.m_weights[i] * x[lm.m_indices[i]].dot(lm.m_dirs[d]);
- }
- }
- }
+ BT_PROFILE("multiply");
+ // add in the mass term
+ size_t counter = 0;
+ for (int i = 0; i < m_softBodies.size(); ++i)
+ {
+ btSoftBody* psb = m_softBodies[i];
+ for (int j = 0; j < psb->m_nodes.size(); ++j)
+ {
+ const btSoftBody::Node& node = psb->m_nodes[j];
+ b[counter] = (node.m_im == 0) ? btVector3(0, 0, 0) : x[counter] / node.m_im;
+ ++counter;
+ }
+ }
+
+ for (int i = 0; i < m_lf.size(); ++i)
+ {
+ // add damping matrix
+ m_lf[i]->addScaledDampingForceDifferential(-m_dt, x, b);
+ // Always integrate picking force implicitly for stability.
+ if (m_implicit || m_lf[i]->getForceType() == BT_MOUSE_PICKING_FORCE)
+ {
+ m_lf[i]->addScaledElasticForceDifferential(-m_dt * m_dt, x, b);
+ }
+ }
+ int offset = m_nodes.size();
+ for (int i = offset; i < b.size(); ++i)
+ {
+ b[i].setZero();
+ }
+ // add in the lagrange multiplier terms
+
+ for (int c = 0; c < m_projection.m_lagrangeMultipliers.size(); ++c)
+ {
+ // C^T * lambda
+ const LagrangeMultiplier& lm = m_projection.m_lagrangeMultipliers[c];
+ for (int i = 0; i < lm.m_num_nodes; ++i)
+ {
+ for (int j = 0; j < lm.m_num_constraints; ++j)
+ {
+ b[lm.m_indices[i]] += x[offset + c][j] * lm.m_weights[i] * lm.m_dirs[j];
+ }
+ }
+ // C * x
+ for (int d = 0; d < lm.m_num_constraints; ++d)
+ {
+ for (int i = 0; i < lm.m_num_nodes; ++i)
+ {
+ b[offset + c][d] += lm.m_weights[i] * x[lm.m_indices[i]].dot(lm.m_dirs[d]);
+ }
+ }
+ }
}
void btDeformableBackwardEulerObjective::updateVelocity(const TVStack& dv)
{
- for (int i = 0; i < m_softBodies.size(); ++i)
- {
- btSoftBody* psb = m_softBodies[i];
- for (int j = 0; j < psb->m_nodes.size(); ++j)
- {
- btSoftBody::Node& node = psb->m_nodes[j];
- node.m_v = m_backupVelocity[node.index] + dv[node.index];
- }
- }
+ for (int i = 0; i < m_softBodies.size(); ++i)
+ {
+ btSoftBody* psb = m_softBodies[i];
+ for (int j = 0; j < psb->m_nodes.size(); ++j)
+ {
+ btSoftBody::Node& node = psb->m_nodes[j];
+ node.m_v = m_backupVelocity[node.index] + dv[node.index];
+ }
+ }
}
void btDeformableBackwardEulerObjective::applyForce(TVStack& force, bool setZero)
{
- size_t counter = 0;
- for (int i = 0; i < m_softBodies.size(); ++i)
- {
- btSoftBody* psb = m_softBodies[i];
- if (!psb->isActive())
- {
- counter += psb->m_nodes.size();
- continue;
- }
- for (int j = 0; j < psb->m_nodes.size(); ++j)
- {
- btScalar one_over_mass = (psb->m_nodes[j].m_im == 0) ? 0 : psb->m_nodes[j].m_im;
- psb->m_nodes[j].m_v += one_over_mass * force[counter++];
- }
- }
- if (setZero)
- {
- for (int i = 0; i < force.size(); ++i)
- force[i].setZero();
- }
+ size_t counter = 0;
+ for (int i = 0; i < m_softBodies.size(); ++i)
+ {
+ btSoftBody* psb = m_softBodies[i];
+ if (!psb->isActive())
+ {
+ counter += psb->m_nodes.size();
+ continue;
+ }
+ if (m_implicit)
+ {
+ for (int j = 0; j < psb->m_nodes.size(); ++j)
+ {
+ if (psb->m_nodes[j].m_im != 0)
+ {
+ psb->m_nodes[j].m_v += psb->m_nodes[j].m_effectiveMass_inv * force[counter++];
+ }
+ }
+ }
+ else
+ {
+ for (int j = 0; j < psb->m_nodes.size(); ++j)
+ {
+ btScalar one_over_mass = (psb->m_nodes[j].m_im == 0) ? 0 : psb->m_nodes[j].m_im;
+ psb->m_nodes[j].m_v += one_over_mass * force[counter++];
+ }
+ }
+ }
+ if (setZero)
+ {
+ for (int i = 0; i < force.size(); ++i)
+ force[i].setZero();
+ }
}
-void btDeformableBackwardEulerObjective::computeResidual(btScalar dt, TVStack &residual)
+void btDeformableBackwardEulerObjective::computeResidual(btScalar dt, TVStack& residual)
{
- BT_PROFILE("computeResidual");
- // add implicit force
- for (int i = 0; i < m_lf.size(); ++i)
- {
- if (m_implicit)
- {
- m_lf[i]->addScaledForces(dt, residual);
- }
- else
- {
- m_lf[i]->addScaledDampingForce(dt, residual);
- }
- }
-// m_projection.project(residual);
+ BT_PROFILE("computeResidual");
+ // add implicit force
+ for (int i = 0; i < m_lf.size(); ++i)
+ {
+ // Always integrate picking force implicitly for stability.
+ if (m_implicit || m_lf[i]->getForceType() == BT_MOUSE_PICKING_FORCE)
+ {
+ m_lf[i]->addScaledForces(dt, residual);
+ }
+ else
+ {
+ m_lf[i]->addScaledDampingForce(dt, residual);
+ }
+ }
+ // m_projection.project(residual);
}
btScalar btDeformableBackwardEulerObjective::computeNorm(const TVStack& residual) const
{
- btScalar mag = 0;
- for (int i = 0; i < residual.size(); ++i)
- {
- mag += residual[i].length2();
- }
- return std::sqrt(mag);
+ btScalar mag = 0;
+ for (int i = 0; i < residual.size(); ++i)
+ {
+ mag += residual[i].length2();
+ }
+ return std::sqrt(mag);
}
btScalar btDeformableBackwardEulerObjective::totalEnergy(btScalar dt)
{
- btScalar e = 0;
- for (int i = 0; i < m_lf.size(); ++i)
- {
- e += m_lf[i]->totalEnergy(dt);
- }
- return e;
+ btScalar e = 0;
+ for (int i = 0; i < m_lf.size(); ++i)
+ {
+ e += m_lf[i]->totalEnergy(dt);
+ }
+ return e;
}
void btDeformableBackwardEulerObjective::applyExplicitForce(TVStack& force)
{
- for (int i = 0; i < m_softBodies.size(); ++i)
- {
- m_softBodies[i]->advanceDeformation();
- }
-
- for (int i = 0; i < m_lf.size(); ++i)
- {
- m_lf[i]->addScaledExplicitForce(m_dt, force);
- }
- applyForce(force, true);
+ for (int i = 0; i < m_softBodies.size(); ++i)
+ {
+ m_softBodies[i]->advanceDeformation();
+ }
+ if (m_implicit)
+ {
+ // apply forces except gravity force
+ btVector3 gravity;
+ for (int i = 0; i < m_lf.size(); ++i)
+ {
+ if (m_lf[i]->getForceType() == BT_GRAVITY_FORCE)
+ {
+ gravity = static_cast<btDeformableGravityForce*>(m_lf[i])->m_gravity;
+ }
+ else
+ {
+ m_lf[i]->addScaledForces(m_dt, force);
+ }
+ }
+ for (int i = 0; i < m_lf.size(); ++i)
+ {
+ m_lf[i]->addScaledHessian(m_dt);
+ }
+ for (int i = 0; i < m_softBodies.size(); ++i)
+ {
+ btSoftBody* psb = m_softBodies[i];
+ if (psb->isActive())
+ {
+ for (int j = 0; j < psb->m_nodes.size(); ++j)
+ {
+ // add gravity explicitly
+ psb->m_nodes[j].m_v += m_dt * psb->m_gravityFactor * gravity;
+ }
+ }
+ }
+ }
+ else
+ {
+ for (int i = 0; i < m_lf.size(); ++i)
+ {
+ m_lf[i]->addScaledExplicitForce(m_dt, force);
+ }
+ }
+ // calculate inverse mass matrix for all nodes
+ for (int i = 0; i < m_softBodies.size(); ++i)
+ {
+ btSoftBody* psb = m_softBodies[i];
+ if (psb->isActive())
+ {
+ for (int j = 0; j < psb->m_nodes.size(); ++j)
+ {
+ if (psb->m_nodes[j].m_im > 0)
+ {
+ psb->m_nodes[j].m_effectiveMass_inv = psb->m_nodes[j].m_effectiveMass.inverse();
+ }
+ }
+ }
+ }
+ applyForce(force, true);
}
void btDeformableBackwardEulerObjective::initialGuess(TVStack& dv, const TVStack& residual)
{
- size_t counter = 0;
- for (int i = 0; i < m_softBodies.size(); ++i)
- {
- btSoftBody* psb = m_softBodies[i];
- for (int j = 0; j < psb->m_nodes.size(); ++j)
- {
- dv[counter] = psb->m_nodes[j].m_im * residual[counter];
- ++counter;
- }
- }
+ size_t counter = 0;
+ for (int i = 0; i < m_softBodies.size(); ++i)
+ {
+ btSoftBody* psb = m_softBodies[i];
+ for (int j = 0; j < psb->m_nodes.size(); ++j)
+ {
+ dv[counter] = psb->m_nodes[j].m_im * residual[counter];
+ ++counter;
+ }
+ }
}
//set constraints as projections
void btDeformableBackwardEulerObjective::setConstraints(const btContactSolverInfo& infoGlobal)
{
- m_projection.setConstraints(infoGlobal);
+ m_projection.setConstraints(infoGlobal);
}
void btDeformableBackwardEulerObjective::applyDynamicFriction(TVStack& r)
{
- m_projection.applyDynamicFriction(r);
+ m_projection.applyDynamicFriction(r);
}
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