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Diffstat (limited to 'thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.cpp | 634 |
1 files changed, 634 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.cpp new file mode 100644 index 0000000000..22ca8bf582 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.cpp @@ -0,0 +1,634 @@ +/* + 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 "btDeformableContactProjection.h" +#include "btDeformableMultiBodyDynamicsWorld.h" +#include <algorithm> +#include <cmath> +btScalar btDeformableContactProjection::update(btCollisionObject** deformableBodies,int numDeformableBodies, const btContactSolverInfo& infoGlobal) +{ + btScalar residualSquare = 0; + for (int i = 0; i < numDeformableBodies; ++i) + { + for (int j = 0; j < m_softBodies.size(); ++j) + { + btCollisionObject* psb = m_softBodies[j]; + if (psb != deformableBodies[i]) + { + continue; + } + for (int k = 0; k < m_nodeRigidConstraints[j].size(); ++k) + { + btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[j][k]; + btScalar localResidualSquare = constraint.solveConstraint(infoGlobal); + residualSquare = btMax(residualSquare, localResidualSquare); + } + for (int k = 0; k < m_nodeAnchorConstraints[j].size(); ++k) + { + btDeformableNodeAnchorConstraint& constraint = m_nodeAnchorConstraints[j][k]; + btScalar localResidualSquare = constraint.solveConstraint(infoGlobal); + residualSquare = btMax(residualSquare, localResidualSquare); + } + for (int k = 0; k < m_faceRigidConstraints[j].size(); ++k) + { + btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[j][k]; + btScalar localResidualSquare = constraint.solveConstraint(infoGlobal); + residualSquare = btMax(residualSquare, localResidualSquare); + } + for (int k = 0; k < m_deformableConstraints[j].size(); ++k) + { + btDeformableFaceNodeContactConstraint& constraint = m_deformableConstraints[j][k]; + btScalar localResidualSquare = constraint.solveConstraint(infoGlobal); + residualSquare = btMax(residualSquare, localResidualSquare); + } + } + } + return residualSquare; +} + +void btDeformableContactProjection::splitImpulseSetup(const btContactSolverInfo& infoGlobal) +{ + for (int i = 0; i < m_softBodies.size(); ++i) + { + // node constraints + for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j) + { + btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[i][j]; + constraint.setPenetrationScale(infoGlobal.m_deformable_erp); + } + // face constraints + for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j) + { + btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[i][j]; + constraint.setPenetrationScale(infoGlobal.m_deformable_erp); + } + } +} + +void btDeformableContactProjection::setConstraints(const btContactSolverInfo& infoGlobal) +{ + BT_PROFILE("setConstraints"); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + + // set Dirichlet constraint + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + if (psb->m_nodes[j].m_im == 0) + { + btDeformableStaticConstraint static_constraint(&psb->m_nodes[j], infoGlobal); + m_staticConstraints[i].push_back(static_constraint); + } + } + + // set up deformable anchors + for (int j = 0; j < psb->m_deformableAnchors.size(); ++j) + { + btSoftBody::DeformableNodeRigidAnchor& anchor = psb->m_deformableAnchors[j]; + // skip fixed points + if (anchor.m_node->m_im == 0) + { + continue; + } + anchor.m_c1 = anchor.m_cti.m_colObj->getWorldTransform().getBasis() * anchor.m_local; + btDeformableNodeAnchorConstraint constraint(anchor, infoGlobal); + m_nodeAnchorConstraints[i].push_back(constraint); + } + + // set Deformable Node vs. Rigid constraint + for (int j = 0; j < psb->m_nodeRigidContacts.size(); ++j) + { + const btSoftBody::DeformableNodeRigidContact& contact = psb->m_nodeRigidContacts[j]; + // skip fixed points + if (contact.m_node->m_im == 0) + { + continue; + } + btDeformableNodeRigidContactConstraint constraint(contact, infoGlobal); + btVector3 va = constraint.getVa(); + btVector3 vb = constraint.getVb(); + const btVector3 vr = vb - va; + const btSoftBody::sCti& cti = contact.m_cti; + const btScalar dn = btDot(vr, cti.m_normal); + if (dn < SIMD_EPSILON) + { + m_nodeRigidConstraints[i].push_back(constraint); + } + } + + // set Deformable Face vs. Rigid constraint + for (int j = 0; j < psb->m_faceRigidContacts.size(); ++j) + { + const btSoftBody::DeformableFaceRigidContact& contact = psb->m_faceRigidContacts[j]; + // skip fixed faces + if (contact.m_c2 == 0) + { + continue; + } + btDeformableFaceRigidContactConstraint constraint(contact, infoGlobal, m_useStrainLimiting); + btVector3 va = constraint.getVa(); + btVector3 vb = constraint.getVb(); + const btVector3 vr = vb - va; + const btSoftBody::sCti& cti = contact.m_cti; + const btScalar dn = btDot(vr, cti.m_normal); + if (dn < SIMD_EPSILON) + { + m_faceRigidConstraints[i].push_back(constraint); + } + } + } +} + +void btDeformableContactProjection::project(TVStack& x) +{ +#ifndef USE_MGS + const int dim = 3; + for (int index = 0; index < m_projectionsDict.size(); ++index) + { + btAlignedObjectArray<btVector3>& projectionDirs = *m_projectionsDict.getAtIndex(index); + size_t i = m_projectionsDict.getKeyAtIndex(index).getUid1(); + if (projectionDirs.size() >= dim) + { + // static node + x[i].setZero(); + continue; + } + else if (projectionDirs.size() == 2) + { + btVector3 dir0 = projectionDirs[0]; + btVector3 dir1 = projectionDirs[1]; + btVector3 free_dir = btCross(dir0, dir1); + if (free_dir.safeNorm() < SIMD_EPSILON) + { + x[i] -= x[i].dot(dir0) * dir0; + x[i] -= x[i].dot(dir1) * dir1; + } + else + { + free_dir.normalize(); + x[i] = x[i].dot(free_dir) * free_dir; + } + } + else + { + btAssert(projectionDirs.size() == 1); + btVector3 dir0 = projectionDirs[0]; + x[i] -= x[i].dot(dir0) * dir0; + } + } +#else + btReducedVector p(x.size()); + for (int i = 0; i < m_projections.size(); ++i) + { + p += (m_projections[i].dot(x) * m_projections[i]); + } + for (int i = 0; i < p.m_indices.size(); ++i) + { + x[p.m_indices[i]] -= p.m_vecs[i]; + } +#endif +} + +void btDeformableContactProjection::setProjection() +{ +#ifndef USE_MGS + BT_PROFILE("btDeformableContactProjection::setProjection"); + btAlignedObjectArray<btVector3> units; + units.push_back(btVector3(1,0,0)); + units.push_back(btVector3(0,1,0)); + units.push_back(btVector3(0,0,1)); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < m_staticConstraints[i].size(); ++j) + { + int index = m_staticConstraints[i][j].m_node->index; + m_staticConstraints[i][j].m_node->m_penetration = SIMD_INFINITY; + 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]); + } + } + } + for (int j = 0; j < m_nodeAnchorConstraints[i].size(); ++j) + { + int index = m_nodeAnchorConstraints[i][j].m_anchor->m_node->index; + m_nodeAnchorConstraints[i][j].m_anchor->m_node->m_penetration = SIMD_INFINITY; + 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]); + } + } + } + for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j) + { + int index = m_nodeRigidConstraints[i][j].m_node->index; + m_nodeRigidConstraints[i][j].m_node->m_penetration = -m_nodeRigidConstraints[i][j].getContact()->m_cti.m_offset; + if (m_nodeRigidConstraints[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_nodeRigidConstraints[i][j].m_normal); + m_projectionsDict.insert(index, projections); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + projections.push_back(m_nodeRigidConstraints[i][j].m_normal); + } + } + } + for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j) + { + const btSoftBody::Face* face = m_faceRigidConstraints[i][j].m_face; + btScalar penetration = -m_faceRigidConstraints[i][j].getContact()->m_cti.m_offset; + for (int k = 0; k < 3; ++k) + { + face->m_n[k]->m_penetration = btMax(face->m_n[k]->m_penetration, penetration); + } + for (int k = 0; k < 3; ++k) + { + btSoftBody::Node* node = face->m_n[k]; + node->m_penetration = true; + int index = node->index; + if (m_faceRigidConstraints[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_faceRigidConstraints[i][j].m_normal); + m_projectionsDict.insert(index, projections); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + projections.push_back(m_faceRigidConstraints[i][j].m_normal); + } + } + } + } + } +#else + int dof = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + dof += m_softBodies[i]->m_nodes.size(); + } + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < m_staticConstraints[i].size(); ++j) + { + int index = m_staticConstraints[i][j].m_node->index; + m_staticConstraints[i][j].m_node->m_penetration = SIMD_INFINITY; + btAlignedObjectArray<int> indices; + btAlignedObjectArray<btVector3> vecs1,vecs2,vecs3; + indices.push_back(index); + vecs1.push_back(btVector3(1,0,0)); + vecs2.push_back(btVector3(0,1,0)); + vecs3.push_back(btVector3(0,0,1)); + m_projections.push_back(btReducedVector(dof, indices, vecs1)); + m_projections.push_back(btReducedVector(dof, indices, vecs2)); + m_projections.push_back(btReducedVector(dof, indices, vecs3)); + } + + for (int j = 0; j < m_nodeAnchorConstraints[i].size(); ++j) + { + int index = m_nodeAnchorConstraints[i][j].m_anchor->m_node->index; + m_nodeAnchorConstraints[i][j].m_anchor->m_node->m_penetration = SIMD_INFINITY; + btAlignedObjectArray<int> indices; + btAlignedObjectArray<btVector3> vecs1,vecs2,vecs3; + indices.push_back(index); + vecs1.push_back(btVector3(1,0,0)); + vecs2.push_back(btVector3(0,1,0)); + vecs3.push_back(btVector3(0,0,1)); + m_projections.push_back(btReducedVector(dof, indices, vecs1)); + m_projections.push_back(btReducedVector(dof, indices, vecs2)); + m_projections.push_back(btReducedVector(dof, indices, vecs3)); + } + for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j) + { + int index = m_nodeRigidConstraints[i][j].m_node->index; + m_nodeRigidConstraints[i][j].m_node->m_penetration = -m_nodeRigidConstraints[i][j].getContact()->m_cti.m_offset; + btAlignedObjectArray<int> indices; + indices.push_back(index); + btAlignedObjectArray<btVector3> vecs1,vecs2,vecs3; + if (m_nodeRigidConstraints[i][j].m_static) + { + vecs1.push_back(btVector3(1,0,0)); + vecs2.push_back(btVector3(0,1,0)); + vecs3.push_back(btVector3(0,0,1)); + m_projections.push_back(btReducedVector(dof, indices, vecs1)); + m_projections.push_back(btReducedVector(dof, indices, vecs2)); + m_projections.push_back(btReducedVector(dof, indices, vecs3)); + } + else + { + vecs1.push_back(m_nodeRigidConstraints[i][j].m_normal); + m_projections.push_back(btReducedVector(dof, indices, vecs1)); + } + } + for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j) + { + const btSoftBody::Face* face = m_faceRigidConstraints[i][j].m_face; + btVector3 bary = m_faceRigidConstraints[i][j].getContact()->m_bary; + btScalar penetration = -m_faceRigidConstraints[i][j].getContact()->m_cti.m_offset; + for (int k = 0; k < 3; ++k) + { + face->m_n[k]->m_penetration = btMax(face->m_n[k]->m_penetration, penetration); + } + if (m_faceRigidConstraints[i][j].m_static) + { + for (int l = 0; l < 3; ++l) + { + + btReducedVector rv(dof); + for (int k = 0; k < 3; ++k) + { + rv.m_indices.push_back(face->m_n[k]->index); + btVector3 v(0,0,0); + v[l] = bary[k]; + rv.m_vecs.push_back(v); + rv.sort(); + } + m_projections.push_back(rv); + } + } + else + { + btReducedVector rv(dof); + for (int k = 0; k < 3; ++k) + { + rv.m_indices.push_back(face->m_n[k]->index); + rv.m_vecs.push_back(bary[k] * m_faceRigidConstraints[i][j].m_normal); + rv.sort(); + } + m_projections.push_back(rv); + } + } + } + btModifiedGramSchmidt<btReducedVector> mgs(m_projections); + mgs.solve(); + m_projections = mgs.m_out; +#endif +} + +void btDeformableContactProjection::checkConstraints(const TVStack& x) +{ + for (int i = 0; i < m_lagrangeMultipliers.size(); ++i) + { + btVector3 d(0,0,0); + const LagrangeMultiplier& lm = m_lagrangeMultipliers[i]; + for (int j = 0; j < lm.m_num_constraints; ++j) + { + for (int k = 0; k < lm.m_num_nodes; ++k) + { + d[j] += lm.m_weights[k] * x[lm.m_indices[k]].dot(lm.m_dirs[j]); + } + } + printf("d = %f, %f, %f\n",d[0],d[1],d[2]); + } +} + +void btDeformableContactProjection::setLagrangeMultiplier() +{ + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < m_staticConstraints[i].size(); ++j) + { + int index = m_staticConstraints[i][j].m_node->index; + m_staticConstraints[i][j].m_node->m_penetration = SIMD_INFINITY; + LagrangeMultiplier lm; + lm.m_num_nodes = 1; + lm.m_indices[0] = index; + lm.m_weights[0] = 1.0; + lm.m_num_constraints = 3; + lm.m_dirs[0] = btVector3(1,0,0); + lm.m_dirs[1] = btVector3(0,1,0); + lm.m_dirs[2] = btVector3(0,0,1); + m_lagrangeMultipliers.push_back(lm); + } + for (int j = 0; j < m_nodeAnchorConstraints[i].size(); ++j) + { + int index = m_nodeAnchorConstraints[i][j].m_anchor->m_node->index; + m_nodeAnchorConstraints[i][j].m_anchor->m_node->m_penetration = SIMD_INFINITY; + LagrangeMultiplier lm; + lm.m_num_nodes = 1; + lm.m_indices[0] = index; + lm.m_weights[0] = 1.0; + lm.m_num_constraints = 3; + lm.m_dirs[0] = btVector3(1,0,0); + lm.m_dirs[1] = btVector3(0,1,0); + lm.m_dirs[2] = btVector3(0,0,1); + m_lagrangeMultipliers.push_back(lm); + } + for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j) + { + int index = m_nodeRigidConstraints[i][j].m_node->index; + m_nodeRigidConstraints[i][j].m_node->m_penetration = -m_nodeRigidConstraints[i][j].getContact()->m_cti.m_offset; + LagrangeMultiplier lm; + lm.m_num_nodes = 1; + lm.m_indices[0] = index; + lm.m_weights[0] = 1.0; + if (m_nodeRigidConstraints[i][j].m_static) + { + lm.m_num_constraints = 3; + lm.m_dirs[0] = btVector3(1,0,0); + lm.m_dirs[1] = btVector3(0,1,0); + lm.m_dirs[2] = btVector3(0,0,1); + } + else + { + lm.m_num_constraints = 1; + lm.m_dirs[0] = m_nodeRigidConstraints[i][j].m_normal; + } + m_lagrangeMultipliers.push_back(lm); + } + for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j) + { + const btSoftBody::Face* face = m_faceRigidConstraints[i][j].m_face; + + btVector3 bary = m_faceRigidConstraints[i][j].getContact()->m_bary; + btScalar penetration = -m_faceRigidConstraints[i][j].getContact()->m_cti.m_offset; + LagrangeMultiplier lm; + lm.m_num_nodes = 3; + for (int k = 0; k<3; ++k) + { + face->m_n[k]->m_penetration = btMax(face->m_n[k]->m_penetration, penetration); + lm.m_indices[k] = face->m_n[k]->index; + lm.m_weights[k] = bary[k]; + } + if (m_faceRigidConstraints[i][j].m_static) + { + lm.m_num_constraints = 3; + lm.m_dirs[0] = btVector3(1,0,0); + lm.m_dirs[1] = btVector3(0,1,0); + lm.m_dirs[2] = btVector3(0,0,1); + } + else + { + lm.m_num_constraints = 1; + lm.m_dirs[0] = m_faceRigidConstraints[i][j].m_normal; + } + m_lagrangeMultipliers.push_back(lm); + } + } +} + +// +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(); + } +#ifndef USE_MGS + m_projectionsDict.clear(); +#else + m_projections.clear(); +#endif + m_lagrangeMultipliers.clear(); +} + + + |