diff options
Diffstat (limited to 'thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.cpp | 641 |
1 files changed, 383 insertions, 258 deletions
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.cpp index 5a4f3241b4..22ca8bf582 100644 --- a/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.cpp +++ b/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.cpp @@ -17,7 +17,7 @@ #include "btDeformableMultiBodyDynamicsWorld.h" #include <algorithm> #include <cmath> -btScalar btDeformableContactProjection::update(btCollisionObject** deformableBodies,int numDeformableBodies) +btScalar btDeformableContactProjection::update(btCollisionObject** deformableBodies,int numDeformableBodies, const btContactSolverInfo& infoGlobal) { btScalar residualSquare = 0; for (int i = 0; i < numDeformableBodies; ++i) @@ -32,25 +32,25 @@ btScalar btDeformableContactProjection::update(btCollisionObject** deformableBod for (int k = 0; k < m_nodeRigidConstraints[j].size(); ++k) { btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[j][k]; - btScalar localResidualSquare = constraint.solveConstraint(); + 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(); + 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(); + 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(); + btScalar localResidualSquare = constraint.solveConstraint(infoGlobal); residualSquare = btMax(residualSquare, localResidualSquare); } } @@ -77,39 +77,8 @@ void btDeformableContactProjection::splitImpulseSetup(const btContactSolverInfo& } } -btScalar btDeformableContactProjection::solveSplitImpulse(const btContactSolverInfo& infoGlobal) -{ - btScalar residualSquare = 0; - 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]; - btScalar localResidualSquare = constraint.solveSplitImpulse(infoGlobal); - residualSquare = btMax(residualSquare, localResidualSquare); - } - // anchor constraints - for (int j = 0; j < m_nodeAnchorConstraints[i].size(); ++j) - { - btDeformableNodeAnchorConstraint& constraint = m_nodeAnchorConstraints[i][j]; - btScalar localResidualSquare = constraint.solveSplitImpulse(infoGlobal); - residualSquare = btMax(residualSquare, localResidualSquare); - } - // face constraints - for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j) - { - btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[i][j]; - btScalar localResidualSquare = constraint.solveSplitImpulse(infoGlobal); - residualSquare = btMax(residualSquare, localResidualSquare); - } - - } - return residualSquare; -} - -void btDeformableContactProjection::setConstraints() -{ +void btDeformableContactProjection::setConstraints(const btContactSolverInfo& infoGlobal) +{ BT_PROFILE("setConstraints"); for (int i = 0; i < m_softBodies.size(); ++i) { @@ -124,7 +93,7 @@ void btDeformableContactProjection::setConstraints() { if (psb->m_nodes[j].m_im == 0) { - btDeformableStaticConstraint static_constraint(&psb->m_nodes[j]); + btDeformableStaticConstraint static_constraint(&psb->m_nodes[j], infoGlobal); m_staticConstraints[i].push_back(static_constraint); } } @@ -139,7 +108,7 @@ void btDeformableContactProjection::setConstraints() continue; } anchor.m_c1 = anchor.m_cti.m_colObj->getWorldTransform().getBasis() * anchor.m_local; - btDeformableNodeAnchorConstraint constraint(anchor); + btDeformableNodeAnchorConstraint constraint(anchor, infoGlobal); m_nodeAnchorConstraints[i].push_back(constraint); } @@ -152,7 +121,7 @@ void btDeformableContactProjection::setConstraints() { continue; } - btDeformableNodeRigidContactConstraint constraint(contact); + btDeformableNodeRigidContactConstraint constraint(contact, infoGlobal); btVector3 va = constraint.getVa(); btVector3 vb = constraint.getVb(); const btVector3 vr = vb - va; @@ -173,7 +142,7 @@ void btDeformableContactProjection::setConstraints() { continue; } - btDeformableFaceRigidContactConstraint constraint(contact); + btDeformableFaceRigidContactConstraint constraint(contact, infoGlobal, m_useStrainLimiting); btVector3 va = constraint.getVa(); btVector3 vb = constraint.getVb(); const btVector3 vr = vb - va; @@ -184,253 +153,404 @@ void btDeformableContactProjection::setConstraints() m_faceRigidConstraints[i].push_back(constraint); } } - - // set Deformable Face vs. Deformable Node constraint - for (int j = 0; j < psb->m_faceNodeContacts.size(); ++j) - { - const btSoftBody::DeformableFaceNodeContact& contact = psb->m_faceNodeContacts[j]; - - btDeformableFaceNodeContactConstraint constraint(contact); - btVector3 va = constraint.getVa(); - btVector3 vb = constraint.getVb(); - const btVector3 vr = vb - va; - const btScalar dn = btDot(vr, contact.m_normal); - if (dn > -SIMD_EPSILON) - { - m_deformableConstraints[i].push_back(constraint); - } - } } } void btDeformableContactProjection::project(TVStack& x) { - 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; - } - } +#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() { - 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; - if (m_projectionsDict.find(index) == NULL) +#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) { - m_projectionsDict.insert(index, units); - } - else - { - btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; - for (int k = 0; k < 3; ++k) + for (int l = 0; l < 3; ++l) { - 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; - 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; - 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]; + + btReducedVector rv(dof); for (int k = 0; k < 3; ++k) { - projections.push_back(units[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 { - 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; - for (int k = 0; k < 3; ++k) - { - const btSoftBody::Node* node = face->m_n[k]; - int index = node->index; - if (m_faceRigidConstraints[i][j].m_static) + btReducedVector rv(dof); + for (int k = 0; k < 3; ++k) { - 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); - } + 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); } } - 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); - } - } - } + } + 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; - const btSoftBody::Node* node = m_deformableConstraints[i][j].m_node; - int index = node->index; - if (m_deformableConstraints[i][j].m_static) + 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) { - 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]); - } - } + 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 { - 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); - } + 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) @@ -502,7 +622,12 @@ void btDeformableContactProjection::reinitialize(bool nodeUpdated) m_faceRigidConstraints[i].clear(); m_deformableConstraints[i].clear(); } - m_projectionsDict.clear(); +#ifndef USE_MGS + m_projectionsDict.clear(); +#else + m_projections.clear(); +#endif + m_lagrangeMultipliers.clear(); } |