diff options
Diffstat (limited to 'thirdparty/bullet/BulletSoftBody/btSoftBody.h')
| -rw-r--r-- | thirdparty/bullet/BulletSoftBody/btSoftBody.h | 153 |
1 files changed, 145 insertions, 8 deletions
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBody.h b/thirdparty/bullet/BulletSoftBody/btSoftBody.h index 9b35b799d8..2b048c1118 100644 --- a/thirdparty/bullet/BulletSoftBody/btSoftBody.h +++ b/thirdparty/bullet/BulletSoftBody/btSoftBody.h @@ -20,13 +20,15 @@ subject to the following restrictions: #include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btTransform.h" #include "LinearMath/btIDebugDraw.h" +#include "LinearMath/btVector3.h" #include "BulletDynamics/Dynamics/btRigidBody.h" #include "BulletCollision/CollisionShapes/btConcaveShape.h" #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" #include "btSparseSDF.h" #include "BulletCollision/BroadphaseCollision/btDbvt.h" - +#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" //#ifdef BT_USE_DOUBLE_PRECISION //#define btRigidBodyData btRigidBodyDoubleData //#define btRigidBodyDataName "btRigidBodyDoubleData" @@ -159,11 +161,14 @@ public: RVSmask = 0x000f, ///Rigid versus soft mask SDF_RS = 0x0001, ///SDF based rigid vs soft CL_RS = 0x0002, ///Cluster vs convex rigid vs soft + SDF_RD = 0x0003, ///DF based rigid vs deformable + SDF_RDF = 0x0004, ///DF based rigid vs deformable faces - SVSmask = 0x0030, ///Rigid versus soft mask + SVSmask = 0x00F0, ///Rigid versus soft mask VF_SS = 0x0010, ///Vertex vs face soft vs soft handling CL_SS = 0x0020, ///Cluster vs cluster soft vs soft handling CL_SELF = 0x0040, ///Cluster soft body self collision + VF_DD = 0x0050, ///Vertex vs face soft vs soft handling /* presets */ Default = SDF_RS, END @@ -215,6 +220,7 @@ public: const btCollisionObject* m_colObj; /* Rigid body */ btVector3 m_normal; /* Outward normal */ btScalar m_offset; /* Offset from origin */ + btVector3 m_bary; /* Barycentric weights for faces */ }; /* sMedium */ @@ -249,14 +255,17 @@ public: struct Node : Feature { btVector3 m_x; // Position - btVector3 m_q; // Previous step position + btVector3 m_q; // Previous step position/Test position btVector3 m_v; // Velocity + btVector3 m_vsplit; // Temporary Velocity in addintion to velocity used in split impulse + btVector3 m_vn; // Previous step velocity btVector3 m_f; // Force accumulator btVector3 m_n; // Normal btScalar m_im; // 1/mass btScalar m_area; // Area btDbvtNode* m_leaf; // Leaf data int m_battach : 1; // Attached + int index; }; /* Link */ ATTRIBUTE_ALIGNED16(struct) @@ -279,6 +288,8 @@ public: btVector3 m_normal; // Normal btScalar m_ra; // Rest area btDbvtNode* m_leaf; // Leaf data + btVector4 m_pcontact; // barycentric weights of the persistent contact + int m_index; }; /* Tetra */ struct Tetra : Feature @@ -289,7 +300,20 @@ public: btVector3 m_c0[4]; // gradients btScalar m_c1; // (4*kVST)/(im0+im1+im2+im3) btScalar m_c2; // m_c1/sum(|g0..3|^2) + btMatrix3x3 m_Dm_inverse; // rest Dm^-1 + btMatrix3x3 m_F; + btScalar m_element_measure; }; + + /* TetraScratch */ + struct TetraScratch + { + btMatrix3x3 m_F; // deformation gradient F + btScalar m_trace; // trace of F^T * F + btScalar m_J; // det(F) + btMatrix3x3 m_cofF; // cofactor of F + }; + /* RContact */ struct RContact { @@ -300,7 +324,67 @@ public: btScalar m_c2; // ima*dt btScalar m_c3; // Friction btScalar m_c4; // Hardness + + // jacobians and unit impulse responses for multibody + btMultiBodyJacobianData jacobianData_normal; + btMultiBodyJacobianData jacobianData_t1; + btMultiBodyJacobianData jacobianData_t2; + btVector3 t1; + btVector3 t2; }; + + class DeformableRigidContact + { + public: + sCti m_cti; // Contact infos + btMatrix3x3 m_c0; // Impulse matrix + btVector3 m_c1; // Relative anchor + btScalar m_c2; // inverse mass of node/face + btScalar m_c3; // Friction + btScalar m_c4; // Hardness + + // jacobians and unit impulse responses for multibody + btMultiBodyJacobianData jacobianData_normal; + btMultiBodyJacobianData jacobianData_t1; + btMultiBodyJacobianData jacobianData_t2; + btVector3 t1; + btVector3 t2; + }; + + class DeformableNodeRigidContact : public DeformableRigidContact + { + public: + Node* m_node; // Owner node + }; + + class DeformableNodeRigidAnchor : public DeformableNodeRigidContact + { + public: + btVector3 m_local; // Anchor position in body space + }; + + class DeformableFaceRigidContact : public DeformableRigidContact + { + public: + Face* m_face; // Owner face + btVector3 m_contactPoint; // Contact point + btVector3 m_bary; // Barycentric weights + btVector3 m_weights; // v_contactPoint * m_weights[i] = m_face->m_node[i]->m_v; + }; + + struct DeformableFaceNodeContact + { + Node* m_node; // Node + Face* m_face; // Face + btVector3 m_bary; // Barycentric weights + btVector3 m_weights; // v_contactPoint * m_weights[i] = m_face->m_node[i]->m_v; + btVector3 m_normal; // Normal + btScalar m_margin; // Margin + btScalar m_friction; // Friction + btScalar m_imf; // inverse mass of the face at contact point + btScalar m_c0; // scale of the impulse matrix; + }; + /* SContact */ struct SContact { @@ -627,6 +711,8 @@ public: tVSolverArray m_vsequence; // Velocity solvers sequence tPSolverArray m_psequence; // Position solvers sequence tPSolverArray m_dsequence; // Drift solvers sequence + btScalar drag; // deformable air drag + btScalar m_maxStress; // Maximum principle first Piola stress }; /* SolverState */ struct SolverState @@ -689,11 +775,19 @@ public: btSoftBodyWorldInfo* m_worldInfo; // World info tNoteArray m_notes; // Notes tNodeArray m_nodes; // Nodes + tNodeArray m_renderNodes; // Nodes tLinkArray m_links; // Links tFaceArray m_faces; // Faces + tFaceArray m_renderFaces; // Faces tTetraArray m_tetras; // Tetras + btAlignedObjectArray<TetraScratch> m_tetraScratches; + btAlignedObjectArray<TetraScratch> m_tetraScratchesTn; tAnchorArray m_anchors; // Anchors + btAlignedObjectArray<DeformableNodeRigidAnchor> m_deformableAnchors; tRContactArray m_rcontacts; // Rigid contacts + btAlignedObjectArray<DeformableNodeRigidContact> m_nodeRigidContacts; + btAlignedObjectArray<DeformableFaceNodeContact> m_faceNodeContacts; + btAlignedObjectArray<DeformableFaceRigidContact> m_faceRigidContacts; tSContactArray m_scontacts; // Soft contacts tJointArray m_joints; // Joints tMaterialArray m_materials; // Materials @@ -704,6 +798,15 @@ public: btDbvt m_fdbvt; // Faces tree btDbvt m_cdbvt; // Clusters tree tClusterArray m_clusters; // Clusters + btScalar m_dampingCoefficient; // Damping Coefficient + btScalar m_sleepingThreshold; + btScalar m_maxSpeedSquared; + bool m_useFaceContact; + btAlignedObjectArray<btVector3> m_quads; // quadrature points for collision detection + + btAlignedObjectArray<btVector4> m_renderNodesInterpolationWeights; + btAlignedObjectArray<btAlignedObjectArray<const btSoftBody::Node*> > m_renderNodesParents; + bool m_useSelfCollision; btAlignedObjectArray<bool> m_clusterConnectivity; //cluster connectivity, for self-collision @@ -735,6 +838,16 @@ public: { return m_worldInfo; } + + void setDampingCoefficient(btScalar damping_coeff) + { + m_dampingCoefficient = damping_coeff; + } + + void setUseFaceContact(bool useFaceContact) + { + m_useFaceContact = false; + } ///@todo: avoid internal softbody shape hack and move collision code to collision library virtual void setCollisionShape(btCollisionShape* collisionShape) @@ -795,7 +908,9 @@ public: Material* mat = 0); /* Append anchor */ - void appendAnchor(int node, + void appendDeformableAnchor(int node, btRigidBody* body); + void appendDeformableAnchor(int node, btMultiBodyLinkCollider* link); + void appendAnchor(int node, btRigidBody* body, bool disableCollisionBetweenLinkedBodies = false, btScalar influence = 1); void appendAnchor(int node, btRigidBody* body, const btVector3& localPivot, bool disableCollisionBetweenLinkedBodies = false, btScalar influence = 1); /* Append linear joint */ @@ -862,6 +977,16 @@ public: /* Return the volume */ btScalar getVolume() const; /* Cluster count */ + btVector3 getCenterOfMass() const + { + btVector3 com(0, 0, 0); + for (int i = 0; i < m_nodes.size(); i++) + { + com += (m_nodes[i].m_x * this->getMass(i)); + } + com /= this->getTotalMass(); + return com; + } int clusterCount() const; /* Cluster center of mass */ static btVector3 clusterCom(const Cluster* cluster); @@ -915,6 +1040,11 @@ public: /* defaultCollisionHandlers */ void defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap); void defaultCollisionHandler(btSoftBody* psb); + void setSelfCollision(bool useSelfCollision); + bool useSelfCollision(); + void updateDeactivation(btScalar timeStep); + void setZeroVelocity(); + bool wantsSleeping(); // // Functionality to deal with new accelerated solvers. @@ -991,7 +1121,9 @@ public: btScalar& mint, eFeature::_& feature, int& index, bool bcountonly) const; void initializeFaceTree(); btVector3 evaluateCom() const; - bool checkContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti) const; + bool checkDeformableContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const; + bool checkDeformableFaceContact(const btCollisionObjectWrapper* colObjWrap, Face& f, btVector3& contact_point, btVector3& bary, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const; + bool checkContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti) const; void updateNormals(); void updateBounds(); void updatePose(); @@ -1005,7 +1137,14 @@ public: void solveClusters(btScalar sor); void applyClusters(bool drift); void dampClusters(); + void setSpringStiffness(btScalar k); + void initializeDmInverse(); + void updateDeformation(); + void advanceDeformation(); void applyForces(); + void setMaxStress(btScalar maxStress); + void interpolateRenderMesh(); + void setCollisionQuadrature(int N); static void PSolve_Anchors(btSoftBody* psb, btScalar kst, btScalar ti); static void PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti); static void PSolve_SContacts(btSoftBody* psb, btScalar, btScalar ti); @@ -1015,11 +1154,9 @@ public: static vsolver_t getSolver(eVSolver::_ solver); virtual int calculateSerializeBufferSize() const; - + ///fills the dataBuffer and returns the struct name (and 0 on failure) virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const; - - //virtual void serializeSingleObject(class btSerializer* serializer) const; }; #endif //_BT_SOFT_BODY_H |