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Diffstat (limited to 'thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.h')
| -rw-r--r-- | thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.h | 160 |
1 files changed, 0 insertions, 160 deletions
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.h b/thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.h deleted file mode 100644 index ae674d6e89..0000000000 --- a/thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.h +++ /dev/null @@ -1,160 +0,0 @@ -/* - 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. - */ - -#ifndef BT_DEFORMABLE_BODY_SOLVERS_H -#define BT_DEFORMABLE_BODY_SOLVERS_H - -#include "btSoftBodySolvers.h" -#include "btDeformableBackwardEulerObjective.h" -#include "btDeformableMultiBodyDynamicsWorld.h" -#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" -#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" -#include "btConjugateResidual.h" -#include "btConjugateGradient.h" -struct btCollisionObjectWrapper; -class btDeformableBackwardEulerObjective; -class btDeformableMultiBodyDynamicsWorld; - -class btDeformableBodySolver : public btSoftBodySolver -{ - typedef btAlignedObjectArray<btVector3> TVStack; - -protected: - int m_numNodes; // total number of deformable body nodes - TVStack m_dv; // v_{n+1} - v_n - TVStack m_backup_dv; // backed up dv - TVStack m_ddv; // incremental dv - TVStack m_residual; // rhs of the linear solve - btAlignedObjectArray<btSoftBody*> m_softBodies; // all deformable bodies - TVStack m_backupVelocity; // backed up v, equals v_n for implicit, equals v_{n+1}^* for explicit - btScalar m_dt; // dt - btConjugateGradient<btDeformableBackwardEulerObjective> m_cg; // CG solver - btConjugateResidual<btDeformableBackwardEulerObjective> m_cr; // CR solver - bool m_implicit; // use implicit scheme if true, explicit scheme if false - int m_maxNewtonIterations; // max number of newton iterations - btScalar m_newtonTolerance; // stop newton iterations if f(x) < m_newtonTolerance - bool m_lineSearch; // If true, use newton's method with line search under implicit scheme -public: - // handles data related to objective function - btDeformableBackwardEulerObjective* m_objective; - bool m_useProjection; - - btDeformableBodySolver(); - - virtual ~btDeformableBodySolver(); - - virtual SolverTypes getSolverType() const - { - return DEFORMABLE_SOLVER; - } - - // update soft body normals - virtual void updateSoftBodies(); - - virtual btScalar solveContactConstraints(btCollisionObject** deformableBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal); - - // solve the momentum equation - virtual void solveDeformableConstraints(btScalar solverdt); - - // resize/clear data structures - void reinitialize(const btAlignedObjectArray<btSoftBody*>& softBodies, btScalar dt); - - // set up contact constraints - void setConstraints(const btContactSolverInfo& infoGlobal); - - // add in elastic forces and gravity to obtain v_{n+1}^* and calls predictDeformableMotion - virtual void predictMotion(btScalar solverdt); - - // move to temporary position x_{n+1}^* = x_n + dt * v_{n+1}^* - // x_{n+1}^* is stored in m_q - void predictDeformableMotion(btSoftBody* psb, btScalar dt); - - // save the current velocity to m_backupVelocity - void backupVelocity(); - - // set m_dv and m_backupVelocity to desired value to prepare for momentum solve - void setupDeformableSolve(bool implicit); - - // set the current velocity to that backed up in m_backupVelocity - void revertVelocity(); - - // set velocity to m_dv + m_backupVelocity - void updateVelocity(); - - // update the node count - bool updateNodes(); - - // calculate the change in dv resulting from the momentum solve - void computeStep(TVStack& ddv, const TVStack& residual); - - // calculate the change in dv resulting from the momentum solve when line search is turned on - btScalar computeDescentStep(TVStack& ddv, const TVStack& residual, bool verbose = false); - - virtual void copySoftBodyToVertexBuffer(const btSoftBody* const softBody, btVertexBufferDescriptor* vertexBuffer) {} - - // process collision between deformable and rigid - virtual void processCollision(btSoftBody* softBody, const btCollisionObjectWrapper* collisionObjectWrap) - { - softBody->defaultCollisionHandler(collisionObjectWrap); - } - - // process collision between deformable and deformable - virtual void processCollision(btSoftBody* softBody, btSoftBody* otherSoftBody) - { - softBody->defaultCollisionHandler(otherSoftBody); - } - - // If true, implicit time stepping scheme is used. - // Otherwise, explicit time stepping scheme is used - void setImplicit(bool implicit); - - // If true, newton's method with line search is used when implicit time stepping scheme is turned on - void setLineSearch(bool lineSearch); - - // set temporary position x^* = x_n + dt * v - // update the deformation gradient at position x^* - void updateState(); - - // set dv = dv + scale * ddv - void updateDv(btScalar scale = 1); - - // set temporary position x^* = x_n + dt * v^* - void updateTempPosition(); - - // save the current dv to m_backup_dv; - void backupDv(); - - // set dv to the backed-up value - void revertDv(); - - // set dv = dv + scale * ddv - // set v^* = v_n + dv - // set temporary position x^* = x_n + dt * v^* - // update the deformation gradient at position x^* - void updateEnergy(btScalar scale); - - // calculates the appropriately scaled kinetic energy in the system, which is - // 1/2 * dv^T * M * dv - // used in line search - btScalar kineticEnergy(); - - // unused functions - virtual void optimize(btAlignedObjectArray<btSoftBody*>& softBodies, bool forceUpdate = false) {} - virtual void solveConstraints(btScalar dt) {} - virtual bool checkInitialized() { return true; } - virtual void copyBackToSoftBodies(bool bMove = true) {} -}; - -#endif /* btDeformableBodySolver_h */ |