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Update to bullet master (2.90)

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This commit is contained in:
PouleyKetchoupp 2020-04-27 10:15:23 +02:00
parent 43f0767390
commit 3e7db60d56
56 changed files with 4403 additions and 858 deletions
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1
modules/bullet/SCsub
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@ -175,6 +175,7 @@ if env["builtin_bullet"]:
"BulletSoftBody/btDeformableContactProjection.cpp",
"BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp",
"BulletSoftBody/btDeformableContactConstraint.cpp",
"BulletSoftBody/poly34.cpp",
# clew
"clew/clew.c",
# LinearMath

8
platform/linuxbsd/detect.py
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@ -217,15 +217,17 @@ def configure(env):
env.ParseConfig("pkg-config libpng16 --cflags --libs")
if not env["builtin_bullet"]:
# We need at least version 2.89
# We need at least version 2.90
min_bullet_version = "2.90"
import subprocess
bullet_version = subprocess.check_output(["pkg-config", "bullet", "--modversion"]).strip()
if str(bullet_version) < "2.89":
if str(bullet_version) < min_bullet_version:
# Abort as system bullet was requested but too old
print(
"Bullet: System version {0} does not match minimal requirements ({1}). Aborting.".format(
bullet_version, "2.89"
bullet_version, min_bullet_version
)
)
sys.exit(255)

5
thirdparty/README.md vendored
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@ -40,9 +40,12 @@ Files extracted from upstream source:
## bullet
- Upstream: https://github.com/bulletphysics/bullet3
- Version: 2.89
- Version: 2.90 (master cd8cf7521cbb8b7808126a6adebd47bb83ea166a)
- License: zlib
Important: Synced with a pre-release version of bullet 2.90 from the master branch.
Commit hash: cd8cf7521cbb8b7808126a6adebd47bb83ea166a
Files extracted from upstream source:
- src/* apart from CMakeLists.txt and premake4.lua files

2
thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h vendored
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@ -203,8 +203,8 @@ struct btDbvntNode
btDbvntNode(const btDbvtNode* n)
: volume(n->volume)
, angle(0)
, normal(0,0,0)
, angle(0)
, data(n->data)
{
childs[0] = 0;

11
thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h vendored
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@ -61,7 +61,8 @@ public:
virtual void cleanOverlappingPair(btBroadphasePair& pair, btDispatcher* dispatcher) = 0;
virtual int getNumOverlappingPairs() const = 0;
virtual bool needsBroadphaseCollision(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1) const = 0;
virtual btOverlapFilterCallback* getOverlapFilterCallback() = 0;
virtual void cleanProxyFromPairs(btBroadphaseProxy* proxy, btDispatcher* dispatcher) = 0;
virtual void setOverlapFilterCallback(btOverlapFilterCallback* callback) = 0;
@ -380,6 +381,14 @@ public:
{
}
bool needsBroadphaseCollision(btBroadphaseProxy*, btBroadphaseProxy*) const
{
return true;
}
btOverlapFilterCallback* getOverlapFilterCallback()
{
return 0;
}
virtual void setOverlapFilterCallback(btOverlapFilterCallback* /*callback*/)
{
}

4
thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp vendored
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@ -468,7 +468,7 @@ void btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall
#ifdef RAYAABB2
btVector3 rayDir = (rayTarget - raySource);
rayDir.normalize();
rayDir.safeNormalize();// stephengold changed normalize to safeNormalize 2020-02-17
lambda_max = rayDir.dot(rayTarget - raySource);
///what about division by zero? --> just set rayDirection[i] to 1.0
btVector3 rayDirectionInverse;
@ -554,7 +554,7 @@ void btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
#ifdef RAYAABB2
btVector3 rayDirection = (rayTarget - raySource);
rayDirection.normalize();
rayDirection.safeNormalize();// stephengold changed normalize to safeNormalize 2020-02-17
lambda_max = rayDirection.dot(rayTarget - raySource);
///what about division by zero? --> just set rayDirection[i] to 1.0
rayDirection[0] = rayDirection[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[0];

6
thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h vendored
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@ -46,8 +46,6 @@ protected:
btAlignedObjectArray<btPersistentManifold*> m_manifoldsPtr;
btManifoldResult m_defaultManifoldResult;
btNearCallback m_nearCallback;
btPoolAllocator* m_collisionAlgorithmPoolAllocator;
@ -95,11 +93,15 @@ public:
btPersistentManifold* getManifoldByIndexInternal(int index)
{
btAssert(index>=0);
btAssert(index<m_manifoldsPtr.size());
return m_manifoldsPtr[index];
}
const btPersistentManifold* getManifoldByIndexInternal(int index) const
{
btAssert(index>=0);
btAssert(index<m_manifoldsPtr.size());
return m_manifoldsPtr[index];
}

22
thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp vendored
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@ -28,6 +28,7 @@ subject to the following restrictions:
btCollisionDispatcherMt::btCollisionDispatcherMt(btCollisionConfiguration* config, int grainSize)
: btCollisionDispatcher(config)
{
m_batchManifoldsPtr.resize(btGetTaskScheduler()->getNumThreads());
m_batchUpdating = false;
m_grainSize = grainSize; // iterations per task
}
@ -65,6 +66,10 @@ btPersistentManifold* btCollisionDispatcherMt::getNewManifold(const btCollisionO
manifold->m_index1a = m_manifoldsPtr.size();
m_manifoldsPtr.push_back(manifold);
}
else
{
m_batchManifoldsPtr[btGetCurrentThreadIndex()].push_back(manifold);
}
return manifold;
}
@ -121,7 +126,7 @@ struct CollisionDispatcherUpdater : public btIParallelForBody
void btCollisionDispatcherMt::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher)
{
int pairCount = pairCache->getNumOverlappingPairs();
const int pairCount = pairCache->getNumOverlappingPairs();
if (pairCount == 0)
{
return;
@ -136,16 +141,17 @@ void btCollisionDispatcherMt::dispatchAllCollisionPairs(btOverlappingPairCache*
btParallelFor(0, pairCount, m_grainSize, updater);
m_batchUpdating = false;
// reconstruct the manifolds array to ensure determinism
m_manifoldsPtr.resizeNoInitialize(0);
btBroadphasePair* pairs = pairCache->getOverlappingPairArrayPtr();
for (int i = 0; i < pairCount; ++i)
// merge new manifolds, if any
for (int i = 0; i < m_batchManifoldsPtr.size(); ++i)
{
if (btCollisionAlgorithm* algo = pairs[i].m_algorithm)
btAlignedObjectArray<btPersistentManifold*>& batchManifoldsPtr = m_batchManifoldsPtr[i];
for (int j = 0; j < batchManifoldsPtr.size(); ++j)
{
algo->getAllContactManifolds(m_manifoldsPtr);
m_manifoldsPtr.push_back(batchManifoldsPtr[j]);
}
batchManifoldsPtr.resizeNoInitialize(0);
}
// update the indices (used when releasing manifolds)

1
thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h vendored
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@ -30,6 +30,7 @@ public:
virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher) BT_OVERRIDE;
protected:
btAlignedObjectArray<btAlignedObjectArray<btPersistentManifold*> > m_batchManifoldsPtr;
bool m_batchUpdating;
int m_grainSize;
};

7
thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp vendored
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@ -139,7 +139,12 @@ public:
if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
{
btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, childTrans, -1, index);
btTransform preTransform = childTrans;
if (this->m_compoundColObjWrap->m_preTransform)
{
preTransform = preTransform *(*(this->m_compoundColObjWrap->m_preTransform));
}
btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, preTransform, -1, index);
btCollisionAlgorithm* algo = 0;
bool allocatedAlgorithm = false;

6
thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h vendored
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@ -46,7 +46,7 @@ struct btContactSolverInfoData
btScalar m_sor; //successive over-relaxation term
btScalar m_erp; //error reduction for non-contact constraints
btScalar m_erp2; //error reduction for contact constraints
btScalar m_deformable_erp; //error reduction for deformable constraints
btScalar m_deformable_erp; //error reduction for deformable constraints
btScalar m_globalCfm; //constraint force mixing for contacts and non-contacts
btScalar m_frictionERP; //error reduction for friction constraints
btScalar m_frictionCFM; //constraint force mixing for friction constraints
@ -67,6 +67,7 @@ struct btContactSolverInfoData
bool m_jointFeedbackInWorldSpace;
bool m_jointFeedbackInJointFrame;
int m_reportSolverAnalytics;
int m_numNonContactInnerIterations;
};
struct btContactSolverInfo : public btContactSolverInfoData
@ -82,7 +83,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_numIterations = 10;
m_erp = btScalar(0.2);
m_erp2 = btScalar(0.2);
m_deformable_erp = btScalar(0.);
m_deformable_erp = btScalar(0.1);
m_globalCfm = btScalar(0.);
m_frictionERP = btScalar(0.2); //positional friction 'anchors' are disabled by default
m_frictionCFM = btScalar(0.);
@ -104,6 +105,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_jointFeedbackInWorldSpace = false;
m_jointFeedbackInJointFrame = false;
m_reportSolverAnalytics = 0;
m_numNonContactInnerIterations = 1; // the number of inner iterations for solving motor constraint in a single iteration of the constraint solve
}
};

5
thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp vendored
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@ -876,7 +876,10 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
// will we not request a velocity with the wrong direction ?
// and the answer is not, because in practice during the solving the current velocity is subtracted from the m_constraintError
// so the sign of the force that is really matters
info->m_constraintError[srow] = (rotational ? -1 : 1) * (f < 0 ? -SIMD_INFINITY : SIMD_INFINITY);
if (m_flags & BT_6DOF_FLAGS_USE_INFINITE_ERROR)
info->m_constraintError[srow] = (rotational ? -1 : 1) * (f < 0 ? -SIMD_INFINITY : SIMD_INFINITY);
else
info->m_constraintError[srow] = vel + f / m * (rotational ? -1 : 1);
btScalar minf = f < fd ? f : fd;
btScalar maxf = f < fd ? fd : f;

1
thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h vendored
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@ -265,6 +265,7 @@ enum bt6DofFlags2
BT_6DOF_FLAGS_ERP_STOP2 = 2,
BT_6DOF_FLAGS_CFM_MOTO2 = 4,
BT_6DOF_FLAGS_ERP_MOTO2 = 8,
BT_6DOF_FLAGS_USE_INFINITE_ERROR = (1<<16)
};
#define BT_6DOF_FLAGS_AXIS_SHIFT2 4 // bits per axis

12
thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp vendored
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@ -14,7 +14,9 @@ subject to the following restrictions:
*/
//#define COMPUTE_IMPULSE_DENOM 1
//#define BT_ADDITIONAL_DEBUG
#ifdef BT_DEBUG
# define BT_ADDITIONAL_DEBUG
#endif
//It is not necessary (redundant) to refresh contact manifolds, this refresh has been moved to the collision algorithms.
@ -690,8 +692,10 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
{
#if BT_THREADSAFE
int solverBodyId = -1;
bool isRigidBodyType = btRigidBody::upcast(&body) != NULL;
if (isRigidBodyType && !body.isStaticOrKinematicObject())
const bool isRigidBodyType = btRigidBody::upcast(&body) != NULL;
const bool isStaticOrKinematic = body.isStaticOrKinematicObject();
const bool isKinematic = body.isKinematicObject();
if (isRigidBodyType && !isStaticOrKinematic)
{
// dynamic body
// Dynamic bodies can only be in one island, so it's safe to write to the companionId
@ -704,7 +708,7 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
body.setCompanionId(solverBodyId);
}
}
else if (isRigidBodyType && body.isKinematicObject())
else if (isRigidBodyType && isKinematic)
{
//
// NOTE: must test for kinematic before static because some kinematic objects also

8
thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp vendored
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@ -800,6 +800,14 @@ public:
///don't do CCD when the collision filters are not matching
if (!ClosestConvexResultCallback::needsCollision(proxy0))
return false;
if (m_pairCache->getOverlapFilterCallback()) {
btBroadphaseProxy* proxy1 = m_me->getBroadphaseHandle();
bool collides = m_pairCache->needsBroadphaseCollision(proxy0, proxy1);
if (!collides)
{
return false;
}
}
btCollisionObject* otherObj = (btCollisionObject*)proxy0->m_clientObject;

19
thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp vendored
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@ -136,8 +136,13 @@ void btRigidBody::setGravity(const btVector3& acceleration)
void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
{
m_linearDamping = btClamped(lin_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
m_angularDamping = btClamped(ang_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
#ifdef BT_USE_OLD_DAMPING_METHOD
m_linearDamping = btMax(lin_damping, btScalar(0.0));
m_angularDamping = btMax(ang_damping, btScalar(0.0));
#else
m_linearDamping = btClamped(lin_damping, btScalar(0.0), btScalar(1.0));
m_angularDamping = btClamped(ang_damping, btScalar(0.0), btScalar(1.0));
#endif
}
///applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping
@ -146,10 +151,9 @@ void btRigidBody::applyDamping(btScalar timeStep)
//On new damping: see discussion/issue report here: http://code.google.com/p/bullet/issues/detail?id=74
//todo: do some performance comparisons (but other parts of the engine are probably bottleneck anyway
//#define USE_OLD_DAMPING_METHOD 1
#ifdef USE_OLD_DAMPING_METHOD
m_linearVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
m_angularVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
#ifdef BT_USE_OLD_DAMPING_METHOD
m_linearVelocity *= btMax((btScalar(1.0) - timeStep * m_linearDamping), btScalar(0.0));
m_angularVelocity *= btMax((btScalar(1.0) - timeStep * m_angularDamping), btScalar(0.0));
#else
m_linearVelocity *= btPow(btScalar(1) - m_linearDamping, timeStep);
m_angularVelocity *= btPow(btScalar(1) - m_angularDamping, timeStep);
@ -380,6 +384,9 @@ void btRigidBody::integrateVelocities(btScalar step)
{
m_angularVelocity *= (MAX_ANGVEL / step) / angvel;
}
#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
clampVelocity(m_angularVelocity);
#endif
}
btQuaternion btRigidBody::getOrientation() const

43
thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.h vendored
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@ -305,6 +305,9 @@ public:
void applyTorque(const btVector3& torque)
{
m_totalTorque += torque * m_angularFactor;
#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
clampVelocity(m_totalTorque);
#endif
}
void applyForce(const btVector3& force, const btVector3& rel_pos)
@ -316,11 +319,17 @@ public:
void applyCentralImpulse(const btVector3& impulse)
{
m_linearVelocity += impulse * m_linearFactor * m_inverseMass;
#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
clampVelocity(m_linearVelocity);
#endif
}
void applyTorqueImpulse(const btVector3& torque)
{
m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
clampVelocity(m_angularVelocity);
#endif
}
void applyImpulse(const btVector3& impulse, const btVector3& rel_pos)
@ -361,20 +370,46 @@ public:
{
m_pushVelocity = v;
}
#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
void clampVelocity(btVector3& v) const {
v.setX(
fmax(-BT_CLAMP_VELOCITY_TO,
fmin(BT_CLAMP_VELOCITY_TO, v.getX()))
);
v.setY(
fmax(-BT_CLAMP_VELOCITY_TO,
fmin(BT_CLAMP_VELOCITY_TO, v.getY()))
);
v.setZ(
fmax(-BT_CLAMP_VELOCITY_TO,
fmin(BT_CLAMP_VELOCITY_TO, v.getZ()))
);
}
#endif
void setTurnVelocity(const btVector3& v)
{
m_turnVelocity = v;
#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
clampVelocity(m_turnVelocity);
#endif
}
void applyCentralPushImpulse(const btVector3& impulse)
{
m_pushVelocity += impulse * m_linearFactor * m_inverseMass;
#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
clampVelocity(m_pushVelocity);
#endif
}
void applyTorqueTurnImpulse(const btVector3& torque)
{
m_turnVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
clampVelocity(m_turnVelocity);
#endif
}
void clearForces()
@ -408,12 +443,18 @@ public:
{
m_updateRevision++;
m_linearVelocity = lin_vel;
#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
clampVelocity(m_linearVelocity);
#endif
}
inline void setAngularVelocity(const btVector3& ang_vel)
{
m_updateRevision++;
m_angularVelocity = ang_vel;
#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
clampVelocity(m_angularVelocity);
#endif
}
btVector3 getVelocityInLocalPoint(const btVector3& rel_pos) const

2
thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp vendored
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@ -171,6 +171,8 @@ void btSimulationIslandManagerMt::initIslandPools()
btSimulationIslandManagerMt::Island* btSimulationIslandManagerMt::getIsland(int id)
{
btAssert(id >= 0);
btAssert(id < m_lookupIslandFromId.size());
Island* island = m_lookupIslandFromId[id];
if (island == NULL)
{

46
thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp vendored
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@ -583,52 +583,6 @@ void btMultiBody::compTreeLinkVelocities(btVector3 *omega, btVector3 *vel) const
}
}
btScalar btMultiBody::getKineticEnergy() const
{
int num_links = getNumLinks();
// TODO: would be better not to allocate memory here
btAlignedObjectArray<btVector3> omega;
omega.resize(num_links + 1);
btAlignedObjectArray<btVector3> vel;
vel.resize(num_links + 1);
compTreeLinkVelocities(&omega[0], &vel[0]);
// we will do the factor of 0.5 at the end
btScalar result = m_baseMass * vel[0].dot(vel[0]);
result += omega[0].dot(m_baseInertia * omega[0]);
for (int i = 0; i < num_links; ++i)
{
result += m_links[i].m_mass * vel[i + 1].dot(vel[i + 1]);
result += omega[i + 1].dot(m_links[i].m_inertiaLocal * omega[i + 1]);
}
return 0.5f * result;
}
btVector3 btMultiBody::getAngularMomentum() const
{
int num_links = getNumLinks();
// TODO: would be better not to allocate memory here
btAlignedObjectArray<btVector3> omega;
omega.resize(num_links + 1);
btAlignedObjectArray<btVector3> vel;
vel.resize(num_links + 1);
btAlignedObjectArray<btQuaternion> rot_from_world;
rot_from_world.resize(num_links + 1);
compTreeLinkVelocities(&omega[0], &vel[0]);
rot_from_world[0] = m_baseQuat;
btVector3 result = quatRotate(rot_from_world[0].inverse(), (m_baseInertia * omega[0]));
for (int i = 0; i < num_links; ++i)
{
rot_from_world[i + 1] = m_links[i].m_cachedRotParentToThis * rot_from_world[m_links[i].m_parent + 1];
result += (quatRotate(rot_from_world[i + 1].inverse(), (m_links[i].m_inertiaLocal * omega[i + 1])));
}
return result;
}
void btMultiBody::clearConstraintForces()
{

7
thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h vendored
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@ -307,13 +307,6 @@ public:
//
btMatrix3x3 localFrameToWorld(int i, const btMatrix3x3 &local_frame) const;
//
// calculate kinetic energy and angular momentum
// useful for debugging.
//
btScalar getKineticEnergy() const;
btVector3 getAngularMomentum() const;
//
// set external forces and torques. Note all external forces/torques are given in the WORLD frame.

31
thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp vendored
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@ -30,23 +30,28 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
btScalar leastSquaredResidual = btSequentialImpulseConstraintSolver::solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
//solve featherstone non-contact constraints
btScalar nonContactResidual = 0;
//printf("m_multiBodyNonContactConstraints = %d\n",m_multiBodyNonContactConstraints.size());
for (int j = 0; j < m_multiBodyNonContactConstraints.size(); j++)
for (int i = 0; i < infoGlobal.m_numNonContactInnerIterations; ++i)
{
int index = iteration & 1 ? j : m_multiBodyNonContactConstraints.size() - 1 - j;
// reset the nonContactResdual to 0 at start of each inner iteration
nonContactResidual = 0;
for (int j = 0; j < m_multiBodyNonContactConstraints.size(); j++)
{
int index = iteration & 1 ? j : m_multiBodyNonContactConstraints.size() - 1 - j;
btMultiBodySolverConstraint& constraint = m_multiBodyNonContactConstraints[index];
btMultiBodySolverConstraint& constraint = m_multiBodyNonContactConstraints[index];
btScalar residual = resolveSingleConstraintRowGeneric(constraint);
leastSquaredResidual = btMax(leastSquaredResidual, residual * residual);
btScalar residual = resolveSingleConstraintRowGeneric(constraint);
nonContactResidual = btMax(nonContactResidual, residual * residual);
if (constraint.m_multiBodyA)
constraint.m_multiBodyA->setPosUpdated(false);
if (constraint.m_multiBodyB)
constraint.m_multiBodyB->setPosUpdated(false);
if (constraint.m_multiBodyA)
constraint.m_multiBodyA->setPosUpdated(false);
if (constraint.m_multiBodyB)
constraint.m_multiBodyB->setPosUpdated(false);
}
}
leastSquaredResidual = btMax(leastSquaredResidual, nonContactResidual);
//solve featherstone normal contact
for (int j0 = 0; j0 < m_multiBodyNormalContactConstraints.size(); j0++)
@ -1250,7 +1255,7 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
{
const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(manifold->getBody0());
const btMultiBodyLinkCollider* fcB = btMultiBodyLinkCollider::upcast(manifold->getBody1());
btMultiBody* mbA = fcA ? fcA->m_multiBody : 0;
btMultiBody* mbB = fcB ? fcB->m_multiBody : 0;
@ -1270,7 +1275,7 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
// return;
//only a single rollingFriction per manifold
int rollingFriction = 1;
int rollingFriction = 4;
for (int j = 0; j < manifold->getNumContacts(); j++)
{

188
thirdparty/bullet/BulletSoftBody/btConjugateResidual.h vendored Normal file
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@ -0,0 +1,188 @@
/*
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_CONJUGATE_RESIDUAL_H
#define BT_CONJUGATE_RESIDUAL_H
#include <iostream>
#include <cmath>
#include <limits>
#include <LinearMath/btAlignedObjectArray.h>
#include <LinearMath/btVector3.h>
#include <LinearMath/btScalar.h>
#include "LinearMath/btQuickprof.h"
template <class MatrixX>
class btConjugateResidual
{
typedef btAlignedObjectArray<btVector3> TVStack;
TVStack r,p,z,temp_p, temp_r, best_x;
// temp_r = A*r
// temp_p = A*p
// z = M^(-1) * temp_p = M^(-1) * A * p
int max_iterations;
btScalar tolerance_squared, best_r;
public:
btConjugateResidual(const int max_it_in)
: max_iterations(max_it_in)
{
tolerance_squared = 1e-2;
}
virtual ~btConjugateResidual(){}
// return the number of iterations taken
int solve(MatrixX& A, TVStack& x, const TVStack& b, bool verbose = false)
{
BT_PROFILE("CRSolve");
btAssert(x.size() == b.size());
reinitialize(b);
// r = b - A * x --with assigned dof zeroed out
A.multiply(x, temp_r); // borrow temp_r here to store A*x
r = sub(b, temp_r);
// z = M^(-1) * r
A.precondition(r, z); // borrow z to store preconditioned r
r = z;
btScalar residual_norm = norm(r);
if (residual_norm <= tolerance_squared) {
if (verbose)
{
std::cout << "Iteration = 0" << std::endl;
std::cout << "Two norm of the residual = " << residual_norm << std::endl;
}
return 0;
}
p = r;
btScalar r_dot_Ar, r_dot_Ar_new;
// temp_p = A*p
A.multiply(p, temp_p);
// temp_r = A*r
temp_r = temp_p;
r_dot_Ar = dot(r, temp_r);
for (int k = 1; k <= max_iterations; k++) {
// z = M^(-1) * Ap
A.precondition(temp_p, z);
// alpha = r^T * A * r / (Ap)^T * M^-1 * Ap)
btScalar alpha = r_dot_Ar / dot(temp_p, z);
// x += alpha * p;
multAndAddTo(alpha, p, x);
// r -= alpha * z;
multAndAddTo(-alpha, z, r);
btScalar norm_r = norm(r);
if (norm_r < best_r)
{
best_x = x;
best_r = norm_r;
if (norm_r < tolerance_squared) {
if (verbose)
{
std::cout << "ConjugateResidual iterations " << k << std::endl;
}
return k;
}
else
{
if (verbose)
{
std::cout << "ConjugateResidual iterations " << k << " has residual "<< norm_r << std::endl;
}
}
}
// temp_r = A * r;
A.multiply(r, temp_r);
r_dot_Ar_new = dot(r, temp_r);
btScalar beta = r_dot_Ar_new/r_dot_Ar;
r_dot_Ar = r_dot_Ar_new;
// p = beta*p + r;
p = multAndAdd(beta, p, r);
// temp_p = beta*temp_p + temp_r;
temp_p = multAndAdd(beta, temp_p, temp_r);
}
if (verbose)
{
std::cout << "ConjugateResidual max iterations reached " << max_iterations << std::endl;
}
x = best_x;
return max_iterations;
}
void reinitialize(const TVStack& b)
{
r.resize(b.size());
p.resize(b.size());
z.resize(b.size());
temp_p.resize(b.size());
temp_r.resize(b.size());
best_x.resize(b.size());
best_r = SIMD_INFINITY;
}
TVStack sub(const TVStack& a, const TVStack& b)
{
// c = a-b
btAssert(a.size() == b.size());
TVStack c;
c.resize(a.size());
for (int i = 0; i < a.size(); ++i)
{
c[i] = a[i] - b[i];
}
return c;
}
btScalar squaredNorm(const TVStack& a)
{
return dot(a,a);
}
btScalar norm(const TVStack& a)
{
btScalar ret = 0;
for (int i = 0; i < a.size(); ++i)
{
for (int d = 0; d < 3; ++d)
{
ret = btMax(ret, btFabs(a[i][d]));
}
}
return ret;
}
btScalar dot(const TVStack& a, const TVStack& b)
{
btScalar ans(0);
for (int i = 0; i < a.size(); ++i)
ans += a[i].dot(b[i]);
return ans;
}
void multAndAddTo(btScalar s, const TVStack& a, TVStack& result)
{
// result += s*a
btAssert(a.size() == result.size());
for (int i = 0; i < a.size(); ++i)
result[i] += s * a[i];
}
TVStack multAndAdd(btScalar s, const TVStack& a, const TVStack& b)
{
// result = a*s + b
TVStack result;
result.resize(a.size());
for (int i = 0; i < a.size(); ++i)
result[i] = s * a[i] + b[i];
return result;
}
};
#endif /* btConjugateResidual_h */

42
thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.cpp vendored
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@ -23,12 +23,15 @@ btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAligned
, m_backupVelocity(backup_v)
, m_implicit(false)
{
m_preconditioner = new MassPreconditioner(m_softBodies);
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_preconditioner;
delete m_KKTPreconditioner;
delete m_massPreconditioner;
}
void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated, btScalar dt)
@ -47,7 +50,7 @@ void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated, btScalar
m_lf[i]->reinitialize(nodeUpdated);
}
m_projection.reinitialize(nodeUpdated);
m_preconditioner->reinitialize(nodeUpdated);
// m_preconditioner->reinitialize(nodeUpdated);
}
void btDeformableBackwardEulerObjective::setDt(btScalar dt)
@ -80,6 +83,33 @@ void btDeformableBackwardEulerObjective::multiply(const TVStack& x, TVStack& b)
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)
@ -134,7 +164,7 @@ void btDeformableBackwardEulerObjective::computeResidual(btScalar dt, TVStack &r
m_lf[i]->addScaledDampingForce(dt, residual);
}
}
m_projection.project(residual);
// m_projection.project(residual);
}
btScalar btDeformableBackwardEulerObjective::computeNorm(const TVStack& residual) const
@ -186,9 +216,9 @@ void btDeformableBackwardEulerObjective::initialGuess(TVStack& dv, const TVStack
}
//set constraints as projections
void btDeformableBackwardEulerObjective::setConstraints()
void btDeformableBackwardEulerObjective::setConstraints(const btContactSolverInfo& infoGlobal)
{
m_projection.setConstraints();
m_projection.setConstraints(infoGlobal);
}
void btDeformableBackwardEulerObjective::applyDynamicFriction(TVStack& r)

43
thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.h vendored
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@ -15,11 +15,12 @@
#ifndef BT_BACKWARD_EULER_OBJECTIVE_H
#define BT_BACKWARD_EULER_OBJECTIVE_H
#include "btConjugateGradient.h"
//#include "btConjugateGradient.h"
#include "btDeformableLagrangianForce.h"
#include "btDeformableMassSpringForce.h"
#include "btDeformableGravityForce.h"
#include "btDeformableCorotatedForce.h"
#include "btDeformableMousePickingForce.h"
#include "btDeformableLinearElasticityForce.h"
#include "btDeformableNeoHookeanForce.h"
#include "btDeformableContactProjection.h"
@ -39,6 +40,8 @@ public:
const TVStack& m_backupVelocity;
btAlignedObjectArray<btSoftBody::Node* > m_nodes;
bool m_implicit;
MassPreconditioner* m_massPreconditioner;
KKTPreconditioner* m_KKTPreconditioner;
btDeformableBackwardEulerObjective(btAlignedObjectArray<btSoftBody *>& softBodies, const TVStack& backup_v);
@ -79,7 +82,7 @@ public:
void updateVelocity(const TVStack& dv);
//set constraints as projections
void setConstraints();
void setConstraints(const btContactSolverInfo& infoGlobal);
// update the projections and project the residual
void project(TVStack& r)
@ -129,6 +132,42 @@ public:
// Calculate the total potential energy in the system
btScalar totalEnergy(btScalar dt);
void addLagrangeMultiplier(const TVStack& vec, TVStack& extended_vec)
{
extended_vec.resize(vec.size() + m_projection.m_lagrangeMultipliers.size());
for (int i = 0; i < vec.size(); ++i)
{
extended_vec[i] = vec[i];
}
int offset = vec.size();
for (int i = 0; i < m_projection.m_lagrangeMultipliers.size(); ++i)
{
extended_vec[offset + i].setZero();
}
}
void addLagrangeMultiplierRHS(const TVStack& residual, const TVStack& m_dv, TVStack& extended_residual)
{
extended_residual.resize(residual.size() + m_projection.m_lagrangeMultipliers.size());
for (int i = 0; i < residual.size(); ++i)
{
extended_residual[i] = residual[i];
}
int offset = residual.size();
for (int i = 0; i < m_projection.m_lagrangeMultipliers.size(); ++i)
{
const LagrangeMultiplier& lm = m_projection.m_lagrangeMultipliers[i];
extended_residual[offset + i].setZero();
for (int d = 0; d < lm.m_num_constraints; ++d)
{
for (int n = 0; n < lm.m_num_nodes; ++n)
{
extended_residual[offset + i][d] += lm.m_weights[n] * m_dv[lm.m_indices[n]].dot(lm.m_dirs[d]);
}
}
}
}
};
#endif /* btBackwardEulerObjective_h */

78
thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.cpp vendored
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@ -18,13 +18,15 @@
#include "btDeformableBodySolver.h"
#include "btSoftBodyInternals.h"
#include "LinearMath/btQuickprof.h"
static const int kMaxConjugateGradientIterations = 50;
static const int kMaxConjugateGradientIterations = 50;
btDeformableBodySolver::btDeformableBodySolver()
: m_numNodes(0)
, m_cg(kMaxConjugateGradientIterations)
, m_cr(kMaxConjugateGradientIterations)
, m_maxNewtonIterations(5)
, m_newtonTolerance(1e-4)
, m_lineSearch(false)
, m_useProjection(false)
{
m_objective = new btDeformableBackwardEulerObjective(m_softBodies, m_backupVelocity);
}
@ -41,7 +43,22 @@ void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt)
{
m_objective->computeResidual(solverdt, m_residual);
m_objective->applyDynamicFriction(m_residual);
computeStep(m_dv, m_residual);
if (m_useProjection)
{
computeStep(m_dv, m_residual);
}
else
{
TVStack rhs, x;
m_objective->addLagrangeMultiplierRHS(m_residual, m_dv, rhs);
m_objective->addLagrangeMultiplier(m_dv, x);
m_objective->m_preconditioner->reinitialize(true);
computeStep(x, rhs);
for (int i = 0; i<m_dv.size(); ++i)
{
m_dv[i] = x[i];
}
}
updateVelocity();
}
else
@ -63,7 +80,7 @@ void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt)
++counter;
}
}
m_objective->computeResidual(solverdt, m_residual);
if (m_objective->computeNorm(m_residual) < m_newtonTolerance && i > 0)
{
@ -200,7 +217,10 @@ void btDeformableBodySolver::updateDv(btScalar scale)
void btDeformableBodySolver::computeStep(TVStack& ddv, const TVStack& residual)
{
m_cg.solve(*m_objective, ddv, residual);
if (m_useProjection)
m_cg.solve(*m_objective, ddv, residual, false);
else
m_cr.solve(*m_objective, ddv, residual, false);
}
void btDeformableBodySolver::reinitialize(const btAlignedObjectArray<btSoftBody *>& softBodies, btScalar dt)
@ -226,27 +246,22 @@ void btDeformableBodySolver::reinitialize(const btAlignedObjectArray<btSoftBody
m_dt = dt;
m_objective->reinitialize(nodeUpdated, dt);
updateSoftBodies();
}
void btDeformableBodySolver::setConstraints()
void btDeformableBodySolver::setConstraints(const btContactSolverInfo& infoGlobal)
{
BT_PROFILE("setConstraint");
m_objective->setConstraints();
m_objective->setConstraints(infoGlobal);
}
btScalar btDeformableBodySolver::solveContactConstraints(btCollisionObject** deformableBodies,int numDeformableBodies)
btScalar btDeformableBodySolver::solveContactConstraints(btCollisionObject** deformableBodies,int numDeformableBodies, const btContactSolverInfo& infoGlobal)
{
BT_PROFILE("solveContactConstraints");
btScalar maxSquaredResidual = m_objective->m_projection.update(deformableBodies,numDeformableBodies);
btScalar maxSquaredResidual = m_objective->m_projection.update(deformableBodies,numDeformableBodies, infoGlobal);
return maxSquaredResidual;
}
btScalar btDeformableBodySolver::solveSplitImpulse(const btContactSolverInfo& infoGlobal)
{
BT_PROFILE("solveSplitImpulse");
return m_objective->m_projection.solveSplitImpulse(infoGlobal);
}
void btDeformableBodySolver::splitImpulseSetup(const btContactSolverInfo& infoGlobal)
{
m_objective->m_projection.splitImpulseSetup(infoGlobal);
@ -333,8 +348,10 @@ void btDeformableBodySolver::setupDeformableSolve(bool implicit)
m_backupVelocity[counter] = psb->m_nodes[j].m_vn;
}
else
{
m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter];
psb->m_nodes[j].m_v = m_backupVelocity[counter] + psb->m_nodes[j].m_vsplit;
}
psb->m_nodes[j].m_v = m_backupVelocity[counter];
++counter;
}
}
@ -385,6 +402,7 @@ void btDeformableBodySolver::predictMotion(btScalar solverdt)
void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar dt)
{
BT_PROFILE("btDeformableBodySolver::predictDeformableMotion");
int i, ni;
/* Update */
@ -423,40 +441,22 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d
n.m_v *= max_v;
}
n.m_q = n.m_x + n.m_v * dt;
n.m_penetration = 0;
}
/* Nodes */
ATTRIBUTE_ALIGNED16(btDbvtVolume)
vol;
for (i = 0, ni = psb->m_nodes.size(); i < ni; ++i)
{
btSoftBody::Node& n = psb->m_nodes[i];
btVector3 points[2] = {n.m_x, n.m_q};
vol = btDbvtVolume::FromPoints(points, 2);
vol.Expand(btVector3(psb->m_sst.radmrg, psb->m_sst.radmrg, psb->m_sst.radmrg));
psb->m_ndbvt.update(n.m_leaf, vol);
}
psb->updateNodeTree(true, true);
if (!psb->m_fdbvt.empty())
{
for (int i = 0; i < psb->m_faces.size(); ++i)
{
btSoftBody::Face& f = psb->m_faces[i];
btVector3 points[6] = {f.m_n[0]->m_x, f.m_n[0]->m_q,
f.m_n[1]->m_x, f.m_n[1]->m_q,
f.m_n[2]->m_x, f.m_n[2]->m_q};
vol = btDbvtVolume::FromPoints(points, 6);
vol.Expand(btVector3(psb->m_sst.radmrg, psb->m_sst.radmrg, psb->m_sst.radmrg));
psb->m_fdbvt.update(f.m_leaf, vol);
}
psb->updateFaceTree(true, true);
}
/* Clear contacts */
/* Clear contacts */
psb->m_nodeRigidContacts.resize(0);
psb->m_faceRigidContacts.resize(0);
psb->m_faceNodeContacts.resize(0);
/* Optimize dbvt's */
psb->m_ndbvt.optimizeIncremental(1);
psb->m_fdbvt.optimizeIncremental(1);
// psb->m_ndbvt.optimizeIncremental(1);
// psb->m_fdbvt.optimizeIncremental(1);
}

16
thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.h vendored
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@ -22,7 +22,8 @@
#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;
@ -40,14 +41,15 @@ protected:
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();
@ -61,15 +63,11 @@ public:
// 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);
// solve the contact between deformable and rigid as well as among deformables
btScalar solveContactConstraints(btCollisionObject** deformableBodies,int numDeformableBodies);
// solve the position error between deformable and rigid as well as among deformables;
btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal);
// set up the position error in split impulse
void splitImpulseSetup(const btContactSolverInfo& infoGlobal);
@ -77,7 +75,7 @@ public:
void reinitialize(const btAlignedObjectArray<btSoftBody *>& softBodies, btScalar dt);
// set up contact constraints
void setConstraints();
void setConstraints(const btContactSolverInfo& infoGlobal);
// add in elastic forces and gravity to obtain v_{n+1}^* and calls predictDeformableMotion
virtual void predictMotion(btScalar solverdt);

184
thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.cpp vendored
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@ -15,9 +15,9 @@
#include "btDeformableContactConstraint.h"
/* ================ Deformable Node Anchor =================== */
btDeformableNodeAnchorConstraint::btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& a)
btDeformableNodeAnchorConstraint::btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& a, const btContactSolverInfo& infoGlobal)
: m_anchor(&a)
, btDeformableContactConstraint(a.m_cti.m_normal)
, btDeformableContactConstraint(a.m_cti.m_normal, infoGlobal)
{
}
@ -79,14 +79,14 @@ btVector3 btDeformableNodeAnchorConstraint::getVa() const
return va;
}
btScalar btDeformableNodeAnchorConstraint::solveConstraint()
btScalar btDeformableNodeAnchorConstraint::solveConstraint(const btContactSolverInfo& infoGlobal)
{
const btSoftBody::sCti& cti = m_anchor->m_cti;
btVector3 va = getVa();
btVector3 vb = getVb();
btVector3 vr = (vb - va);
// + (m_anchor->m_node->m_x - cti.m_colObj->getWorldTransform() * m_anchor->m_local) * 10.0
const btScalar dn = btDot(vr, cti.m_normal);
const btScalar dn = btDot(vr, vr);
// dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt
btScalar residualSquare = dn*dn;
btVector3 impulse = m_anchor->m_c0 * vr;
@ -134,14 +134,15 @@ void btDeformableNodeAnchorConstraint::applyImpulse(const btVector3& impulse)
}
/* ================ Deformable vs. Rigid =================== */
btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c)
btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c, const btContactSolverInfo& infoGlobal)
: m_contact(&c)
, btDeformableContactConstraint(c.m_cti.m_normal)
, btDeformableContactConstraint(c.m_cti.m_normal, infoGlobal)
{
m_total_normal_dv.setZero();
m_total_tangent_dv.setZero();
// penetration is non-positive. The magnitude of penetration is the depth of penetration.
m_penetration = btMin(btScalar(0), c.m_cti.m_offset);
// The magnitude of penetration is the depth of penetration.
m_penetration = c.m_cti.m_offset;
// m_penetration = btMin(btScalar(0),c.m_cti.m_offset);
}
btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btDeformableRigidContactConstraint& other)
@ -206,16 +207,16 @@ btVector3 btDeformableRigidContactConstraint::getVa() const
return va;
}
btScalar btDeformableRigidContactConstraint::solveConstraint()
btScalar btDeformableRigidContactConstraint::solveConstraint(const btContactSolverInfo& infoGlobal)
{
const btSoftBody::sCti& cti = m_contact->m_cti;
btVector3 va = getVa();
btVector3 vb = getVb();
btVector3 vr = vb - va;
const btScalar dn = btDot(vr, cti.m_normal);
btScalar dn = btDot(vr, cti.m_normal) + m_penetration * infoGlobal.m_deformable_erp / infoGlobal.m_timeStep;
// dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt
btScalar residualSquare = dn*dn;
btVector3 impulse = m_contact->m_c0 * vr;
btVector3 impulse = m_contact->m_c0 * (vr + m_penetration * infoGlobal.m_deformable_erp / infoGlobal.m_timeStep * cti.m_normal) ;
const btVector3 impulse_normal = m_contact->m_c0 * (cti.m_normal * dn);
btVector3 impulse_tangent = impulse - impulse_normal;
btVector3 old_total_tangent_dv = m_total_tangent_dv;
@ -256,6 +257,8 @@ btScalar btDeformableRigidContactConstraint::solveConstraint()
impulse = impulse_normal + impulse_tangent;
// apply impulse to deformable nodes involved and change their velocities
applyImpulse(impulse);
if (residualSquare < 1e-7)
return residualSquare;
// apply impulse to the rigid/multibodies involved and change their velocities
if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
{
@ -285,43 +288,17 @@ btScalar btDeformableRigidContactConstraint::solveConstraint()
}
}
}
// va = getVa();
// vb = getVb();
// vr = vb - va;
// btScalar dn1 = btDot(vr, cti.m_normal) / 150;
// m_penetration += dn1;
return residualSquare;
}
btScalar btDeformableRigidContactConstraint::solveSplitImpulse(const btContactSolverInfo& infoGlobal)
{
const btSoftBody::sCti& cti = m_contact->m_cti;
const btScalar dn = m_penetration;
if (dn != 0)
{
const btVector3 impulse = (m_contact->m_c0 * (cti.m_normal * dn / infoGlobal.m_timeStep));
// one iteration of the position impulse corrects all the position error at this timestep
m_penetration -= dn;
// apply impulse to deformable nodes involved and change their position
applySplitImpulse(impulse);
// apply impulse to the rigid/multibodies involved and change their position
if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
{
btRigidBody* rigidCol = 0;
rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
if (rigidCol)
{
rigidCol->applyPushImpulse(impulse, m_contact->m_c1);
}
}
else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
{
// todo xuchenhan@
}
return (m_penetration/infoGlobal.m_timeStep) * (m_penetration/infoGlobal.m_timeStep);
}
return 0;
}
/* ================ Node vs. Rigid =================== */
btDeformableNodeRigidContactConstraint::btDeformableNodeRigidContactConstraint(const btSoftBody::DeformableNodeRigidContact& contact)
btDeformableNodeRigidContactConstraint::btDeformableNodeRigidContactConstraint(const btSoftBody::DeformableNodeRigidContact& contact, const btContactSolverInfo& infoGlobal)
: m_node(contact.m_node)
, btDeformableRigidContactConstraint(contact)
, btDeformableRigidContactConstraint(contact, infoGlobal)
{
}
@ -349,22 +326,17 @@ void btDeformableNodeRigidContactConstraint::applyImpulse(const btVector3& impul
contact->m_node->m_v -= dv;
}
void btDeformableNodeRigidContactConstraint::applySplitImpulse(const btVector3& impulse)
{
const btSoftBody::DeformableNodeRigidContact* contact = getContact();
btVector3 dv = impulse * contact->m_c2;
contact->m_node->m_vsplit -= dv;
};
/* ================ Face vs. Rigid =================== */
btDeformableFaceRigidContactConstraint::btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact)
btDeformableFaceRigidContactConstraint::btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact, const btContactSolverInfo& infoGlobal, bool useStrainLimiting)
: m_face(contact.m_face)
, btDeformableRigidContactConstraint(contact)
, m_useStrainLimiting(useStrainLimiting)
, btDeformableRigidContactConstraint(contact, infoGlobal)
{
}
btDeformableFaceRigidContactConstraint::btDeformableFaceRigidContactConstraint(const btDeformableFaceRigidContactConstraint& other)
: m_face(other.m_face)
, m_useStrainLimiting(other.m_useStrainLimiting)
, btDeformableRigidContactConstraint(other)
{
}
@ -411,47 +383,70 @@ void btDeformableFaceRigidContactConstraint::applyImpulse(const btVector3& impul
v1 -= dv * contact->m_weights[1];
if (im2 > 0)
v2 -= dv * contact->m_weights[2];
// apply strain limiting to prevent undamped modes
btScalar m01 = (btScalar(1)/(im0 + im1));
btScalar m02 = (btScalar(1)/(im0 + im2));
btScalar m12 = (btScalar(1)/(im1 + im2));
btVector3 dv0 = im0 * (m01 * (v1-v0) + m02 * (v2-v0));
btVector3 dv1 = im1 * (m01 * (v0-v1) + m12 * (v2-v1));
btVector3 dv2 = im2 * (m12 * (v1-v2) + m02 * (v0-v2));
v0 += dv0;
v1 += dv1;
v2 += dv2;
}
void btDeformableFaceRigidContactConstraint::applySplitImpulse(const btVector3& impulse)
{
const btSoftBody::DeformableFaceRigidContact* contact = getContact();
btVector3 dv = impulse * contact->m_c2;
btSoftBody::Face* face = contact->m_face;
btVector3& v0 = face->m_n[0]->m_vsplit;
btVector3& v1 = face->m_n[1]->m_vsplit;
btVector3& v2 = face->m_n[2]->m_vsplit;
const btScalar& im0 = face->m_n[0]->m_im;
const btScalar& im1 = face->m_n[1]->m_im;
const btScalar& im2 = face->m_n[2]->m_im;
if (im0 > 0)
v0 -= dv * contact->m_weights[0];
if (im1 > 0)
v1 -= dv * contact->m_weights[1];
if (im2 > 0)
v2 -= dv * contact->m_weights[2];
if (m_useStrainLimiting)
{
btScalar relaxation = 1./btScalar(m_infoGlobal->m_numIterations);
btScalar m01 = (relaxation/(im0 + im1));
btScalar m02 = (relaxation/(im0 + im2));
btScalar m12 = (relaxation/(im1 + im2));
#ifdef USE_STRAIN_RATE_LIMITING
// apply strain limiting to prevent the new velocity to change the current length of the edge by more than 1%.
btScalar p = 0.01;
btVector3& x0 = face->m_n[0]->m_x;
btVector3& x1 = face->m_n[1]->m_x;
btVector3& x2 = face->m_n[2]->m_x;
const btVector3 x_diff[3] = {x1-x0, x2-x0, x2-x1};
const btVector3 v_diff[3] = {v1-v0, v2-v0, v2-v1};
btVector3 u[3];
btScalar x_diff_dot_u, dn[3];
btScalar dt = m_infoGlobal->m_timeStep;
for (int i = 0; i < 3; ++i)
{
btScalar x_diff_norm = x_diff[i].safeNorm();
btScalar x_diff_norm_new = (x_diff[i] + v_diff[i] * dt).safeNorm();
btScalar strainRate = x_diff_norm_new/x_diff_norm;
u[i] = v_diff[i];
u[i].safeNormalize();
if (x_diff_norm == 0 || (1-p <= strainRate && strainRate <= 1+p))
{
dn[i] = 0;
continue;
}
x_diff_dot_u = btDot(x_diff[i], u[i]);
btScalar s;
if (1-p > strainRate)
{
s = 1/dt * (-x_diff_dot_u - btSqrt(x_diff_dot_u*x_diff_dot_u + (p*p-2*p) * x_diff_norm * x_diff_norm));
}
else
{
s = 1/dt * (-x_diff_dot_u + btSqrt(x_diff_dot_u*x_diff_dot_u + (p*p+2*p) * x_diff_norm * x_diff_norm));
}
// x_diff_norm_new = (x_diff[i] + s * u[i] * dt).safeNorm();
// strainRate = x_diff_norm_new/x_diff_norm;
dn[i] = s - v_diff[i].safeNorm();
}
btVector3 dv0 = im0 * (m01 * u[0]*(-dn[0]) + m02 * u[1]*-(dn[1]));
btVector3 dv1 = im1 * (m01 * u[0]*(dn[0]) + m12 * u[2]*(-dn[2]));
btVector3 dv2 = im2 * (m12 * u[2]*(dn[2]) + m02 * u[1]*(dn[1]));
#else
// apply strain limiting to prevent undamped modes
btVector3 dv0 = im0 * (m01 * (v1-v0) + m02 * (v2-v0));
btVector3 dv1 = im1 * (m01 * (v0-v1) + m12 * (v2-v1));
btVector3 dv2 = im2 * (m12 * (v1-v2) + m02 * (v0-v2));
#endif
v0 += dv0;
v1 += dv1;
v2 += dv2;
}
}
/* ================ Face vs. Node =================== */
btDeformableFaceNodeContactConstraint::btDeformableFaceNodeContactConstraint(const btSoftBody::DeformableFaceNodeContact& contact)
btDeformableFaceNodeContactConstraint::btDeformableFaceNodeContactConstraint(const btSoftBody::DeformableFaceNodeContact& contact, const btContactSolverInfo& infoGlobal)
: m_node(contact.m_node)
, m_face(contact.m_face)
, m_contact(&contact)
, btDeformableContactConstraint(contact.m_normal)
, btDeformableContactConstraint(contact.m_normal, infoGlobal)
{
m_total_normal_dv.setZero();
m_total_tangent_dv.setZero();
@ -487,7 +482,7 @@ btVector3 btDeformableFaceNodeContactConstraint::getDv(const btSoftBody::Node* n
return dv * contact->m_weights[2];
}
btScalar btDeformableFaceNodeContactConstraint::solveConstraint()
btScalar btDeformableFaceNodeContactConstraint::solveConstraint(const btContactSolverInfo& infoGlobal)
{
btVector3 va = getVa();
btVector3 vb = getVb();
@ -577,15 +572,4 @@ void btDeformableFaceNodeContactConstraint::applyImpulse(const btVector3& impuls
{
v2 -= dvb * contact->m_weights[2];
}
// todo: Face node constraints needs more work
// btScalar m01 = (btScalar(1)/(im0 + im1));
// btScalar m02 = (btScalar(1)/(im0 + im2));
// btScalar m12 = (btScalar(1)/(im1 + im2));
//
// btVector3 dv0 = im0 * (m01 * (v1-v0) + m02 * (v2-v0));
// btVector3 dv1 = im1 * (m01 * (v0-v1) + m12 * (v2-v1));
// btVector3 dv2 = im2 * (m12 * (v1-v2) + m02 * (v0-v2));
// v0 += dv0;
// v1 += dv1;
// v2 += dv2;
}

132
thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.h vendored
View File

@ -24,34 +24,33 @@ public:
// True if the friction is static
// False if the friction is dynamic
bool m_static;
// normal of the contact
btVector3 m_normal;
btDeformableContactConstraint(const btVector3& normal): m_static(false), m_normal(normal)
{
}
btDeformableContactConstraint(bool isStatic, const btVector3& normal): m_static(isStatic), m_normal(normal)
{
}
btDeformableContactConstraint(const btDeformableContactConstraint& other)
: m_static(other.m_static)
, m_normal(other.m_normal)
{
}
btDeformableContactConstraint(){}
const btContactSolverInfo* m_infoGlobal;
// normal of the contact
btVector3 m_normal;
btDeformableContactConstraint(const btVector3& normal, const btContactSolverInfo& infoGlobal): m_static(false), m_normal(normal), m_infoGlobal(&infoGlobal)
{
}
btDeformableContactConstraint(bool isStatic, const btVector3& normal, const btContactSolverInfo& infoGlobal): m_static(isStatic), m_normal(normal), m_infoGlobal(&infoGlobal)
{
}
btDeformableContactConstraint(){}
btDeformableContactConstraint(const btDeformableContactConstraint& other)
: m_static(other.m_static)
, m_normal(other.m_normal)
, m_infoGlobal(other.m_infoGlobal)
{
}
virtual ~btDeformableContactConstraint(){}
// solve the constraint with inelastic impulse and return the error, which is the square of normal component of velocity diffrerence
// the constraint is solved by calculating the impulse between object A and B in the contact and apply the impulse to both objects involved in the contact
virtual btScalar solveConstraint() = 0;
// solve the position error by applying an inelastic impulse that changes only the position (not velocity)
virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal) = 0;
virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal) = 0;
// get the velocity of the object A in the contact
virtual btVector3 getVa() const = 0;
@ -65,9 +64,6 @@ public:
// apply impulse to the soft body node and/or face involved
virtual void applyImpulse(const btVector3& impulse) = 0;
// apply position based impulse to the soft body node and/or face involved
virtual void applySplitImpulse(const btVector3& impulse) = 0;
// scale the penetration depth by erp
virtual void setPenetrationScale(btScalar scale) = 0;
};
@ -77,29 +73,21 @@ public:
class btDeformableStaticConstraint : public btDeformableContactConstraint
{
public:
const btSoftBody::Node* m_node;
btSoftBody::Node* m_node;
btDeformableStaticConstraint(){}
btDeformableStaticConstraint(const btSoftBody::Node* node): m_node(node), btDeformableContactConstraint(false, btVector3(0,0,0))
btDeformableStaticConstraint(btSoftBody::Node* node, const btContactSolverInfo& infoGlobal): m_node(node), btDeformableContactConstraint(false, btVector3(0,0,0), infoGlobal)
{
}
btDeformableStaticConstraint(){}
btDeformableStaticConstraint(const btDeformableStaticConstraint& other)
: m_node(other.m_node)
, btDeformableContactConstraint(other)
{
}
virtual ~btDeformableStaticConstraint(){}
virtual btScalar solveConstraint()
{
return 0;
}
virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal)
virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal)
{
return 0;
}
@ -120,7 +108,6 @@ public:
}
virtual void applyImpulse(const btVector3& impulse){}
virtual void applySplitImpulse(const btVector3& impulse){}
virtual void setPenetrationScale(btScalar scale){}
};
@ -130,19 +117,15 @@ class btDeformableNodeAnchorConstraint : public btDeformableContactConstraint
{
public:
const btSoftBody::DeformableNodeRigidAnchor* m_anchor;
btDeformableNodeAnchorConstraint(){}
btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& c);
btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& c, const btContactSolverInfo& infoGlobal);
btDeformableNodeAnchorConstraint(const btDeformableNodeAnchorConstraint& other);
btDeformableNodeAnchorConstraint(){}
virtual ~btDeformableNodeAnchorConstraint()
{
}
virtual btScalar solveConstraint();
virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal)
{
// todo xuchenhan@
return 0;
}
virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal);
// object A is the rigid/multi body, and object B is the deformable node/face
virtual btVector3 getVa() const;
// get the velocity of the deformable node in contact
@ -152,10 +135,7 @@ public:
return btVector3(0,0,0);
}
virtual void applyImpulse(const btVector3& impulse);
virtual void applySplitImpulse(const btVector3& impulse)
{
// todo xuchenhan@
};
virtual void setPenetrationScale(btScalar scale){}
};
@ -169,10 +149,10 @@ public:
btVector3 m_total_tangent_dv;
btScalar m_penetration;
const btSoftBody::DeformableRigidContact* m_contact;
btDeformableRigidContactConstraint(){}
btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c);
btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c, const btContactSolverInfo& infoGlobal);
btDeformableRigidContactConstraint(const btDeformableRigidContactConstraint& other);
btDeformableRigidContactConstraint(){}
virtual ~btDeformableRigidContactConstraint()
{
}
@ -180,9 +160,7 @@ public:
// object A is the rigid/multi body, and object B is the deformable node/face
virtual btVector3 getVa() const;
virtual btScalar solveConstraint();
virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal);
virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal);
virtual void setPenetrationScale(btScalar scale)
{
@ -196,12 +174,11 @@ class btDeformableNodeRigidContactConstraint : public btDeformableRigidContactCo
{
public:
// the deformable node in contact
const btSoftBody::Node* m_node;
btDeformableNodeRigidContactConstraint(){}
btDeformableNodeRigidContactConstraint(const btSoftBody::DeformableNodeRigidContact& contact);
btSoftBody::Node* m_node;
btDeformableNodeRigidContactConstraint(const btSoftBody::DeformableNodeRigidContact& contact, const btContactSolverInfo& infoGlobal);
btDeformableNodeRigidContactConstraint(const btDeformableNodeRigidContactConstraint& other);
btDeformableNodeRigidContactConstraint(){}
virtual ~btDeformableNodeRigidContactConstraint()
{
}
@ -219,7 +196,6 @@ public:
}
virtual void applyImpulse(const btVector3& impulse);
virtual void applySplitImpulse(const btVector3& impulse);
};
//
@ -228,10 +204,10 @@ class btDeformableFaceRigidContactConstraint : public btDeformableRigidContactCo
{
public:
const btSoftBody::Face* m_face;
btDeformableFaceRigidContactConstraint(){}
btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact);
bool m_useStrainLimiting;
btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact, const btContactSolverInfo& infoGlobal, bool useStrainLimiting);
btDeformableFaceRigidContactConstraint(const btDeformableFaceRigidContactConstraint& other);
btDeformableFaceRigidContactConstraint(): m_useStrainLimiting(false) {}
virtual ~btDeformableFaceRigidContactConstraint()
{
}
@ -249,7 +225,6 @@ public:
}
virtual void applyImpulse(const btVector3& impulse);
virtual void applySplitImpulse(const btVector3& impulse);
};
//
@ -263,19 +238,11 @@ public:
btVector3 m_total_normal_dv;
btVector3 m_total_tangent_dv;
btDeformableFaceNodeContactConstraint(){}
btDeformableFaceNodeContactConstraint(const btSoftBody::DeformableFaceNodeContact& contact);
btDeformableFaceNodeContactConstraint(const btSoftBody::DeformableFaceNodeContact& contact, const btContactSolverInfo& infoGlobal);
btDeformableFaceNodeContactConstraint(){}
virtual ~btDeformableFaceNodeContactConstraint(){}
virtual btScalar solveConstraint();
virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal)
{
// todo: xuchenhan@
return 0;
}
virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal);
// get the velocity of the object A in the contact
virtual btVector3 getVa() const;
@ -293,10 +260,7 @@ public:
}
virtual void applyImpulse(const btVector3& impulse);
virtual void applySplitImpulse(const btVector3& impulse)
{
// todo xuchenhan@
}
virtual void setPenetrationScale(btScalar scale){}
};
#endif /* BT_DEFORMABLE_CONTACT_CONSTRAINT_H */

641
thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.cpp vendored
View File

@ -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)
btReducedVector rv(dof);
for (int k = 0; k < 3; ++k)
{
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);
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_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)
{
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);
}
}
}
}
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();
}

46
thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.h vendored
View File

@ -21,30 +21,37 @@
#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
#include "btDeformableContactConstraint.h"
#include "LinearMath/btHashMap.h"
#include "LinearMath/btReducedVector.h"
#include "LinearMath/btModifiedGramSchmidt.h"
#include <vector>
struct LagrangeMultiplier
{
int m_num_constraints; // Number of constraints
int m_num_nodes; // Number of nodes in these constraints
btScalar m_weights[3]; // weights of the nodes involved, same size as m_num_nodes
btVector3 m_dirs[3]; // Constraint directions, same size of m_num_constraints;
int m_indices[3]; // indices of the nodes involved, same size as m_num_nodes;
};
class btDeformableContactProjection
{
public:
typedef btAlignedObjectArray<btVector3> TVStack;
btAlignedObjectArray<btSoftBody *>& m_softBodies;
// // map from node index to static constraint
// btHashMap<btHashInt, btDeformableStaticConstraint> m_staticConstraints;
// // map from node index to node rigid constraint
// btHashMap<btHashInt, btAlignedObjectArray<btDeformableNodeRigidContactConstraint> > m_nodeRigidConstraints;
// // map from node index to face rigid constraint
// btHashMap<btHashInt, btAlignedObjectArray<btDeformableFaceRigidContactConstraint*> > m_faceRigidConstraints;
// // map from node index to deformable constraint
// btHashMap<btHashInt, btAlignedObjectArray<btDeformableFaceNodeContactConstraint*> > m_deformableConstraints;
// // map from node index to node anchor constraint
// btHashMap<btHashInt, btDeformableNodeAnchorConstraint> m_nodeAnchorConstraints;
// all constraints involving face
btAlignedObjectArray<btDeformableContactConstraint*> m_allFaceConstraints;
#ifndef USE_MGS
// map from node index to projection directions
btHashMap<btHashInt, btAlignedObjectArray<btVector3> > m_projectionsDict;
#else
btAlignedObjectArray<btReducedVector> m_projections;
#endif
btAlignedObjectArray<LagrangeMultiplier> m_lagrangeMultipliers;
// map from node index to static constraint
btAlignedObjectArray<btAlignedObjectArray<btDeformableStaticConstraint> > m_staticConstraints;
// map from node index to node rigid constraint
@ -56,6 +63,8 @@ public:
// map from node index to node anchor constraint
btAlignedObjectArray<btAlignedObjectArray<btDeformableNodeAnchorConstraint> > m_nodeAnchorConstraints;
bool m_useStrainLimiting;
btDeformableContactProjection(btAlignedObjectArray<btSoftBody *>& softBodies)
: m_softBodies(softBodies)
{
@ -72,13 +81,10 @@ public:
virtual void applyDynamicFriction(TVStack& f);
// update and solve the constraints
virtual btScalar update(btCollisionObject** deformableBodies,int numDeformableBodies);
// solve the position error using split impulse
virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal);
virtual btScalar update(btCollisionObject** deformableBodies,int numDeformableBodies, const btContactSolverInfo& infoGlobal);
// Add constraints to m_constraints. In addition, the constraints that each vertex own are recorded in m_constraintsDict.
virtual void setConstraints();
virtual void setConstraints(const btContactSolverInfo& infoGlobal);
// Set up projections for each vertex by adding the projection direction to
virtual void setProjection();
@ -86,5 +92,9 @@ public:
virtual void reinitialize(bool nodeUpdated);
virtual void splitImpulseSetup(const btContactSolverInfo& infoGlobal);
virtual void setLagrangeMultiplier();
void checkConstraints(const TVStack& x);
};
#endif /* btDeformableContactProjection_h */

2
thirdparty/bullet/BulletSoftBody/btDeformableCorotatedForce.h vendored
View File

@ -114,6 +114,8 @@ public:
{
}
virtual void buildDampingForceDifferentialDiagonal(btScalar scale, TVStack& diagA){}
virtual btDeformableLagrangianForceType getForceType()
{
return BT_COROTATED_FORCE;

2
thirdparty/bullet/BulletSoftBody/btDeformableGravityForce.h vendored
View File

@ -50,6 +50,8 @@ public:
{
}
virtual void buildDampingForceDifferentialDiagonal(btScalar scale, TVStack& diagA){}
virtual void addScaledGravityForce(btScalar scale, TVStack& force)
{
int numNodes = getNumNodes();

11
thirdparty/bullet/BulletSoftBody/btDeformableLagrangianForce.h vendored
View File

@ -26,7 +26,8 @@ enum btDeformableLagrangianForceType
BT_MASSSPRING_FORCE = 2,
BT_COROTATED_FORCE = 3,
BT_NEOHOOKEAN_FORCE = 4,
BT_LINEAR_ELASTICITY_FORCE = 5
BT_LINEAR_ELASTICITY_FORCE = 5,
BT_MOUSE_PICKING_FORCE = 6
};
static inline double randomDouble(double low, double high)
@ -53,6 +54,9 @@ public:
// add damping df
virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) = 0;
// build diagonal of A matrix
virtual void buildDampingForceDifferentialDiagonal(btScalar scale, TVStack& diagA) = 0;
// add elastic df
virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) = 0;
@ -85,6 +89,11 @@ public:
m_softBodies.push_back(psb);
}
virtual void removeSoftBody(btSoftBody* psb)
{
m_softBodies.remove(psb);
}
virtual void setIndices(const btAlignedObjectArray<btSoftBody::Node*>* nodes)
{
m_nodes = nodes;

46
thirdparty/bullet/BulletSoftBody/btDeformableMassSpringForce.h vendored
View File

@ -149,6 +149,52 @@ public:
}
}
virtual void buildDampingForceDifferentialDiagonal(btScalar scale, TVStack& diagA)
{
// implicit damping force differential
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
if (!psb->isActive())
{
continue;
}
btScalar scaled_k_damp = m_dampingStiffness * scale;
for (int j = 0; j < psb->m_links.size(); ++j)
{
const btSoftBody::Link& link = psb->m_links[j];
btSoftBody::Node* node1 = link.m_n[0];
btSoftBody::Node* node2 = link.m_n[1];
size_t id1 = node1->index;
size_t id2 = node2->index;
if (m_momentum_conserving)
{
if ((node2->m_x - node1->m_x).norm() > SIMD_EPSILON)
{
btVector3 dir = (node2->m_x - node1->m_x).normalized();
for (int d = 0; d < 3; ++d)
{
if (node1->m_im > 0)
diagA[id1][d] -= scaled_k_damp * dir[d] * dir[d];
if (node2->m_im > 0)
diagA[id2][d] -= scaled_k_damp * dir[d] * dir[d];
}
}
}
else
{
for (int d = 0; d < 3; ++d)
{
if (node1->m_im > 0)
diagA[id1][d] -= scaled_k_damp;
if (node2->m_im > 0)
diagA[id2][d] -= scaled_k_damp;
}
}
}
}
}
virtual double totalElasticEnergy(btScalar dt)
{
double energy = 0;

145
thirdparty/bullet/BulletSoftBody/btDeformableMousePickingForce.h vendored Normal file
View File

@ -0,0 +1,145 @@
/*
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_MOUSE_PICKING_FORCE_H
#define BT_MOUSE_PICKING_FORCE_H
#include "btDeformableLagrangianForce.h"
class btDeformableMousePickingForce : public btDeformableLagrangianForce
{
// If true, the damping force will be in the direction of the spring
// If false, the damping force will be in the direction of the velocity
btScalar m_elasticStiffness, m_dampingStiffness;
const btSoftBody::Face& m_face;
btVector3 m_mouse_pos;
btScalar m_maxForce;
public:
typedef btAlignedObjectArray<btVector3> TVStack;
btDeformableMousePickingForce(btScalar k, btScalar d, const btSoftBody::Face& face, btVector3 mouse_pos, btScalar maxForce = 0.3) : m_elasticStiffness(k), m_dampingStiffness(d), m_face(face), m_mouse_pos(mouse_pos), m_maxForce(maxForce)
{
}
virtual void addScaledForces(btScalar scale, TVStack& force)
{
addScaledDampingForce(scale, force);
addScaledElasticForce(scale, force);
}
virtual void addScaledExplicitForce(btScalar scale, TVStack& force)
{
addScaledElasticForce(scale, force);
}
virtual void addScaledDampingForce(btScalar scale, TVStack& force)
{
for (int i = 0; i < 3; ++i)
{
btVector3 v_diff = m_face.m_n[i]->m_v;
btVector3 scaled_force = scale * m_dampingStiffness * v_diff;
if ((m_face.m_n[i]->m_x - m_mouse_pos).norm() > SIMD_EPSILON)
{
btVector3 dir = (m_face.m_n[i]->m_x - m_mouse_pos).normalized();
scaled_force = scale * m_dampingStiffness * v_diff.dot(dir) * dir;
}
force[m_face.m_n[i]->index] -= scaled_force;
}
}
virtual void addScaledElasticForce(btScalar scale, TVStack& force)
{
btScalar scaled_stiffness = scale * m_elasticStiffness;
for (int i = 0; i < 3; ++i)
{
btVector3 dir = (m_face.m_n[i]->m_q - m_mouse_pos);
btVector3 scaled_force = scaled_stiffness * dir;
if (scaled_force.safeNorm() > m_maxForce)
{
scaled_force.safeNormalize();
scaled_force *= m_maxForce;
}
force[m_face.m_n[i]->index] -= scaled_force;
}
}
virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df)
{
btScalar scaled_k_damp = m_dampingStiffness * scale;
for (int i = 0; i < 3; ++i)
{
btVector3 local_scaled_df = scaled_k_damp * dv[m_face.m_n[i]->index];
if ((m_face.m_n[i]->m_x - m_mouse_pos).norm() > SIMD_EPSILON)
{
btVector3 dir = (m_face.m_n[i]->m_x - m_mouse_pos).normalized();
local_scaled_df= scaled_k_damp * dv[m_face.m_n[i]->index].dot(dir) * dir;
}
df[m_face.m_n[i]->index] -= local_scaled_df;
}
}
virtual void buildDampingForceDifferentialDiagonal(btScalar scale, TVStack& diagA){}
virtual double totalElasticEnergy(btScalar dt)
{
double energy = 0;
for (int i = 0; i < 3; ++i)
{
btVector3 dir = (m_face.m_n[i]->m_q - m_mouse_pos);
btVector3 scaled_force = m_elasticStiffness * dir;
if (scaled_force.safeNorm() > m_maxForce)
{
scaled_force.safeNormalize();
scaled_force *= m_maxForce;
}
energy += 0.5 * scaled_force.dot(dir);
}
return energy;
}
virtual double totalDampingEnergy(btScalar dt)
{
double energy = 0;
for (int i = 0; i < 3; ++i)
{
btVector3 v_diff = m_face.m_n[i]->m_v;
btVector3 scaled_force = m_dampingStiffness * v_diff;
if ((m_face.m_n[i]->m_x - m_mouse_pos).norm() > SIMD_EPSILON)
{
btVector3 dir = (m_face.m_n[i]->m_x - m_mouse_pos).normalized();
scaled_force = m_dampingStiffness * v_diff.dot(dir) * dir;
}
energy -= scaled_force.dot(m_face.m_n[i]->m_v) / dt;
}
return energy;
}
virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df)
{
//TODO
}
void setMousePos(const btVector3& p)
{
m_mouse_pos = p;
}
virtual btDeformableLagrangianForceType getForceType()
{
return BT_MOUSE_PICKING_FORCE;
}
};
#endif /* btMassSpring_h */

8
thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp vendored
View File

@ -32,7 +32,7 @@ btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations(b
m_leastSquaresResidual = solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
// solver body velocity -> rigid body velocity
solverBodyWriteBack(infoGlobal);
btScalar deformableResidual = m_deformableSolver->solveContactConstraints(deformableBodies,numDeformableBodies);
btScalar deformableResidual = m_deformableSolver->solveContactConstraints(deformableBodies,numDeformableBodies, infoGlobal);
// update rigid body velocity in rigid/deformable contact
m_leastSquaresResidual = btMax(m_leastSquaresResidual, deformableResidual);
// solver body velocity <- rigid body velocity
@ -112,7 +112,7 @@ void btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlySplitImpulseI
if (infoGlobal.m_splitImpulse)
{
{
m_deformableSolver->splitImpulseSetup(infoGlobal);
// m_deformableSolver->splitImpulseSetup(infoGlobal);
for (iteration = 0; iteration < infoGlobal.m_numIterations; iteration++)
{
btScalar leastSquaresResidual = 0.f;
@ -127,8 +127,8 @@ void btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlySplitImpulseI
leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
}
// solve the position correction between deformable and rigid/multibody
btScalar residual = m_deformableSolver->solveSplitImpulse(infoGlobal);
leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
// btScalar residual = m_deformableSolver->solveSplitImpulse(infoGlobal);
// leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
}
if (leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration >= (infoGlobal.m_numIterations - 1))
{

187
thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp vendored
View File

@ -22,7 +22,6 @@ Call internalStepSimulation multiple times, to achieve 240Hz (4 steps of 60Hz).
2. Detect discrete collisions between rigid and deformable bodies at position x_{n+1}^* = x_n + dt * v_{n+1}^*.
3a. Solve all constraints, including LCP. Contact, position correction due to numerical drift, friction, and anchors for deformable.
TODO: add option for positional drift correction (using vel_target += erp * pos_error/dt
3b. 5 Newton steps (multiple step). Conjugent Gradient solves linear system. Deformable Damping: Then velocities of deformable bodies v_{n+1} are solved in
M(v_{n+1} - v_{n+1}^*) = damping_force * dt / mass,
@ -58,14 +57,20 @@ m_deformableBodySolver(deformableBodySolver), m_solverCallback(0)
m_sbi.water_density = 0;
m_sbi.water_offset = 0;
m_sbi.water_normal = btVector3(0, 0, 0);
m_sbi.m_gravity.setValue(0, -10, 0);
m_sbi.m_gravity.setValue(0, -9.8, 0);
m_internalTime = 0.0;
m_implicit = false;
m_lineSearch = false;
m_selfCollision = true;
m_useProjection = true;
m_ccdIterations = 5;
m_solverDeformableBodyIslandCallback = new DeformableBodyInplaceSolverIslandCallback(constraintSolver, dispatcher);
}
btDeformableMultiBodyDynamicsWorld::~btDeformableMultiBodyDynamicsWorld()
{
delete m_solverDeformableBodyIslandCallback;
}
void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
{
BT_PROFILE("internalSingleStepSimulation");
@ -74,20 +79,16 @@ void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar t
(*m_internalPreTickCallback)(this, timeStep);
}
reinitialize(timeStep);
// add gravity to velocity of rigid and multi bodys
applyRigidBodyGravity(timeStep);
///apply gravity and explicit force to velocity, predict motion
predictUnconstraintMotion(timeStep);
///perform collision detection
///perform collision detection that involves rigid/multi bodies
btMultiBodyDynamicsWorld::performDiscreteCollisionDetection();
if (m_selfCollision)
{
softBodySelfCollision();
}
btMultiBodyDynamicsWorld::calculateSimulationIslands();
beforeSolverCallbacks(timeStep);
@ -96,7 +97,13 @@ void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar t
solveConstraints(timeStep);
afterSolverCallbacks(timeStep);
performDeformableCollisionDetection();
applyRepulsionForce(timeStep);
performGeometricCollisions(timeStep);
integrateTransforms(timeStep);
///update vehicle simulation
@ -107,6 +114,27 @@ void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar t
// ///////////////////////////////
}
void btDeformableMultiBodyDynamicsWorld::performDeformableCollisionDetection()
{
for (int i = 0; i < m_softBodies.size(); ++i)
{
m_softBodies[i]->m_softSoftCollision = true;
}
for (int i = 0; i < m_softBodies.size(); ++i)
{
for (int j = i; j < m_softBodies.size(); ++j)
{
m_softBodies[i]->defaultCollisionHandler(m_softBodies[j]);
}
}
for (int i = 0; i < m_softBodies.size(); ++i)
{
m_softBodies[i]->m_softSoftCollision = false;
}
}
void btDeformableMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep)
{
for (int i = 0; i < m_softBodies.size(); i++)
@ -131,10 +159,106 @@ void btDeformableMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep
btMultiBodyDynamicsWorld::updateActivationState(timeStep);
}
void btDeformableMultiBodyDynamicsWorld::applyRepulsionForce(btScalar timeStep)
{
BT_PROFILE("btDeformableMultiBodyDynamicsWorld::applyRepulsionForce");
for (int i = 0; i < m_softBodies.size(); i++)
{
btSoftBody* psb = m_softBodies[i];
if (psb->isActive())
{
psb->applyRepulsionForce(timeStep, true);
}
}
}
void btDeformableMultiBodyDynamicsWorld::performGeometricCollisions(btScalar timeStep)
{
BT_PROFILE("btDeformableMultiBodyDynamicsWorld::performGeometricCollisions");
// refit the BVH tree for CCD
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
if (psb->isActive())
{
m_softBodies[i]->updateFaceTree(true, false);
m_softBodies[i]->updateNodeTree(true, false);
for (int j = 0; j < m_softBodies[i]->m_faces.size(); ++j)
{
btSoftBody::Face& f = m_softBodies[i]->m_faces[j];
f.m_n0 = (f.m_n[1]->m_x - f.m_n[0]->m_x).cross(f.m_n[2]->m_x - f.m_n[0]->m_x);
}
}
}
// clear contact points & update DBVT
for (int r = 0; r < m_ccdIterations; ++r)
{
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
if (psb->isActive())
{
// clear contact points in the previous iteration
psb->m_faceNodeContacts.clear();
// update m_q and normals for CCD calculation
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
psb->m_nodes[j].m_q = psb->m_nodes[j].m_x + timeStep * psb->m_nodes[j].m_v;
}
for (int j = 0; j < psb->m_faces.size(); ++j)
{
btSoftBody::Face& f = psb->m_faces[j];
f.m_n1 = (f.m_n[1]->m_q - f.m_n[0]->m_q).cross(f.m_n[2]->m_q - f.m_n[0]->m_q);
f.m_vn = (f.m_n[1]->m_v - f.m_n[0]->m_v).cross(f.m_n[2]->m_v - f.m_n[0]->m_v) * timeStep * timeStep;
}
}
}
// apply CCD to register new contact points
for (int i = 0; i < m_softBodies.size(); ++i)
{
for (int j = i; j < m_softBodies.size(); ++j)
{
btSoftBody* psb1 = m_softBodies[i];
btSoftBody* psb2 = m_softBodies[j];
if (psb1->isActive() && psb2->isActive())
{
m_softBodies[i]->geometricCollisionHandler(m_softBodies[j]);
}
}
}
int penetration_count = 0;
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
if (psb->isActive())
{
penetration_count += psb->m_faceNodeContacts.size();
}
}
if (penetration_count == 0)
{
break;
}
// apply inelastic impulse
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
if (psb->isActive())
{
psb->applyRepulsionForce(timeStep, false);
}
}
}
}
void btDeformableMultiBodyDynamicsWorld::softBodySelfCollision()
{
m_deformableBodySolver->updateSoftBodies();
BT_PROFILE("btDeformableMultiBodyDynamicsWorld::softBodySelfCollision");
for (int i = 0; i < m_softBodies.size(); i++)
{
btSoftBody* psb = m_softBodies[i];
@ -192,8 +316,6 @@ void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
}
}
node.m_x = node.m_x + timeStep * node.m_v;
node.m_v -= node.m_vsplit;
node.m_vsplit.setZero();
node.m_q = node.m_x;
node.m_vn = node.m_v;
}
@ -255,6 +377,7 @@ void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep)
{
BT_PROFILE("btDeformableMultiBodyDynamicsWorld::solveConstraints");
// save v_{n+1}^* velocity after explicit forces
m_deformableBodySolver->backupVelocity();
@ -265,8 +388,11 @@ void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep)
solveContactConstraints();
// set up the directions in which the velocity does not change in the momentum solve
m_deformableBodySolver->m_objective->m_projection.setProjection();
if (m_useProjection)
m_deformableBodySolver->m_objective->m_projection.setProjection();
else
m_deformableBodySolver->m_objective->m_projection.setLagrangeMultiplier();
// for explicit scheme, m_backupVelocity = v_{n+1}^*
// for implicit scheme, m_backupVelocity = v_n
// Here, set dv = v_{n+1} - v_n for nodes in contact
@ -280,7 +406,7 @@ void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep)
void btDeformableMultiBodyDynamicsWorld::setupConstraints()
{
// set up constraints between multibody and deformable bodies
m_deformableBodySolver->setConstraints();
m_deformableBodySolver->setConstraints(m_solverInfo);
// set up constraints among multibodies
{
@ -403,6 +529,17 @@ void btDeformableMultiBodyDynamicsWorld::reinitialize(btScalar timeStep)
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_debugDraw = btMultiBodyDynamicsWorld::getDebugDrawer();
btMultiBodyDynamicsWorld::getSolverInfo().m_timeStep = timeStep;
if (m_useProjection)
{
m_deformableBodySolver->m_useProjection = true;
// m_deformableBodySolver->m_objective->m_projection.m_useStrainLimiting = true;
m_deformableBodySolver->m_objective->m_preconditioner = m_deformableBodySolver->m_objective->m_massPreconditioner;
}
else
{
m_deformableBodySolver->m_objective->m_preconditioner = m_deformableBodySolver->m_objective->m_KKTPreconditioner;
}
}
@ -566,6 +703,24 @@ void btDeformableMultiBodyDynamicsWorld::addForce(btSoftBody* psb, btDeformableL
}
}
void btDeformableMultiBodyDynamicsWorld::removeForce(btSoftBody* psb, btDeformableLagrangianForce* force)
{
btAlignedObjectArray<btDeformableLagrangianForce*>& forces = m_deformableBodySolver->m_objective->m_lf;
int removed_index = -1;
for (int i = 0; i < forces.size(); ++i)
{
if (forces[i]->getForceType() == force->getForceType())
{
forces[i]->removeSoftBody(psb);
if (forces[i]->m_softBodies.size() == 0)
removed_index = i;
break;
}
}
if (removed_index >= 0)
forces.removeAtIndex(removed_index);
}
void btDeformableMultiBodyDynamicsWorld::removeSoftBody(btSoftBody* body)
{
m_softBodies.remove(body);

156
thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h vendored
View File

@ -46,10 +46,10 @@ class btDeformableMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld
bool m_drawClusterTree;
btSoftBodyWorldInfo m_sbi;
btScalar m_internalTime;
int m_contact_iterations;
int m_ccdIterations;
bool m_implicit;
bool m_lineSearch;
bool m_selfCollision;
bool m_useProjection;
DeformableBodyInplaceSolverIslandCallback* m_solverDeformableBodyIslandCallback;
typedef void (*btSolverCallback)(btScalar time, btDeformableMultiBodyDynamicsWorld* world);
@ -80,9 +80,7 @@ public:
m_solverCallback = cb;
}
virtual ~btDeformableMultiBodyDynamicsWorld()
{
}
virtual ~btDeformableMultiBodyDynamicsWorld();
virtual btMultiBodyDynamicsWorld* getMultiBodyDynamicsWorld()
{
@ -133,6 +131,8 @@ public:
void addForce(btSoftBody* psb, btDeformableLagrangianForce* force);
void removeForce(btSoftBody* psb, btDeformableLagrangianForce* force);
void removeSoftBody(btSoftBody* body);
void removeCollisionObject(btCollisionObject* collisionObject);
@ -142,6 +142,8 @@ public:
void setupConstraints();
void performDeformableCollisionDetection();
void solveMultiBodyConstraints();
void solveContactConstraints();
@ -159,7 +161,151 @@ public:
{
m_lineSearch = lineSearch;
}
void applyRepulsionForce(btScalar timeStep);
void performGeometricCollisions(btScalar timeStep);
struct btDeformableSingleRayCallback : public btBroadphaseRayCallback
{
btVector3 m_rayFromWorld;
btVector3 m_rayToWorld;
btTransform m_rayFromTrans;
btTransform m_rayToTrans;
btVector3 m_hitNormal;
const btDeformableMultiBodyDynamicsWorld* m_world;
btCollisionWorld::RayResultCallback& m_resultCallback;
btDeformableSingleRayCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld, const btDeformableMultiBodyDynamicsWorld* world, btCollisionWorld::RayResultCallback& resultCallback)
: m_rayFromWorld(rayFromWorld),
m_rayToWorld(rayToWorld),
m_world(world),
m_resultCallback(resultCallback)
{
m_rayFromTrans.setIdentity();
m_rayFromTrans.setOrigin(m_rayFromWorld);
m_rayToTrans.setIdentity();
m_rayToTrans.setOrigin(m_rayToWorld);
btVector3 rayDir = (rayToWorld - rayFromWorld);
rayDir.normalize();
///what about division by zero? --> just set rayDirection[i] to INF/1e30
m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
m_signs[0] = m_rayDirectionInverse[0] < 0.0;
m_signs[1] = m_rayDirectionInverse[1] < 0.0;
m_signs[2] = m_rayDirectionInverse[2] < 0.0;
m_lambda_max = rayDir.dot(m_rayToWorld - m_rayFromWorld);
}
virtual bool process(const btBroadphaseProxy* proxy)
{
///terminate further ray tests, once the closestHitFraction reached zero
if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
return false;
btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
//only perform raycast if filterMask matches
if (m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
{
//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
//btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
#if 0
#ifdef RECALCULATE_AABB
btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
#else
//getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax);
const btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin;
const btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax;
#endif
#endif
//btScalar hitLambda = m_resultCallback.m_closestHitFraction;
//culling already done by broadphase
//if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal))
{
m_world->rayTestSingle(m_rayFromTrans, m_rayToTrans,
collisionObject,
collisionObject->getCollisionShape(),
collisionObject->getWorldTransform(),
m_resultCallback);
}
}
return true;
}
};
void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
{
BT_PROFILE("rayTest");
/// use the broadphase to accelerate the search for objects, based on their aabb
/// and for each object with ray-aabb overlap, perform an exact ray test
btDeformableSingleRayCallback rayCB(rayFromWorld, rayToWorld, this, resultCallback);
#ifndef USE_BRUTEFORCE_RAYBROADPHASE
m_broadphasePairCache->rayTest(rayFromWorld, rayToWorld, rayCB);
#else
for (int i = 0; i < this->getNumCollisionObjects(); i++)
{
rayCB.process(m_collisionObjects[i]->getBroadphaseHandle());
}
#endif //USE_BRUTEFORCE_RAYBROADPHASE
}
void rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback) const
{
if (collisionShape->isSoftBody())
{
btSoftBody* softBody = btSoftBody::upcast(collisionObject);
if (softBody)
{
btSoftBody::sRayCast softResult;
if (softBody->rayFaceTest(rayFromTrans.getOrigin(), rayToTrans.getOrigin(), softResult))
{
if (softResult.fraction <= resultCallback.m_closestHitFraction)
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = 0;
shapeInfo.m_triangleIndex = softResult.index;
// get the normal
btVector3 rayDir = rayToTrans.getOrigin() - rayFromTrans.getOrigin();
btVector3 normal = -rayDir;
normal.normalize();
{
normal = softBody->m_faces[softResult.index].m_normal;
if (normal.dot(rayDir) > 0)
{
// normal always point toward origin of the ray
normal = -normal;
}
}
btCollisionWorld::LocalRayResult rayResult(collisionObject,
&shapeInfo,
normal,
softResult.fraction);
bool normalInWorldSpace = true;
resultCallback.addSingleResult(rayResult, normalInWorldSpace);
}
}
}
}
else
{
btCollisionWorld::rayTestSingle(rayFromTrans, rayToTrans, collisionObject, collisionShape, colObjWorldTransform, resultCallback);
}
}
};
#endif //BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H

50
thirdparty/bullet/BulletSoftBody/btDeformableNeoHookeanForce.h vendored
View File

@ -24,21 +24,65 @@ class btDeformableNeoHookeanForce : public btDeformableLagrangianForce
{
public:
typedef btAlignedObjectArray<btVector3> TVStack;
btScalar m_mu, m_lambda;
btScalar m_mu, m_lambda; // Lame Parameters
btScalar m_E, m_nu; // Young's modulus and Poisson ratio
btScalar m_mu_damp, m_lambda_damp;
btDeformableNeoHookeanForce(): m_mu(1), m_lambda(1)
{
btScalar damping = 0.05;
m_mu_damp = damping * m_mu;
m_lambda_damp = damping * m_lambda;
updateYoungsModulusAndPoissonRatio();
}
btDeformableNeoHookeanForce(btScalar mu, btScalar lambda, btScalar damping = 0.05): m_mu(mu), m_lambda(lambda)
{
m_mu_damp = damping * m_mu;
m_lambda_damp = damping * m_lambda;
updateYoungsModulusAndPoissonRatio();
}
void updateYoungsModulusAndPoissonRatio()
{
// conversion from Lame Parameters to Young's modulus and Poisson ratio
// https://en.wikipedia.org/wiki/Lam%C3%A9_parameters
m_E = m_mu * (3*m_lambda + 2*m_mu)/(m_lambda + m_mu);
m_nu = m_lambda * 0.5 / (m_mu + m_lambda);
}
void updateLameParameters()
{
// conversion from Young's modulus and Poisson ratio to Lame Parameters
// https://en.wikipedia.org/wiki/Lam%C3%A9_parameters
m_mu = m_E * 0.5 / (1 + m_nu);
m_lambda = m_E * m_nu / ((1 + m_nu) * (1- 2*m_nu));
}
void setYoungsModulus(btScalar E)
{
m_E = E;
updateLameParameters();
}
void setPoissonRatio(btScalar nu)
{
m_nu = nu;
updateLameParameters();
}
void setDamping(btScalar damping)
{
m_mu_damp = damping * m_mu;
m_lambda_damp = damping * m_lambda;
}
void setLameParameters(btScalar mu, btScalar lambda)
{
m_mu = mu;
m_lambda = lambda;
updateYoungsModulusAndPoissonRatio();
}
virtual void addScaledForces(btScalar scale, TVStack& force)
{
addScaledDampingForce(scale, force);
@ -269,6 +313,8 @@ public:
}
}
virtual void buildDampingForceDifferentialDiagonal(btScalar scale, TVStack& diagA){}
virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df)
{
int numNodes = getNumNodes();

213
thirdparty/bullet/BulletSoftBody/btPreconditioner.h vendored
View File

@ -68,12 +68,221 @@ public:
virtual void operator()(const TVStack& x, TVStack& b)
{
btAssert(b.size() == x.size());
btAssert(m_inv_mass.size() == x.size());
for (int i = 0; i < b.size(); ++i)
btAssert(m_inv_mass.size() <= x.size());
for (int i = 0; i < m_inv_mass.size(); ++i)
{
b[i] = x[i] * m_inv_mass[i];
}
for (int i = m_inv_mass.size(); i < b.size(); ++i)
{
b[i] = x[i];
}
}
};
class KKTPreconditioner : public Preconditioner
{
const btAlignedObjectArray<btSoftBody *>& m_softBodies;
const btDeformableContactProjection& m_projections;
const btAlignedObjectArray<btDeformableLagrangianForce*>& m_lf;
TVStack m_inv_A, m_inv_S;
const btScalar& m_dt;
const bool& m_implicit;
public:
KKTPreconditioner(const btAlignedObjectArray<btSoftBody *>& softBodies, const btDeformableContactProjection& projections, const btAlignedObjectArray<btDeformableLagrangianForce*>& lf, const btScalar& dt, const bool& implicit)
: m_softBodies(softBodies)
, m_projections(projections)
, m_lf(lf)
, m_dt(dt)
, m_implicit(implicit)
{
}
virtual void reinitialize(bool nodeUpdated)
{
if (nodeUpdated)
{
int num_nodes = 0;
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
num_nodes += psb->m_nodes.size();
}
m_inv_A.resize(num_nodes);
}
buildDiagonalA(m_inv_A);
for (int i = 0; i < m_inv_A.size(); ++i)
{
// printf("A[%d] = %f, %f, %f \n", i, m_inv_A[i][0], m_inv_A[i][1], m_inv_A[i][2]);
for (int d = 0; d < 3; ++d)
{
m_inv_A[i][d] = (m_inv_A[i][d] == 0) ? 0.0 : 1.0/ m_inv_A[i][d];
}
}
m_inv_S.resize(m_projections.m_lagrangeMultipliers.size());
// printf("S.size() = %d \n", m_inv_S.size());
buildDiagonalS(m_inv_A, m_inv_S);
for (int i = 0; i < m_inv_S.size(); ++i)
{
// printf("S[%d] = %f, %f, %f \n", i, m_inv_S[i][0], m_inv_S[i][1], m_inv_S[i][2]);
for (int d = 0; d < 3; ++d)
{
m_inv_S[i][d] = (m_inv_S[i][d] == 0) ? 0.0 : 1.0/ m_inv_S[i][d];
}
}
}
void buildDiagonalA(TVStack& diagA) const
{
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];
diagA[counter] = (node.m_im == 0) ? btVector3(0,0,0) : btVector3(1.0/node.m_im, 1.0 / node.m_im, 1.0 / node.m_im);
++counter;
}
}
if (m_implicit)
{
printf("implicit not implemented\n");
btAssert(false);
}
for (int i = 0; i < m_lf.size(); ++i)
{
// add damping matrix
m_lf[i]->buildDampingForceDifferentialDiagonal(-m_dt, diagA);
}
}
void buildDiagonalS(const TVStack& inv_A, TVStack& diagS)
{
for (int c = 0; c < m_projections.m_lagrangeMultipliers.size(); ++c)
{
// S[k,k] = e_k^T * C A_d^-1 C^T * e_k
const LagrangeMultiplier& lm = m_projections.m_lagrangeMultipliers[c];
btVector3& t = diagS[c];
t.setZero();
for (int j = 0; j < lm.m_num_constraints; ++j)
{
for (int i = 0; i < lm.m_num_nodes; ++i)
{
for (int d = 0; d < 3; ++d)
{
t[j] += inv_A[lm.m_indices[i]][d] * lm.m_dirs[j][d] * lm.m_dirs[j][d] * lm.m_weights[i] * lm.m_weights[i];
}
}
}
}
}
#define USE_FULL_PRECONDITIONER
#ifndef USE_FULL_PRECONDITIONER
virtual void operator()(const TVStack& x, TVStack& b)
{
btAssert(b.size() == x.size());
for (int i = 0; i < m_inv_A.size(); ++i)
{
b[i] = x[i] * m_inv_A[i];
}
int offset = m_inv_A.size();
for (int i = 0; i < m_inv_S.size(); ++i)
{
b[i+offset] = x[i+offset] * m_inv_S[i];
}
}
#else
virtual void operator()(const TVStack& x, TVStack& b)
{
btAssert(b.size() == x.size());
int offset = m_inv_A.size();
for (int i = 0; i < m_inv_A.size(); ++i)
{
b[i] = x[i] * m_inv_A[i];
}
for (int i = 0; i < m_inv_S.size(); ++i)
{
b[i+offset].setZero();
}
for (int c = 0; c < m_projections.m_lagrangeMultipliers.size(); ++c)
{
const LagrangeMultiplier& lm = m_projections.m_lagrangeMultipliers[c];
// 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] * b[lm.m_indices[i]].dot(lm.m_dirs[d]);
}
}
}
for (int i = 0; i < m_inv_S.size(); ++i)
{
b[i+offset] = b[i+offset] * m_inv_S[i];
}
for (int i = 0; i < m_inv_A.size(); ++i)
{
b[i].setZero();
}
for (int c = 0; c < m_projections.m_lagrangeMultipliers.size(); ++c)
{
// C^T * lambda
const LagrangeMultiplier& lm = m_projections.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]] += b[offset+c][j] * lm.m_weights[i] * lm.m_dirs[j];
}
}
}
for (int i = 0; i < m_inv_A.size(); ++i)
{
b[i] = (x[i] - b[i]) * m_inv_A[i];
}
TVStack t;
t.resize(b.size());
for (int i = 0; i < m_inv_S.size(); ++i)
{
t[i+offset] = x[i+offset] * m_inv_S[i];
}
for (int i = 0; i < m_inv_A.size(); ++i)
{
t[i].setZero();
}
for (int c = 0; c < m_projections.m_lagrangeMultipliers.size(); ++c)
{
// C^T * lambda
const LagrangeMultiplier& lm = m_projections.m_lagrangeMultipliers[c];
for (int i = 0; i < lm.m_num_nodes; ++i)
{
for (int j = 0; j < lm.m_num_constraints; ++j)
{
t[lm.m_indices[i]] += t[offset+c][j] * lm.m_weights[i] * lm.m_dirs[j];
}
}
}
for (int i = 0; i < m_inv_A.size(); ++i)
{
b[i] += t[i] * m_inv_A[i];
}
for (int i = 0; i < m_inv_S.size(); ++i)
{
b[i+offset] -= x[i+offset] * m_inv_S[i];
}
}
#endif
};
#endif /* BT_PRECONDITIONER_H */

636
thirdparty/bullet/BulletSoftBody/btSoftBody.cpp vendored
View File

@ -18,12 +18,114 @@ subject to the following restrictions:
#include "BulletSoftBody/btSoftBodySolvers.h"
#include "btSoftBodyData.h"
#include "LinearMath/btSerializer.h"
#include "LinearMath/btImplicitQRSVD.h"
#include "LinearMath/btAlignedAllocator.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
#include <iostream>
//
static inline btDbvtNode* buildTreeBottomUp(btAlignedObjectArray<btDbvtNode*>& leafNodes, btAlignedObjectArray<btAlignedObjectArray<int> >& adj)
{
int N = leafNodes.size();
if (N == 0)
{
return NULL;
}
while (N > 1)
{
btAlignedObjectArray<bool> marked;
btAlignedObjectArray<btDbvtNode*> newLeafNodes;
btAlignedObjectArray<std::pair<int,int> > childIds;
btAlignedObjectArray<btAlignedObjectArray<int> > newAdj;
marked.resize(N);
for (int i = 0; i < N; ++i)
marked[i] = false;
// pair adjacent nodes into new(parent) node
for (int i = 0; i < N; ++i)
{
if (marked[i])
continue;
bool merged = false;
for (int j = 0; j < adj[i].size(); ++j)
{
int n = adj[i][j];
if (!marked[adj[i][j]])
{
btDbvtNode* node = new (btAlignedAlloc(sizeof(btDbvtNode), 16)) btDbvtNode();
node->parent = NULL;
node->childs[0] = leafNodes[i];
node->childs[1] = leafNodes[n];
leafNodes[i]->parent = node;
leafNodes[n]->parent = node;
newLeafNodes.push_back(node);
childIds.push_back(std::make_pair(i,n));
merged = true;
marked[n] = true;
break;
}
}
if (!merged)
{
newLeafNodes.push_back(leafNodes[i]);
childIds.push_back(std::make_pair(i,-1));
}
marked[i] = true;
}
// update adjacency matrix
newAdj.resize(newLeafNodes.size());
for (int i = 0; i < newLeafNodes.size(); ++i)
{
for (int j = i+1; j < newLeafNodes.size(); ++j)
{
bool neighbor = false;
const btAlignedObjectArray<int>& leftChildNeighbors = adj[childIds[i].first];
for (int k = 0; k < leftChildNeighbors.size(); ++k)
{
if (leftChildNeighbors[k] == childIds[j].first || leftChildNeighbors[k] == childIds[j].second)
{
neighbor = true;
break;
}
}
if (!neighbor && childIds[i].second != -1)
{
const btAlignedObjectArray<int>& rightChildNeighbors = adj[childIds[i].second];
for (int k = 0; k < rightChildNeighbors.size(); ++k)
{
if (rightChildNeighbors[k] == childIds[j].first || rightChildNeighbors[k] == childIds[j].second)
{
neighbor = true;
break;
}
}
}
if (neighbor)
{
newAdj[i].push_back(j);
newAdj[j].push_back(i);
}
}
}
leafNodes = newLeafNodes;
//this assignment leaks memory, the assignment doesn't do a deep copy, for now a manual copy
//adj = newAdj;
adj.clear();
adj.resize(newAdj.size());
for (int i = 0; i < newAdj.size(); i++)
{
for (int j = 0; j < newAdj[i].size(); j++)
{
adj[i].push_back(newAdj[i][j]);
}
}
N = leafNodes.size();
}
return leafNodes[0];
}
//
btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo, int node_count, const btVector3* x, const btScalar* m)
: m_softBodySolver(0), m_worldInfo(worldInfo)
@ -41,6 +143,7 @@ btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo, int node_count, const btV
/* Nodes */
const btScalar margin = getCollisionShape()->getMargin();
m_nodes.resize(node_count);
m_X.resize(node_count);
for (int i = 0, ni = node_count; i < ni; ++i)
{
Node& n = m_nodes[i];
@ -51,8 +154,11 @@ btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo, int node_count, const btV
n.m_im = n.m_im > 0 ? 1 / n.m_im : 0;
n.m_leaf = m_ndbvt.insert(btDbvtVolume::FromCR(n.m_x, margin), &n);
n.m_material = pm;
m_X[i] = n.m_x;
}
updateBounds();
setCollisionQuadrature(3);
m_fdbvnt = 0;
}
btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo)
@ -111,15 +217,18 @@ void btSoftBody::initDefaults()
m_collisionShape = new btSoftBodyCollisionShape(this);
m_collisionShape->setMargin(0.25f);
m_initialWorldTransform.setIdentity();
m_worldTransform.setIdentity();
m_windVelocity = btVector3(0, 0, 0);
m_restLengthScale = btScalar(1.0);
m_dampingCoefficient = 1;
m_sleepingThreshold = 0.1;
m_useFaceContact = true;
m_dampingCoefficient = 1.0;
m_sleepingThreshold = .4;
m_useSelfCollision = false;
m_collisionFlags = 0;
m_collisionFlags = 0;
m_softSoftCollision = false;
m_maxSpeedSquared = 0;
m_repulsionStiffness = 0.5;
m_fdbvnt = 0;
}
//
@ -134,6 +243,8 @@ btSoftBody::~btSoftBody()
btAlignedFree(m_materials[i]);
for (i = 0; i < m_joints.size(); ++i)
btAlignedFree(m_joints[i]);
if (m_fdbvnt)
delete m_fdbvnt;
}
//
@ -896,6 +1007,71 @@ void btSoftBody::setVolumeDensity(btScalar density)
setVolumeMass(volume * density / 6);
}
//
btVector3 btSoftBody::getLinearVelocity()
{
btVector3 total_momentum = btVector3(0,0,0);
for (int i = 0; i < m_nodes.size(); ++i)
{
btScalar mass = m_nodes[i].m_im == 0 ? 0 : 1.0/m_nodes[i].m_im;
total_momentum += mass * m_nodes[i].m_v;
}
btScalar total_mass = getTotalMass();
return total_mass == 0 ? total_momentum : total_momentum / total_mass;
}
//
void btSoftBody::setLinearVelocity(const btVector3& linVel)
{
btVector3 old_vel = getLinearVelocity();
btVector3 diff = linVel - old_vel;
for (int i = 0; i < m_nodes.size(); ++i)
m_nodes[i].m_v += diff;
}
//
void btSoftBody::setAngularVelocity(const btVector3& angVel)
{
btVector3 old_vel = getLinearVelocity();
btVector3 com = getCenterOfMass();
for (int i = 0; i < m_nodes.size(); ++i)
{
m_nodes[i].m_v = angVel.cross(m_nodes[i].m_x - com) + old_vel;
}
}
//
btTransform btSoftBody::getRigidTransform()
{
btVector3 t = getCenterOfMass();
btMatrix3x3 S;
S.setZero();
// get rotation that minimizes L2 difference: \sum_i || RX_i + t - x_i ||
for (int i = 0; i < m_nodes.size(); ++i)
{
S += OuterProduct(m_X[i], t-m_nodes[i].m_x);
}
btVector3 sigma;
btMatrix3x3 U,V;
singularValueDecomposition(S,U,sigma,V);
btMatrix3x3 R = V * U.transpose();
btTransform trs;
trs.setIdentity();
trs.setOrigin(t);
trs.setBasis(R);
return trs;
}
//
void btSoftBody::transformTo(const btTransform& trs)
{
// get the current best rigid fit
btTransform current_transform = getRigidTransform();
// apply transform in material space
btTransform new_transform = trs * current_transform.inverse();
transform(new_transform);
}
//
void btSoftBody::transform(const btTransform& trs)
{
@ -916,7 +1092,6 @@ void btSoftBody::transform(const btTransform& trs)
updateNormals();
updateBounds();
updateConstants();
m_initialWorldTransform = trs;
}
//
@ -1834,6 +2009,25 @@ bool btSoftBody::rayTest(const btVector3& rayFrom,
return (rayTest(rayFrom, rayTo, results.fraction, results.feature, results.index, false) != 0);
}
bool btSoftBody::rayFaceTest(const btVector3& rayFrom,
const btVector3& rayTo,
sRayCast& results)
{
if (m_faces.size() == 0)
return false;
else
{
if (m_fdbvt.empty())
initializeFaceTree();
}
results.body = this;
results.fraction = 1.f;
results.index = -1;
return (rayFaceTest(rayFrom, rayTo, results.fraction, results.index) != 0);
}
//
void btSoftBody::setSolver(eSolverPresets::_ preset)
{
@ -2339,15 +2533,160 @@ int btSoftBody::rayTest(const btVector3& rayFrom, const btVector3& rayTo,
return (cnt);
}
int btSoftBody::rayFaceTest(const btVector3& rayFrom, const btVector3& rayTo,
btScalar& mint, int& index) const
{
int cnt = 0;
{ /* Use dbvt */
RayFromToCaster collider(rayFrom, rayTo, mint);
btDbvt::rayTest(m_fdbvt.m_root, rayFrom, rayTo, collider);
if (collider.m_face)
{
mint = collider.m_mint;
index = (int)(collider.m_face - &m_faces[0]);
cnt = 1;
}
}
return (cnt);
}
//
static inline btDbvntNode* copyToDbvnt(const btDbvtNode* n)
{
if (n == 0)
return 0;
btDbvntNode* root = new btDbvntNode(n);
if (n->isinternal())
{
btDbvntNode* c0 = copyToDbvnt(n->childs[0]);
root->childs[0] = c0;
btDbvntNode* c1 = copyToDbvnt(n->childs[1]);
root->childs[1] = c1;
}
return root;
}
static inline void calculateNormalCone(btDbvntNode* root)
{
if (!root)
return;
if (root->isleaf())
{
const btSoftBody::Face* face = (btSoftBody::Face*)root->data;
root->normal = face->m_normal;
root->angle = 0;
}
else
{
btVector3 n0(0,0,0), n1(0,0,0);
btScalar a0 = 0, a1 = 0;
if (root->childs[0])
{
calculateNormalCone(root->childs[0]);
n0 = root->childs[0]->normal;
a0 = root->childs[0]->angle;
}
if (root->childs[1])
{
calculateNormalCone(root->childs[1]);
n1 = root->childs[1]->normal;
a1 = root->childs[1]->angle;
}
root->normal = (n0+n1).safeNormalize();
root->angle = btMax(a0,a1) + btAngle(n0, n1)*0.5;
}
}
void btSoftBody::initializeFaceTree()
{
BT_PROFILE("btSoftBody::initializeFaceTree");
m_fdbvt.clear();
// create leaf nodes;
btAlignedObjectArray<btDbvtNode*> leafNodes;
leafNodes.resize(m_faces.size());
for (int i = 0; i < m_faces.size(); ++i)
{
Face& f = m_faces[i];
f.m_leaf = m_fdbvt.insert(VolumeOf(f, 0), &f);
ATTRIBUTE_ALIGNED16(btDbvtVolume) vol = VolumeOf(f, 0);
btDbvtNode* node = new (btAlignedAlloc(sizeof(btDbvtNode), 16)) btDbvtNode();
node->parent = NULL;
node->data = &f;
node->childs[1] = 0;
node->volume = vol;
leafNodes[i] = node;
f.m_leaf = node;
}
btAlignedObjectArray<btAlignedObjectArray<int> > adj;
adj.resize(m_faces.size());
// construct the adjacency list for triangles
for (int i = 0; i < adj.size(); ++i)
{
for (int j = i+1; j < adj.size(); ++j)
{
int dup = 0;
for (int k = 0; k < 3; ++k)
{
for (int l = 0; l < 3; ++l)
{
if (m_faces[i].m_n[k] == m_faces[j].m_n[l])
{
++dup;
break;
}
}
if (dup == 2)
{
adj[i].push_back(j);
adj[j].push_back(i);
}
}
}
}
m_fdbvt.m_root = buildTreeBottomUp(leafNodes, adj);
if (m_fdbvnt)
delete m_fdbvnt;
m_fdbvnt = copyToDbvnt(m_fdbvt.m_root);
updateFaceTree(false, false);
rebuildNodeTree();
}
//
void btSoftBody::rebuildNodeTree()
{
m_ndbvt.clear();
btAlignedObjectArray<btDbvtNode*> leafNodes;
leafNodes.resize(m_nodes.size());
for (int i = 0; i < m_nodes.size(); ++i)
{
Node& n = m_nodes[i];
ATTRIBUTE_ALIGNED16(btDbvtVolume) vol = btDbvtVolume::FromCR(n.m_x, 0);
btDbvtNode* node = new (btAlignedAlloc(sizeof(btDbvtNode), 16)) btDbvtNode();
node->parent = NULL;
node->data = &n;
node->childs[1] = 0;
node->volume = vol;
leafNodes[i] = node;
n.m_leaf = node;
}
btAlignedObjectArray<btAlignedObjectArray<int> > adj;
adj.resize(m_nodes.size());
btAlignedObjectArray<int> old_id;
old_id.resize(m_nodes.size());
for (int i = 0; i < m_nodes.size(); ++i)
old_id[i] = m_nodes[i].index;
for (int i = 0; i < m_nodes.size(); ++i)
m_nodes[i].index = i;
for (int i = 0; i < m_links.size(); ++i)
{
Link& l = m_links[i];
adj[l.m_n[0]->index].push_back(l.m_n[1]->index);
adj[l.m_n[1]->index].push_back(l.m_n[0]->index);
}
m_ndbvt.m_root = buildTreeBottomUp(leafNodes, adj);
for (int i = 0; i < m_nodes.size(); ++i)
m_nodes[i].index = old_id[i];
}
//
@ -2403,10 +2742,9 @@ bool btSoftBody::checkDeformableContact(const btCollisionObjectWrapper* colObjWr
const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject();
// use the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg for collision detect
// but resolve contact at x_n
// btTransform wtr = (predict) ?
// (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform())
// : colObjWrap->getWorldTransform();
const btTransform& wtr = colObjWrap->getWorldTransform();
btTransform wtr = (predict) ?
(colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform())
: colObjWrap->getWorldTransform();
btScalar dst =
m_worldInfo->m_sparsesdf.Evaluate(
wtr.invXform(x),
@ -2457,7 +2795,6 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO
btTransform wtr = (predict) ?
(colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform())
: colObjWrap->getWorldTransform();
// const btTransform& wtr = colObjWrap->getWorldTransform();
btScalar dst;
//#define USE_QUADRATURE 1
@ -2476,6 +2813,7 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO
nrm,
margin);
nrm = wtr.getBasis() * nrm;
cti.m_colObj = colObjWrap->getCollisionObject();
// use cached contact point
}
else
@ -2492,10 +2830,11 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO
contact_point = results.witnesses[0];
getBarycentric(contact_point, f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary);
nrm = results.normal;
cti.m_colObj = colObjWrap->getCollisionObject();
for (int i = 0; i < 3; ++i)
f.m_pcontact[i] = bary[i];
}
return (dst < 0);
#endif
// use collision quadrature point
@ -2505,7 +2844,11 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO
btVector3 local_nrm;
for (int q = 0; q < m_quads.size(); ++q)
{
btVector3 p = BaryEval(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, m_quads[q]);
btVector3 p;
if (predict)
p = BaryEval(f.m_n[0]->m_q, f.m_n[1]->m_q, f.m_n[2]->m_q, m_quads[q]);
else
p = BaryEval(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, m_quads[q]);
btScalar local_dst = m_worldInfo->m_sparsesdf.Evaluate(
wtr.invXform(p),
shp,
@ -2513,43 +2856,83 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO
margin);
if (local_dst < dst)
{
if (local_dst < 0 && predict)
return true;
dst = local_dst;
contact_point = p;
bary = m_quads[q];
nrm = wtr.getBasis() * local_nrm;
nrm = local_nrm;
}
if (!predict)
{
cti.m_colObj = colObjWrap->getCollisionObject();
cti.m_normal = wtr.getBasis() * nrm;
cti.m_offset = dst;
}
}
return (dst < 0);
}
#endif
// // regular face contact
// {
// btGjkEpaSolver2::sResults results;
// btTransform triangle_transform;
// triangle_transform.setIdentity();
// triangle_transform.setOrigin(f.m_n[0]->m_x);
// btTriangleShape triangle(btVector3(0,0,0), f.m_n[1]->m_x-f.m_n[0]->m_x, f.m_n[2]->m_x-f.m_n[0]->m_x);
// btVector3 guess(0,0,0);
// if (predict)
// {
// triangle_transform.setOrigin(f.m_n[0]->m_q);
// triangle = btTriangleShape(btVector3(0,0,0), f.m_n[1]->m_q-f.m_n[0]->m_q, f.m_n[2]->m_q-f.m_n[0]->m_q);
// }
// const btConvexShape* csh = static_cast<const btConvexShape*>(shp);
//// btGjkEpaSolver2::SignedDistance(&triangle, triangle_transform, csh, wtr, guess, results);
//// dst = results.distance - margin;
//// contact_point = results.witnesses[0];
// btGjkEpaSolver2::Penetration(&triangle, triangle_transform, csh, wtr, guess, results);
// if (results.status == btGjkEpaSolver2::sResults::Separated)
// return false;
// dst = results.distance - margin;
// contact_point = results.witnesses[1];
// getBarycentric(contact_point, f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary);
// nrm = results.normal;
// for (int i = 0; i < 3; ++i)
// f.m_pcontact[i] = bary[i];
// }
//
// if (!predict)
// {
// cti.m_colObj = colObjWrap->getCollisionObject();
// cti.m_normal = nrm;
// cti.m_offset = dst;
// }
//
// regular face contact
{
btGjkEpaSolver2::sResults results;
btTransform triangle_transform;
triangle_transform.setIdentity();
triangle_transform.setOrigin(f.m_n[0]->m_x);
btTriangleShape triangle(btVector3(0,0,0), f.m_n[1]->m_x-f.m_n[0]->m_x, f.m_n[2]->m_x-f.m_n[0]->m_x);
triangle_transform.setOrigin(f.m_n[0]->m_q);
btTriangleShape triangle(btVector3(0,0,0), f.m_n[1]->m_q-f.m_n[0]->m_q, f.m_n[2]->m_q-f.m_n[0]->m_q);
btVector3 guess(0,0,0);
const btConvexShape* csh = static_cast<const btConvexShape*>(shp);
btGjkEpaSolver2::SignedDistance(&triangle, triangle_transform, csh, wtr, guess, results);
dst = results.distance - margin;
dst = results.distance-csh->getMargin();
dst -= margin;
if (dst >= 0)
return false;
contact_point = results.witnesses[0];
getBarycentric(contact_point, f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary);
getBarycentric(contact_point, f.m_n[0]->m_q, f.m_n[1]->m_q, f.m_n[2]->m_q, bary);
btVector3 curr = BaryEval(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary);
nrm = results.normal;
for (int i = 0; i < 3; ++i)
f.m_pcontact[i] = bary[i];
}
if (!predict)
{
cti.m_colObj = colObjWrap->getCollisionObject();
cti.m_normal = nrm;
cti.m_offset = dst;
cti.m_offset = dst + (curr - contact_point).dot(nrm);
}
if (dst < 0)
return true;
return (false);
return (dst < 0);
}
//
@ -3075,6 +3458,7 @@ void btSoftBody::setSpringStiffness(btScalar k)
{
m_links[i].Feature::m_material->m_kLST = k;
}
m_repulsionStiffness = k;
}
void btSoftBody::initializeDmInverse()
@ -3372,18 +3756,39 @@ void btSoftBody::setMaxStress(btScalar maxStress)
//
void btSoftBody::interpolateRenderMesh()
{
for (int i = 0; i < m_renderNodes.size(); ++i)
{
Node& n = m_renderNodes[i];
n.m_x.setZero();
for (int j = 0; j < 4; ++j)
{
if (m_renderNodesParents[i].size())
if (m_z.size() > 0)
{
for (int i = 0; i < m_renderNodes.size(); ++i)
{
const Node* p0 = m_renderNodesParents[i][0];
const Node* p1 = m_renderNodesParents[i][1];
const Node* p2 = m_renderNodesParents[i][2];
btVector3 normal = btCross(p1->m_x - p0->m_x, p2->m_x - p0->m_x);
btVector3 unit_normal = normal.normalized();
Node& n = m_renderNodes[i];
n.m_x.setZero();
for (int j = 0; j < 3; ++j)
{
n.m_x += m_renderNodesParents[i][j]->m_x * m_renderNodesInterpolationWeights[i][j];
}
}
}
n.m_x += m_z[i] * unit_normal;
}
}
else
{
for (int i = 0; i < m_renderNodes.size(); ++i)
{
Node& n = m_renderNodes[i];
n.m_x.setZero();
for (int j = 0; j < 4; ++j)
{
if (m_renderNodesParents[i].size())
{
n.m_x += m_renderNodesParents[i][j]->m_x * m_renderNodesInterpolationWeights[i][j];
}
}
}
}
}
void btSoftBody::setCollisionQuadrature(int N)
@ -3649,13 +4054,10 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap
break;
case fCollision::SDF_RD:
{
btRigidBody* prb1 = (btRigidBody*)btRigidBody::upcast(pcoWrap->getCollisionObject());
if (pcoWrap->getCollisionObject()->isActive() || this->isActive())
{
const btTransform wtr = pcoWrap->getWorldTransform();
// const btTransform ctr = pcoWrap->getWorldTransform();
// const btScalar timemargin = (wtr.getOrigin() - ctr.getOrigin()).length();
const btScalar timemargin = 0;
const btScalar basemargin = getCollisionShape()->getMargin();
btVector3 mins;
@ -3667,22 +4069,25 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap
maxs);
volume = btDbvtVolume::FromMM(mins, maxs);
volume.Expand(btVector3(basemargin, basemargin, basemargin));
btSoftColliders::CollideSDF_RD docollideNode;
docollideNode.psb = this;
docollideNode.m_colObj1Wrap = pcoWrap;
docollideNode.m_rigidBody = prb1;
docollideNode.dynmargin = basemargin + timemargin;
docollideNode.stamargin = basemargin;
m_ndbvt.collideTV(m_ndbvt.m_root, volume, docollideNode);
if (this->m_useFaceContact)
if (m_cfg.collisions & fCollision::SDF_RDN)
{
btSoftColliders::CollideSDF_RD docollideNode;
docollideNode.psb = this;
docollideNode.m_colObj1Wrap = pcoWrap;
docollideNode.m_rigidBody = prb1;
docollideNode.dynmargin = basemargin + timemargin;
docollideNode.stamargin = basemargin;
m_ndbvt.collideTV(m_ndbvt.m_root, volume, docollideNode);
}
if (((pcoWrap->getCollisionObject()->getInternalType() == CO_RIGID_BODY) && (m_cfg.collisions & fCollision::SDF_RDF)) || ((pcoWrap->getCollisionObject()->getInternalType() == CO_FEATHERSTONE_LINK) && (m_cfg.collisions & fCollision::SDF_MDF)))
{
btSoftColliders::CollideSDF_RDF docollideFace;
docollideFace.psb = this;
docollideFace.m_colObj1Wrap = pcoWrap;
docollideFace.m_rigidBody = prb1;
docollideFace.dynmargin = basemargin + timemargin;
docollideFace.stamargin = basemargin;
docollideFace.dynmargin = basemargin + timemargin;
docollideFace.stamargin = basemargin;
m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace);
}
}
@ -3691,51 +4096,6 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap
}
}
static inline btDbvntNode* copyToDbvnt(const btDbvtNode* n)
{
if (n == 0)
return 0;
btDbvntNode* root = new btDbvntNode(n);
if (n->isinternal())
{
btDbvntNode* c0 = copyToDbvnt(n->childs[0]);
root->childs[0] = c0;
btDbvntNode* c1 = copyToDbvnt(n->childs[1]);
root->childs[1] = c1;
}
return root;
}
static inline void calculateNormalCone(btDbvntNode* root)
{
if (!root)
return;
if (root->isleaf())
{
const btSoftBody::Face* face = (btSoftBody::Face*)root->data;
root->normal = face->m_normal;
root->angle = 0;
}
else
{
btVector3 n0(0,0,0), n1(0,0,0);
btScalar a0 = 0, a1 = 0;
if (root->childs[0])
{
calculateNormalCone(root->childs[0]);
n0 = root->childs[0]->normal;
a0 = root->childs[0]->angle;
}
if (root->childs[1])
{
calculateNormalCone(root->childs[1]);
n1 = root->childs[1]->normal;
a1 = root->childs[1]->angle;
}
root->normal = (n0+n1).safeNormalize();
root->angle = btMax(a0,a1) + btAngle(n0, n1)*0.5;
}
}
//
void btSoftBody::defaultCollisionHandler(btSoftBody* psb)
{
@ -3779,6 +4139,8 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb)
break;
case fCollision::VF_DD:
{
if (!psb->m_softSoftCollision)
return;
if (psb->isActive() || this->isActive())
{
if (this != psb)
@ -3797,6 +4159,7 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb)
docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
docollide.psb[1]->m_fdbvt.m_root,
docollide);
/* psb1 nodes vs psb0 faces */
if (this->m_tetras.size() > 0)
docollide.useFaceNormal = true;
@ -3812,20 +4175,17 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb)
{
if (psb->useSelfCollision())
{
btSoftColliders::CollideFF_DD docollide;
docollide.mrg = getCollisionShape()->getMargin() +
psb->getCollisionShape()->getMargin();
docollide.psb[0] = this;
docollide.psb[1] = psb;
if (this->m_tetras.size() > 0)
docollide.useFaceNormal = true;
else
docollide.useFaceNormal = false;
/* psb0 faces vs psb0 faces */
btDbvntNode* root = copyToDbvnt(this->m_fdbvt.m_root);
calculateNormalCone(root);
this->m_fdbvt.selfCollideT(root,docollide);
delete root;
btSoftColliders::CollideFF_DD docollide;
docollide.mrg = 2*getCollisionShape()->getMargin();
docollide.psb[0] = this;
docollide.psb[1] = psb;
if (this->m_tetras.size() > 0)
docollide.useFaceNormal = true;
else
docollide.useFaceNormal = false;
/* psb0 faces vs psb0 faces */
calculateNormalCone(this->m_fdbvnt);
this->m_fdbvt.selfCollideT(m_fdbvnt,docollide);
}
}
}
@ -3837,6 +4197,58 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb)
}
}
void btSoftBody::geometricCollisionHandler(btSoftBody* psb)
{
if (psb->isActive() || this->isActive())
{
if (this != psb)
{
btSoftColliders::CollideCCD docollide;
/* common */
docollide.mrg = SAFE_EPSILON; // for rounding error instead of actual margin
docollide.dt = psb->m_sst.sdt;
/* psb0 nodes vs psb1 faces */
if (psb->m_tetras.size() > 0)
docollide.useFaceNormal = true;
else
docollide.useFaceNormal = false;
docollide.psb[0] = this;
docollide.psb[1] = psb;
docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
docollide.psb[1]->m_fdbvt.m_root,
docollide);
/* psb1 nodes vs psb0 faces */
if (this->m_tetras.size() > 0)
docollide.useFaceNormal = true;
else
docollide.useFaceNormal = false;
docollide.psb[0] = psb;
docollide.psb[1] = this;
docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
docollide.psb[1]->m_fdbvt.m_root,
docollide);
}
else
{
if (psb->useSelfCollision())
{
btSoftColliders::CollideCCD docollide;
docollide.mrg = SAFE_EPSILON;
docollide.psb[0] = this;
docollide.psb[1] = psb;
docollide.dt = psb->m_sst.sdt;
if (this->m_tetras.size() > 0)
docollide.useFaceNormal = true;
else
docollide.useFaceNormal = false;
/* psb0 faces vs psb0 faces */
calculateNormalCone(this->m_fdbvnt); // should compute this outside of this scope
this->m_fdbvt.selfCollideT(m_fdbvnt,docollide);
}
}
}
}
void btSoftBody::setWindVelocity(const btVector3& velocity)
{
m_windVelocity = velocity;

244
thirdparty/bullet/BulletSoftBody/btSoftBody.h vendored
View File

@ -35,6 +35,8 @@ subject to the following restrictions:
//#else
#define btSoftBodyData btSoftBodyFloatData
#define btSoftBodyDataName "btSoftBodyFloatData"
static const btScalar OVERLAP_REDUCTION_FACTOR = 0.1;
static unsigned long seed = 243703;
//#endif //BT_USE_DOUBLE_PRECISION
class btBroadphaseInterface;
@ -161,14 +163,18 @@ 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
SDF_RD = 0x0004, ///rigid vs deformable
SVSmask = 0x00F0, ///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
VF_DD = 0x0080, ///Vertex vs face soft vs soft handling
RVDFmask = 0x0f00, /// Rigid versus deformable face mask
SDF_RDF = 0x0100, /// GJK based Rigid vs. deformable face
SDF_MDF = 0x0200, /// GJK based Multibody vs. deformable face
SDF_RDN = 0x0400, /// SDF based Rigid vs. deformable node
/* presets */
Default = SDF_RS,
END
@ -257,13 +263,13 @@ public:
btVector3 m_x; // 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
btScalar m_penetration; // depth of penetration
int m_battach : 1; // Attached
int index;
};
@ -289,6 +295,7 @@ public:
btScalar m_ra; // Rest area
btDbvtNode* m_leaf; // Leaf data
btVector4 m_pcontact; // barycentric weights of the persistent contact
btVector3 m_n0, m_n1, m_vn;
int m_index;
};
/* Tetra */
@ -717,6 +724,15 @@ public:
/* SolverState */
struct SolverState
{
//if you add new variables, always initialize them!
SolverState()
:sdt(0),
isdt(0),
velmrg(0),
radmrg(0),
updmrg(0)
{
}
btScalar sdt; // dt*timescale
btScalar isdt; // 1/sdt
btScalar velmrg; // velocity margin
@ -796,22 +812,24 @@ public:
bool m_bUpdateRtCst; // Update runtime constants
btDbvt m_ndbvt; // Nodes tree
btDbvt m_fdbvt; // Faces tree
btDbvntNode* m_fdbvnt; // Faces tree with normals
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;
btScalar m_dampingCoefficient; // Damping Coefficient
btScalar m_sleepingThreshold;
btScalar m_maxSpeedSquared;
btAlignedObjectArray<btVector3> m_quads; // quadrature points for collision detection
btScalar m_repulsionStiffness;
btAlignedObjectArray<btVector3> m_X; // initial positions
btAlignedObjectArray<btVector4> m_renderNodesInterpolationWeights;
btAlignedObjectArray<btAlignedObjectArray<const btSoftBody::Node*> > m_renderNodesParents;
btAlignedObjectArray<btScalar> m_z; // vertical distance used in extrapolation
bool m_useSelfCollision;
bool m_softSoftCollision;
btAlignedObjectArray<bool> m_clusterConnectivity; //cluster connectivity, for self-collision
btTransform m_initialWorldTransform;
btVector3 m_windVelocity;
btScalar m_restLengthScale;
@ -843,11 +861,6 @@ public:
{
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)
@ -957,6 +970,16 @@ public:
void setVolumeMass(btScalar mass);
/* Set volume density (using tetrahedrons) */
void setVolumeDensity(btScalar density);
/* Get the linear velocity of the center of mass */
btVector3 getLinearVelocity();
/* Set the linear velocity of the center of mass */
void setLinearVelocity(const btVector3& linVel);
/* Set the angular velocity of the center of mass */
void setAngularVelocity(const btVector3& angVel);
/* Get best fit rigid transform */
btTransform getRigidTransform();
/* Transform to given pose */
void transformTo(const btTransform& trs);
/* Transform */
void transform(const btTransform& trs);
/* Translate */
@ -1023,6 +1046,11 @@ public:
bool rayTest(const btVector3& rayFrom,
const btVector3& rayTo,
sRayCast& results);
bool rayFaceTest(const btVector3& rayFrom,
const btVector3& rayTo,
sRayCast& results);
int rayFaceTest(const btVector3& rayFrom, const btVector3& rayTo,
btScalar& mint, int& index) const;
/* Solver presets */
void setSolver(eSolverPresets::_ preset);
/* predictMotion */
@ -1120,6 +1148,7 @@ public:
int rayTest(const btVector3& rayFrom, const btVector3& rayTo,
btScalar& mint, eFeature::_& feature, int& index, bool bcountonly) const;
void initializeFaceTree();
void rebuildNodeTree();
btVector3 evaluateCom() 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;
@ -1152,7 +1181,180 @@ public:
static void VSolve_Links(btSoftBody* psb, btScalar kst);
static psolver_t getSolver(ePSolver::_ solver);
static vsolver_t getSolver(eVSolver::_ solver);
void geometricCollisionHandler(btSoftBody* psb);
#define SAFE_EPSILON SIMD_EPSILON*100.0
void updateNode(btDbvtNode* node, bool use_velocity, bool margin)
{
if (node->isleaf())
{
btSoftBody::Node* n = (btSoftBody::Node*)(node->data);
ATTRIBUTE_ALIGNED16(btDbvtVolume) vol;
btScalar pad = margin ? m_sst.radmrg : SAFE_EPSILON; // use user defined margin or margin for floating point precision
if (use_velocity)
{
btVector3 points[2] = {n->m_x, n->m_x + m_sst.sdt * n->m_v};
vol = btDbvtVolume::FromPoints(points, 2);
vol.Expand(btVector3(pad, pad, pad));
}
else
{
vol = btDbvtVolume::FromCR(n->m_x, pad);
}
node->volume = vol;
return;
}
else
{
updateNode(node->childs[0], use_velocity, margin);
updateNode(node->childs[1], use_velocity, margin);
ATTRIBUTE_ALIGNED16(btDbvtVolume) vol;
Merge(node->childs[0]->volume, node->childs[1]->volume, vol);
node->volume = vol;
}
}
void updateNodeTree(bool use_velocity, bool margin)
{
if (m_ndbvt.m_root)
updateNode(m_ndbvt.m_root, use_velocity, margin);
}
template <class DBVTNODE> // btDbvtNode or btDbvntNode
void updateFace(DBVTNODE* node, bool use_velocity, bool margin)
{
if (node->isleaf())
{
btSoftBody::Face* f = (btSoftBody::Face*)(node->data);
btScalar pad = margin ? m_sst.radmrg : SAFE_EPSILON; // use user defined margin or margin for floating point precision
ATTRIBUTE_ALIGNED16(btDbvtVolume) vol;
if (use_velocity)
{
btVector3 points[6] = {f->m_n[0]->m_x, f->m_n[0]->m_x + m_sst.sdt * f->m_n[0]->m_v,
f->m_n[1]->m_x, f->m_n[1]->m_x + m_sst.sdt * f->m_n[1]->m_v,
f->m_n[2]->m_x, f->m_n[2]->m_x + m_sst.sdt * f->m_n[2]->m_v};
vol = btDbvtVolume::FromPoints(points, 6);
}
else
{
btVector3 points[3] = {f->m_n[0]->m_x,
f->m_n[1]->m_x,
f->m_n[2]->m_x};
vol = btDbvtVolume::FromPoints(points, 3);
}
vol.Expand(btVector3(pad, pad, pad));
node->volume = vol;
return;
}
else
{
updateFace(node->childs[0], use_velocity, margin);
updateFace(node->childs[1], use_velocity, margin);
ATTRIBUTE_ALIGNED16(btDbvtVolume) vol;
Merge(node->childs[0]->volume, node->childs[1]->volume, vol);
node->volume = vol;
}
}
void updateFaceTree(bool use_velocity, bool margin)
{
if (m_fdbvt.m_root)
updateFace(m_fdbvt.m_root, use_velocity, margin);
if (m_fdbvnt)
updateFace(m_fdbvnt, use_velocity, margin);
}
template <typename T>
static inline T BaryEval(const T& a,
const T& b,
const T& c,
const btVector3& coord)
{
return (a * coord.x() + b * coord.y() + c * coord.z());
}
void applyRepulsionForce(btScalar timeStep, bool applySpringForce)
{
btAlignedObjectArray<int> indices;
{
// randomize the order of repulsive force
indices.resize(m_faceNodeContacts.size());
for (int i = 0; i < m_faceNodeContacts.size(); ++i)
indices[i] = i;
#define NEXTRAND (seed = (1664525L * seed + 1013904223L) & 0xffffffff)
int i, ni;
for (i = 0, ni = indices.size(); i < ni; ++i)
{
btSwap(indices[i], indices[NEXTRAND % ni]);
}
}
for (int k = 0; k < m_faceNodeContacts.size(); ++k)
{
int i = indices[k];
btSoftBody::DeformableFaceNodeContact& c = m_faceNodeContacts[i];
btSoftBody::Node* node = c.m_node;
btSoftBody::Face* face = c.m_face;
const btVector3& w = c.m_bary;
const btVector3& n = c.m_normal;
btVector3 l = node->m_x - BaryEval(face->m_n[0]->m_x, face->m_n[1]->m_x, face->m_n[2]->m_x, w);
btScalar d = c.m_margin - n.dot(l);
d = btMax(btScalar(0),d);
const btVector3& va = node->m_v;
btVector3 vb = BaryEval(face->m_n[0]->m_v, face->m_n[1]->m_v, face->m_n[2]->m_v, w);
btVector3 vr = va - vb;
const btScalar vn = btDot(vr, n); // dn < 0 <==> opposing
if (vn > OVERLAP_REDUCTION_FACTOR * d / timeStep)
continue;
btVector3 vt = vr - vn*n;
btScalar I = 0;
btScalar mass = node->m_im == 0 ? 0 : btScalar(1)/node->m_im;
if (applySpringForce)
I = -btMin(m_repulsionStiffness * timeStep * d, mass * (OVERLAP_REDUCTION_FACTOR * d / timeStep - vn));
if (vn < 0)
I += 0.5 * mass * vn;
btScalar face_penetration = 0, node_penetration = node->m_penetration;
for (int i = 0; i < 3; ++i)
face_penetration = btMax(face_penetration, face->m_n[i]->m_penetration);
btScalar I_tilde = .5 *I /(1.0+w.length2());
// double the impulse if node or face is constrained.
if (face_penetration > 0 || node_penetration > 0)
I_tilde *= 2.0;
if (face_penetration <= node_penetration)
{
for (int j = 0; j < 3; ++j)
face->m_n[j]->m_v += w[j]*n*I_tilde*node->m_im;
}
if (face_penetration >= node_penetration)
{
node->m_v -= I_tilde*node->m_im*n;
}
// apply frictional impulse
btScalar vt_norm = vt.safeNorm();
if (vt_norm > SIMD_EPSILON)
{
btScalar delta_vn = -2 * I * node->m_im;
btScalar mu = c.m_friction;
btScalar vt_new = btMax(btScalar(1) - mu * delta_vn / (vt_norm + SIMD_EPSILON), btScalar(0))*vt_norm;
I = 0.5 * mass * (vt_norm-vt_new);
vt.safeNormalize();
I_tilde = .5 *I /(1.0+w.length2());
// double the impulse if node or face is constrained.
// if (face_penetration > 0 || node_penetration > 0)
// I_tilde *= 2.0;
if (face_penetration <= node_penetration)
{
for (int j = 0; j < 3; ++j)
face->m_n[j]->m_v += w[j] * vt * I_tilde * (face->m_n[j])->m_im;
}
if (face_penetration >= node_penetration)
{
node->m_v -= I_tilde * node->m_im * vt;
}
}
}
}
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)

80
thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.cpp vendored
View File

@ -1300,13 +1300,23 @@ btSoftBody* btSoftBodyHelpers::CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo,
}
else if (reading_tets)
{
int d;
ss >> d;
if (d != 4)
{
printf("Load deformable failed: Only Tetrahedra are supported in VTK file.\n");
fs.close();
return 0;
}
ss.ignore(128, ' '); // ignore "4"
Index tet;
tet.resize(4);
for (size_t i = 0; i < 4; i++)
{
ss >> tet[i];
printf("%d ", tet[i]);
}
printf("\n");
indices[indices_count++] = tet;
}
}
@ -1500,10 +1510,27 @@ void btSoftBodyHelpers::getBarycentricWeights(const btVector3& a, const btVector
bary = btVector4(va6*v6, vb6*v6, vc6*v6, vd6*v6);
}
// Given a simplex with vertices a,b,c, find the barycentric weights of p in this simplex. bary[3] = 0.
void btSoftBodyHelpers::getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& p, btVector4& bary)
{
btVector3 v0 = b - a, v1 = c - a, v2 = p - a;
btScalar d00 = btDot(v0, v0);
btScalar d01 = btDot(v0, v1);
btScalar d11 = btDot(v1, v1);
btScalar d20 = btDot(v2, v0);
btScalar d21 = btDot(v2, v1);
btScalar invDenom = 1.0 / (d00 * d11 - d01 * d01);
bary[1] = (d11 * d20 - d01 * d21) * invDenom;
bary[2] = (d00 * d21 - d01 * d20) * invDenom;
bary[0] = 1.0 - bary[1] - bary[2];
bary[3] = 0;
}
// Iterate through all render nodes to find the simulation tetrahedron that contains the render node and record the barycentric weights
// If the node is not inside any tetrahedron, assign it to the tetrahedron in which the node has the least negative barycentric weight
void btSoftBodyHelpers::interpolateBarycentricWeights(btSoftBody* psb)
{
psb->m_z.resize(0);
psb->m_renderNodesInterpolationWeights.resize(psb->m_renderNodes.size());
psb->m_renderNodesParents.resize(psb->m_renderNodes.size());
for (int i = 0; i < psb->m_renderNodes.size(); ++i)
@ -1513,7 +1540,6 @@ void btSoftBodyHelpers::interpolateBarycentricWeights(btSoftBody* psb)
btVector4 optimal_bary;
btScalar min_bary_weight = -1e3;
btAlignedObjectArray<const btSoftBody::Node*> optimal_parents;
bool found = false;
for (int j = 0; j < psb->m_tetras.size(); ++j)
{
const btSoftBody::Tetra& t = psb->m_tetras[j];
@ -1544,3 +1570,55 @@ void btSoftBodyHelpers::interpolateBarycentricWeights(btSoftBody* psb)
psb->m_renderNodesParents[i] = optimal_parents;
}
}
// Iterate through all render nodes to find the simulation triangle that's closest to the node in the barycentric sense.
void btSoftBodyHelpers::extrapolateBarycentricWeights(btSoftBody* psb)
{
psb->m_renderNodesInterpolationWeights.resize(psb->m_renderNodes.size());
psb->m_renderNodesParents.resize(psb->m_renderNodes.size());
psb->m_z.resize(psb->m_renderNodes.size());
for (int i = 0; i < psb->m_renderNodes.size(); ++i)
{
const btVector3& p = psb->m_renderNodes[i].m_x;
btVector4 bary;
btVector4 optimal_bary;
btScalar min_bary_weight = -SIMD_INFINITY;
btAlignedObjectArray<const btSoftBody::Node*> optimal_parents;
btScalar dist = 0, optimal_dist = 0;
for (int j = 0; j < psb->m_faces.size(); ++j)
{
const btSoftBody::Face& f = psb->m_faces[j];
btVector3 n = btCross(f.m_n[1]->m_x - f.m_n[0]->m_x, f.m_n[2]->m_x - f.m_n[0]->m_x);
btVector3 unit_n = n.normalized();
dist = (p-f.m_n[0]->m_x).dot(unit_n);
btVector3 proj_p = p - dist*unit_n;
getBarycentricWeights(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, proj_p, bary);
btScalar new_min_bary_weight = bary[0];
for (int k = 1; k < 3; ++k)
{
new_min_bary_weight = btMin(new_min_bary_weight, bary[k]);
}
// p is out of the current best triangle, we found a traingle that's better
bool better_than_closest_outisde = (new_min_bary_weight > min_bary_weight && min_bary_weight<0.);
// p is inside of the current best triangle, we found a triangle that's better
bool better_than_best_inside = (new_min_bary_weight>=0 && min_bary_weight>=0 && btFabs(dist)<btFabs(optimal_dist));
if (better_than_closest_outisde || better_than_best_inside)
{
btAlignedObjectArray<const btSoftBody::Node*> parents;
parents.push_back(f.m_n[0]);
parents.push_back(f.m_n[1]);
parents.push_back(f.m_n[2]);
optimal_parents = parents;
optimal_bary = bary;
optimal_dist = dist;
min_bary_weight = new_min_bary_weight;
}
}
psb->m_renderNodesInterpolationWeights[i] = optimal_bary;
psb->m_renderNodesParents[i] = optimal_parents;
psb->m_z[i] = optimal_dist;
}
}

4
thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.h vendored
View File

@ -148,8 +148,12 @@ struct btSoftBodyHelpers
static void getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, const btVector3& p, btVector4& bary);
static void getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& p, btVector4& bary);
static void interpolateBarycentricWeights(btSoftBody* psb);
static void extrapolateBarycentricWeights(btSoftBody* psb);
static void generateBoundaryFaces(btSoftBody* psb);
static void duplicateFaces(const char* filename, const btSoftBody* psb);

802
thirdparty/bullet/BulletSoftBody/btSoftBodyInternals.h vendored
View File

@ -18,7 +18,6 @@ subject to the following restrictions:
#define _BT_SOFT_BODY_INTERNALS_H
#include "btSoftBody.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btPolarDecomposition.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
@ -29,9 +28,10 @@ subject to the following restrictions:
#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
#include <string.h> //for memset
#include <cmath>
#include "poly34.h"
// Given a multibody link, a contact point and a contact direction, fill in the jacobian data needed to calculate the velocity change given an impulse in the contact direction
static void findJacobian(const btMultiBodyLinkCollider* multibodyLinkCol,
static SIMD_FORCE_INLINE void findJacobian(const btMultiBodyLinkCollider* multibodyLinkCol,
btMultiBodyJacobianData& jacobianData,
const btVector3& contact_point,
const btVector3& dir)
@ -44,7 +44,7 @@ static void findJacobian(const btMultiBodyLinkCollider* multibodyLinkCol,
multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, contact_point, dir, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m);
multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0], &jacobianData.m_deltaVelocitiesUnitImpulse[0], jacobianData.scratch_r, jacobianData.scratch_v);
}
static btVector3 generateUnitOrthogonalVector(const btVector3& u)
static SIMD_FORCE_INLINE btVector3 generateUnitOrthogonalVector(const btVector3& u)
{
btScalar ux = u.getX();
btScalar uy = u.getY();
@ -62,6 +62,571 @@ static btVector3 generateUnitOrthogonalVector(const btVector3& u)
v.normalize();
return v;
}
static SIMD_FORCE_INLINE bool proximityTest(const btVector3& x1, const btVector3& x2, const btVector3& x3, const btVector3& x4, const btVector3& normal, const btScalar& mrg, btVector3& bary)
{
btVector3 x43 = x4-x3;
if (std::abs(x43.dot(normal)) > mrg)
return false;
btVector3 x13 = x1-x3;
btVector3 x23 = x2-x3;
btScalar a11 = x13.length2();
btScalar a22 = x23.length2();
btScalar a12 = x13.dot(x23);
btScalar b1 = x13.dot(x43);
btScalar b2 = x23.dot(x43);
btScalar det = a11*a22 - a12*a12;
if (det < SIMD_EPSILON)
return false;
btScalar w1 = (b1*a22-b2*a12)/det;
btScalar w2 = (b2*a11-b1*a12)/det;
btScalar w3 = 1-w1-w2;
btScalar delta = mrg / std::sqrt(0.5*std::abs(x13.cross(x23).safeNorm()));
bary = btVector3(w1,w2,w3);
for (int i = 0; i < 3; ++i)
{
if (bary[i] < -delta || bary[i] > 1+delta)
return false;
}
return true;
}
static const int KDOP_COUNT = 13;
static btVector3 dop[KDOP_COUNT]={btVector3(1,0,0),
btVector3(0,1,0),
btVector3(0,0,1),
btVector3(1,1,0),
btVector3(1,0,1),
btVector3(0,1,1),
btVector3(1,-1,0),
btVector3(1,0,-1),
btVector3(0,1,-1),
btVector3(1,1,1),
btVector3(1,-1,1),
btVector3(1,1,-1),
btVector3(1,-1,-1)
};
static inline int getSign(const btVector3& n, const btVector3& x)
{
btScalar d = n.dot(x);
if (d>SIMD_EPSILON)
return 1;
if (d<-SIMD_EPSILON)
return -1;
return 0;
}
static SIMD_FORCE_INLINE bool hasSeparatingPlane(const btSoftBody::Face* face, const btSoftBody::Node* node, const btScalar& dt)
{
btVector3 hex[6] = {face->m_n[0]->m_x - node->m_x,
face->m_n[1]->m_x - node->m_x,
face->m_n[2]->m_x - node->m_x,
face->m_n[0]->m_x + dt*face->m_n[0]->m_v - node->m_x,
face->m_n[1]->m_x + dt*face->m_n[1]->m_v - node->m_x,
face->m_n[2]->m_x + dt*face->m_n[2]->m_v - node->m_x
};
btVector3 segment = dt*node->m_v;
for (int i = 0; i < KDOP_COUNT; ++i)
{
int s = getSign(dop[i], segment);
int j = 0;
for (; j < 6; ++j)
{
if (getSign(dop[i], hex[j]) == s)
break;
}
if (j == 6)
return true;
}
return false;
}
static SIMD_FORCE_INLINE bool nearZero(const btScalar& a)
{
return (a>-SAFE_EPSILON && a<SAFE_EPSILON);
}
static SIMD_FORCE_INLINE bool sameSign(const btScalar& a, const btScalar& b)
{
return (nearZero(a) || nearZero(b) || (a>SAFE_EPSILON && b>SAFE_EPSILON) || (a<-SAFE_EPSILON && b<-SAFE_EPSILON));
}
static SIMD_FORCE_INLINE bool diffSign(const btScalar& a, const btScalar& b)
{
return !sameSign(a, b);
}
inline btScalar evaluateBezier2(const btScalar &p0, const btScalar &p1, const btScalar &p2, const btScalar &t, const btScalar &s)
{
btScalar s2 = s*s;
btScalar t2 = t*t;
return p0*s2+p1*btScalar(2.0)*s*t+p2*t2;
}
inline btScalar evaluateBezier(const btScalar &p0, const btScalar &p1, const btScalar &p2, const btScalar &p3, const btScalar &t, const btScalar &s)
{
btScalar s2 = s*s;
btScalar s3 = s2*s;
btScalar t2 = t*t;
btScalar t3 = t2*t;
return p0*s3+p1*btScalar(3.0)*s2*t+p2*btScalar(3.0)*s*t2+p3*t3;
}
static SIMD_FORCE_INLINE bool getSigns(bool type_c, const btScalar& k0, const btScalar& k1, const btScalar& k2, const btScalar& k3, const btScalar& t0, const btScalar& t1, btScalar &lt0, btScalar &lt1)
{
if (sameSign(t0, t1)) {
lt0 = t0;
lt1 = t0;
return true;
}
if (type_c || diffSign(k0, k3)) {
btScalar ft = evaluateBezier(k0, k1, k2, k3, t0, -t1);
if (t0<-0)
ft = -ft;
if (sameSign(ft, k0)) {
lt0 = t1;
lt1 = t1;
}
else {
lt0 = t0;
lt1 = t0;
}
return true;
}
if (!type_c) {
btScalar ft = evaluateBezier(k0, k1, k2, k3, t0, -t1);
if (t0<-0)
ft = -ft;
if (diffSign(ft, k0)) {
lt0 = t0;
lt1 = t1;
return true;
}
btScalar fk = evaluateBezier2(k1-k0, k2-k1, k3-k2, t0, -t1);
if (sameSign(fk, k1-k0))
lt0 = lt1 = t1;
else
lt0 = lt1 = t0;
return true;
}
return false;
}
static SIMD_FORCE_INLINE void getBernsteinCoeff(const btSoftBody::Face* face, const btSoftBody::Node* node, const btScalar& dt, btScalar& k0, btScalar& k1, btScalar& k2, btScalar& k3)
{
const btVector3& n0 = face->m_n0;
const btVector3& n1 = face->m_n1;
btVector3 n_hat = n0 + n1 - face->m_vn;
btVector3 p0ma0 = node->m_x - face->m_n[0]->m_x;
btVector3 p1ma1 = node->m_q - face->m_n[0]->m_q;
k0 = (p0ma0).dot(n0) * 3.0;
k1 = (p0ma0).dot(n_hat) + (p1ma1).dot(n0);
k2 = (p1ma1).dot(n_hat) + (p0ma0).dot(n1);
k3 = (p1ma1).dot(n1) * 3.0;
}
static SIMD_FORCE_INLINE void polyDecomposition(const btScalar& k0, const btScalar& k1, const btScalar& k2, const btScalar& k3, const btScalar& j0, const btScalar& j1, const btScalar& j2, btScalar& u0, btScalar& u1, btScalar& v0, btScalar& v1)
{
btScalar denom = 4.0 * (j1-j2) * (j1-j0) + (j2-j0) * (j2-j0);
u0 = (2.0*(j1-j2)*(3.0*k1-2.0*k0-k3) - (j0-j2)*(3.0*k2-2.0*k3-k0)) / denom;
u1 = (2.0*(j1-j0)*(3.0*k2-2.0*k3-k0) - (j2-j0)*(3.0*k1-2.0*k0-k3)) / denom;
v0 = k0-u0*j0;
v1 = k3-u1*j2;
}
static SIMD_FORCE_INLINE bool rootFindingLemma(const btScalar& k0, const btScalar& k1, const btScalar& k2, const btScalar& k3)
{
btScalar u0, u1, v0, v1;
btScalar j0 = 3.0*(k1-k0);
btScalar j1 = 3.0*(k2-k1);
btScalar j2 = 3.0*(k3-k2);
polyDecomposition(k0,k1,k2,k3,j0,j1,j2,u0,u1,v0,v1);
if (sameSign(v0, v1))
{
btScalar Ypa = j0*(1.0-v0)*(1.0-v0) + 2.0*j1*v0*(1.0-v0) + j2*v0*v0; // Y'(v0)
if (sameSign(Ypa, j0))
{
return (diffSign(k0,v1));
}
}
return diffSign(k0,v0);
}
static SIMD_FORCE_INLINE void getJs(const btScalar& k0, const btScalar& k1, const btScalar& k2, const btScalar& k3, const btSoftBody::Node* a, const btSoftBody::Node* b, const btSoftBody::Node* c, const btSoftBody::Node* p, const btScalar& dt, btScalar& j0, btScalar& j1, btScalar& j2)
{
const btVector3& a0 = a->m_x;
const btVector3& b0 = b->m_x;
const btVector3& c0 = c->m_x;
const btVector3& va = a->m_v;
const btVector3& vb = b->m_v;
const btVector3& vc = c->m_v;
const btVector3 a1 = a0 + dt*va;
const btVector3 b1 = b0 + dt*vb;
const btVector3 c1 = c0 + dt*vc;
btVector3 n0 = (b0-a0).cross(c0-a0);
btVector3 n1 = (b1-a1).cross(c1-a1);
btVector3 n_hat = n0+n1 - dt*dt*(vb-va).cross(vc-va);
const btVector3& p0 = p->m_x;
const btVector3& vp = p->m_v;
btVector3 p1 = p0 + dt*vp;
btVector3 m0 = (b0-p0).cross(c0-p0);
btVector3 m1 = (b1-p1).cross(c1-p1);
btVector3 m_hat = m0+m1 - dt*dt*(vb-vp).cross(vc-vp);
btScalar l0 = m0.dot(n0);
btScalar l1 = 0.25 * (m0.dot(n_hat) + m_hat.dot(n0));
btScalar l2 = btScalar(1)/btScalar(6)*(m0.dot(n1) + m_hat.dot(n_hat) + m1.dot(n0));
btScalar l3 = 0.25 * (m_hat.dot(n1) + m1.dot(n_hat));
btScalar l4 = m1.dot(n1);
btScalar k1p = 0.25 * k0 + 0.75 * k1;
btScalar k2p = 0.5 * k1 + 0.5 * k2;
btScalar k3p = 0.75 * k2 + 0.25 * k3;
btScalar s0 = (l1 * k0 - l0 * k1p)*4.0;
btScalar s1 = (l2 * k0 - l0 * k2p)*2.0;
btScalar s2 = (l3 * k0 - l0 * k3p)*btScalar(4)/btScalar(3);
btScalar s3 = l4 * k0 - l0 * k3;
j0 = (s1*k0 - s0*k1) * 3.0;
j1 = (s2*k0 - s0*k2) * 1.5;
j2 = (s3*k0 - s0*k3);
}
static SIMD_FORCE_INLINE bool signDetermination1Internal(const btScalar& k0, const btScalar& k1, const btScalar& k2, const btScalar& k3, const btScalar& u0, const btScalar& u1, const btScalar& v0, const btScalar& v1)
{
btScalar Yu0 = k0*(1.0-u0)*(1.0-u0)*(1.0-u0) + 3.0*k1*u0*(1.0-u0)*(1.0-u0) + 3.0*k2*u0*u0*(1.0-u0) + k3*u0*u0*u0; // Y(u0)
btScalar Yv0 = k0*(1.0-v0)*(1.0-v0)*(1.0-v0) + 3.0*k1*v0*(1.0-v0)*(1.0-v0) + 3.0*k2*v0*v0*(1.0-v0) + k3*v0*v0*v0; // Y(v0)
btScalar sign_Ytp = (u0 > u1) ? Yu0 : -Yu0;
btScalar L = sameSign(sign_Ytp, k0) ? u1 : u0;
sign_Ytp = (v0 > v1) ? Yv0 : -Yv0;
btScalar K = (sameSign(sign_Ytp,k0)) ? v1 : v0;
return diffSign(L,K);
}
static SIMD_FORCE_INLINE bool signDetermination2Internal(const btScalar& k0, const btScalar& k1, const btScalar& k2, const btScalar& k3, const btScalar& j0, const btScalar& j1, const btScalar& j2, const btScalar& u0, const btScalar& u1, const btScalar& v0, const btScalar& v1)
{
btScalar Yu0 = k0*(1.0-u0)*(1.0-u0)*(1.0-u0) + 3.0*k1*u0*(1.0-u0)*(1.0-u0) + 3.0*k2*u0*u0*(1.0-u0) + k3*u0*u0*u0; // Y(u0)
btScalar sign_Ytp = (u0 > u1) ? Yu0 : -Yu0, L1, L2;
if (diffSign(sign_Ytp,k0))
{
L1 = u0;
L2 = u1;
}
else
{
btScalar Yp_u0 = j0*(1.0-u0)*(1.0-u0) + 2.0*j1*(1.0-u0)*u0 + j2*u0*u0;
if (sameSign(Yp_u0,j0))
{
L1 = u1;
L2 = u1;
}
else
{
L1 = u0;
L2 = u0;
}
}
btScalar Yv0 = k0*(1.0-v0)*(1.0-v0)*(1.0-v0) + 3.0*k1*v0*(1.0-v0)*(1.0-v0) + 3.0*k2*v0*v0*(1.0-v0) + k3*v0*v0*v0; // Y(uv0)
sign_Ytp = (v0 > v1) ? Yv0 : -Yv0;
btScalar K1, K2;
if (diffSign(sign_Ytp,k0))
{
K1 = v0;
K2 = v1;
}
else
{
btScalar Yp_v0 = j0*(1.0-v0)*(1.0-v0) + 2.0*j1*(1.0-v0)*v0 + j2*v0*v0;
if (sameSign(Yp_v0,j0))
{
K1 = v1;
K2 = v1;
}
else
{
K1 = v0;
K2 = v0;
}
}
return (diffSign(K1, L1) || diffSign(L2, K2));
}
static SIMD_FORCE_INLINE bool signDetermination1(const btScalar& k0, const btScalar& k1, const btScalar& k2, const btScalar& k3, const btSoftBody::Face* face, const btSoftBody::Node* node, const btScalar& dt)
{
btScalar j0, j1, j2, u0, u1, v0, v1;
// p1
getJs(k0,k1,k2,k3,face->m_n[0], face->m_n[1], face->m_n[2], node, dt, j0, j1, j2);
if (nearZero(j0+j2-j1*2.0))
{
btScalar lt0, lt1;
getSigns(true, k0, k1, k2, k3, j0, j2, lt0, lt1);
if (lt0 < -SAFE_EPSILON)
return false;
}
else
{
polyDecomposition(k0,k1,k2,k3,j0,j1,j2,u0,u1,v0,v1);
if (!signDetermination1Internal(k0,k1,k2,k3,u0,u1,v0,v1))
return false;
}
// p2
getJs(k0,k1,k2,k3,face->m_n[1], face->m_n[2], face->m_n[0], node, dt, j0, j1, j2);
if (nearZero(j0+j2-j1*2.0))
{
btScalar lt0, lt1;
getSigns(true, k0, k1, k2, k3, j0, j2, lt0, lt1);
if (lt0 < -SAFE_EPSILON)
return false;
}
else
{
polyDecomposition(k0,k1,k2,k3,j0,j1,j2,u0,u1,v0,v1);
if (!signDetermination1Internal(k0,k1,k2,k3,u0,u1,v0,v1))
return false;
}
// p3
getJs(k0,k1,k2,k3,face->m_n[2], face->m_n[0], face->m_n[1], node, dt, j0, j1, j2);
if (nearZero(j0+j2-j1*2.0))
{
btScalar lt0, lt1;
getSigns(true, k0, k1, k2, k3, j0, j2, lt0, lt1);
if (lt0 < -SAFE_EPSILON)
return false;
}
else
{
polyDecomposition(k0,k1,k2,k3,j0,j1,j2,u0,u1,v0,v1);
if (!signDetermination1Internal(k0,k1,k2,k3,u0,u1,v0,v1))
return false;
}
return true;
}
static SIMD_FORCE_INLINE bool signDetermination2(const btScalar& k0, const btScalar& k1, const btScalar& k2, const btScalar& k3, const btSoftBody::Face* face, const btSoftBody::Node* node, const btScalar& dt)
{
btScalar j0, j1, j2, u0, u1, v0, v1;
// p1
getJs(k0,k1,k2,k3,face->m_n[0], face->m_n[1], face->m_n[2], node, dt, j0, j1, j2);
if (nearZero(j0+j2-j1*2.0))
{
btScalar lt0, lt1;
bool bt0 = true, bt1=true;
getSigns(false, k0, k1, k2, k3, j0, j2, lt0, lt1);
if (lt0 < -SAFE_EPSILON)
bt0 = false;
if (lt1 < -SAFE_EPSILON)
bt1 = false;
if (!bt0 && !bt1)
return false;
}
else
{
polyDecomposition(k0,k1,k2,k3,j0,j1,j2,u0,u1,v0,v1);
if (!signDetermination2Internal(k0,k1,k2,k3,j0,j1,j2,u0,u1,v0,v1))
return false;
}
// p2
getJs(k0,k1,k2,k3,face->m_n[1], face->m_n[2], face->m_n[0], node, dt, j0, j1, j2);
if (nearZero(j0+j2-j1*2.0))
{
btScalar lt0, lt1;
bool bt0=true, bt1=true;
getSigns(false, k0, k1, k2, k3, j0, j2, lt0, lt1);
if (lt0 < -SAFE_EPSILON)
bt0 = false;
if (lt1 < -SAFE_EPSILON)
bt1 = false;
if (!bt0 && !bt1)
return false;
}
else
{
polyDecomposition(k0,k1,k2,k3,j0,j1,j2,u0,u1,v0,v1);
if (!signDetermination2Internal(k0,k1,k2,k3,j0,j1,j2,u0,u1,v0,v1))
return false;
}
// p3
getJs(k0,k1,k2,k3,face->m_n[2], face->m_n[0], face->m_n[1], node, dt, j0, j1, j2);
if (nearZero(j0+j2-j1*2.0))
{
btScalar lt0, lt1;
bool bt0=true, bt1=true;
getSigns(false, k0, k1, k2, k3, j0, j2, lt0, lt1);
if (lt0 < -SAFE_EPSILON)
bt0 = false;
if (lt1 < -SAFE_EPSILON)
bt1 = false;
if (!bt0 && !bt1)
return false;
}
else
{
polyDecomposition(k0,k1,k2,k3,j0,j1,j2,u0,u1,v0,v1);
if (!signDetermination2Internal(k0,k1,k2,k3,j0,j1,j2,u0,u1,v0,v1))
return false;
}
return true;
}
static SIMD_FORCE_INLINE bool coplanarAndInsideTest(const btScalar& k0, const btScalar& k1, const btScalar& k2, const btScalar& k3, const btSoftBody::Face* face, const btSoftBody::Node* node, const btScalar& dt)
{
// Coplanar test
if (diffSign(k1-k0, k3-k2))
{
// Case b:
if (sameSign(k0, k3) && !rootFindingLemma(k0,k1,k2,k3))
return false;
// inside test
return signDetermination2(k0, k1, k2, k3, face, node, dt);
}
else
{
// Case c:
if (sameSign(k0, k3))
return false;
// inside test
return signDetermination1(k0, k1, k2, k3, face, node, dt);
}
return false;
}
static SIMD_FORCE_INLINE bool conservativeCulling(const btScalar& k0, const btScalar& k1, const btScalar& k2, const btScalar& k3, const btScalar& mrg)
{
if (k0 > mrg && k1 > mrg && k2 > mrg && k3 > mrg)
return true;
if (k0 < -mrg && k1 < -mrg && k2 < -mrg && k3 < -mrg)
return true;
return false;
}
static SIMD_FORCE_INLINE bool bernsteinVFTest(const btScalar& k0, const btScalar& k1, const btScalar& k2, const btScalar& k3, const btScalar& mrg, const btSoftBody::Face* face, const btSoftBody::Node* node, const btScalar& dt)
{
if (conservativeCulling(k0, k1, k2, k3, mrg))
return false;
return coplanarAndInsideTest(k0, k1, k2, k3, face, node, dt);
}
static SIMD_FORCE_INLINE void deCasteljau(const btScalar& k0, const btScalar& k1, const btScalar& k2, const btScalar& k3, const btScalar& t0, btScalar& k10, btScalar& k20, btScalar& k30, btScalar& k21, btScalar& k12)
{
k10 = k0*(1.0-t0) + k1*t0;
btScalar k11 = k1*(1.0-t0) + k2*t0;
k12 = k2*(1.0-t0) + k3*t0;
k20 = k10*(1.0-t0) + k11*t0;
k21 = k11*(1.0-t0) + k12*t0;
k30 = k20*(1.0-t0) + k21*t0;
}
static SIMD_FORCE_INLINE bool bernsteinVFTest(const btSoftBody::Face* face, const btSoftBody::Node* node, const btScalar& dt, const btScalar& mrg)
{
btScalar k0, k1, k2, k3;
getBernsteinCoeff(face, node, dt, k0, k1, k2, k3);
if (conservativeCulling(k0, k1, k2, k3, mrg))
return false;
return true;
if (diffSign(k2-2.0*k1+k0, k3-2.0*k2+k1))
{
btScalar k10, k20, k30, k21, k12;
btScalar t0 = (k2-2.0*k1+k0)/(k0-3.0*k1+3.0*k2-k3);
deCasteljau(k0, k1, k2, k3, t0, k10, k20, k30, k21, k12);
return bernsteinVFTest(k0, k10, k20, k30, mrg, face, node, dt) || bernsteinVFTest(k30, k21, k12, k3, mrg, face, node, dt);
}
return coplanarAndInsideTest(k0, k1, k2, k3, face, node, dt);
}
static SIMD_FORCE_INLINE bool continuousCollisionDetection(const btSoftBody::Face* face, const btSoftBody::Node* node, const btScalar& dt, const btScalar& mrg, btVector3& bary)
{
if (hasSeparatingPlane(face, node, dt))
return false;
btVector3 x21 = face->m_n[1]->m_x - face->m_n[0]->m_x;
btVector3 x31 = face->m_n[2]->m_x - face->m_n[0]->m_x;
btVector3 x41 = node->m_x - face->m_n[0]->m_x;
btVector3 v21 = face->m_n[1]->m_v - face->m_n[0]->m_v;
btVector3 v31 = face->m_n[2]->m_v - face->m_n[0]->m_v;
btVector3 v41 = node->m_v - face->m_n[0]->m_v;
btVector3 a = x21.cross(x31);
btVector3 b = x21.cross(v31) + v21.cross(x31);
btVector3 c = v21.cross(v31);
btVector3 d = x41;
btVector3 e = v41;
btScalar a0 = a.dot(d);
btScalar a1 = a.dot(e) + b.dot(d);
btScalar a2 = c.dot(d) + b.dot(e);
btScalar a3 = c.dot(e);
btScalar eps = SAFE_EPSILON;
int num_roots = 0;
btScalar roots[3];
if (std::abs(a3) < eps)
{
// cubic term is zero
if (std::abs(a2) < eps)
{
if (std::abs(a1) < eps)
{
if (std::abs(a0) < eps)
{
num_roots = 2;
roots[0] = 0;
roots[1] = dt;
}
}
else
{
num_roots = 1;
roots[0] = -a0/a1;
}
}
else
{
num_roots = SolveP2(roots, a1/a2, a0/a2);
}
}
else
{
num_roots = SolveP3(roots, a2/a3, a1/a3, a0/a3);
}
// std::sort(roots, roots+num_roots);
if (num_roots > 1)
{
if (roots[0] > roots[1])
btSwap(roots[0], roots[1]);
}
if (num_roots > 2)
{
if (roots[0] > roots[2])
btSwap(roots[0], roots[2]);
if (roots[1] > roots[2])
btSwap(roots[1], roots[2]);
}
for (int r = 0; r < num_roots; ++r)
{
double root = roots[r];
if (root <= 0)
continue;
if (root > dt + SIMD_EPSILON)
return false;
btVector3 x1 = face->m_n[0]->m_x + root * face->m_n[0]->m_v;
btVector3 x2 = face->m_n[1]->m_x + root * face->m_n[1]->m_v;
btVector3 x3 = face->m_n[2]->m_x + root * face->m_n[2]->m_v;
btVector3 x4 = node->m_x + root * node->m_v;
btVector3 normal = (x2-x1).cross(x3-x1);
normal.safeNormalize();
if (proximityTest(x1, x2, x3, x4, normal, mrg, bary))
return true;
}
return false;
}
static SIMD_FORCE_INLINE bool bernsteinCCD(const btSoftBody::Face* face, const btSoftBody::Node* node, const btScalar& dt, const btScalar& mrg, btVector3& bary)
{
if (!bernsteinVFTest(face, node, dt, mrg))
return false;
if (!continuousCollisionDetection(face, node, dt, 1e-6, bary))
return false;
return true;
}
//
// btSymMatrix
//
@ -373,6 +938,26 @@ static inline btMatrix3x3 OuterProduct(const btScalar* v1,const btScalar* v2,con
return (m);
}
static inline btMatrix3x3 OuterProduct(const btVector3& v1,const btVector3& v2)
{
btMatrix3x3 m;
btScalar a11 = v1[0] * v2[0];
btScalar a12 = v1[0] * v2[1];
btScalar a13 = v1[0] * v2[2];
btScalar a21 = v1[1] * v2[0];
btScalar a22 = v1[1] * v2[1];
btScalar a23 = v1[1] * v2[2];
btScalar a31 = v1[2] * v2[0];
btScalar a32 = v1[2] * v2[1];
btScalar a33 = v1[2] * v2[2];
m[0] = btVector3(a11, a12, a13);
m[1] = btVector3(a21, a22, a23);
m[2] = btVector3(a31, a32, a33);
return (m);
}
//
static inline btMatrix3x3 Add(const btMatrix3x3& a,
@ -1070,8 +1655,8 @@ struct btSoftColliders
if (!n.m_battach)
{
// check for collision at x_{n+1}^* as well at x_n
if (psb->checkDeformableContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predict = */ true) || psb->checkDeformableContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predict = */ true))
// check for collision at x_{n+1}^*
if (psb->checkDeformableContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predict = */ true))
{
const btScalar ima = n.m_im;
// todo: collision between multibody and fixed deformable node will be missed.
@ -1159,7 +1744,6 @@ struct btSoftColliders
btSoftBody::Node* n0 = f.m_n[0];
btSoftBody::Node* n1 = f.m_n[1];
btSoftBody::Node* n2 = f.m_n[2];
const btScalar m = (n0->m_im > 0 && n1->m_im > 0 && n2->m_im > 0 )? dynmargin : stamargin;
btSoftBody::DeformableFaceRigidContact c;
btVector3 contact_point;
@ -1174,18 +1758,19 @@ struct btSoftColliders
if (ms > 0)
{
// resolve contact at x_n
psb->checkDeformableFaceContact(m_colObj1Wrap, f, contact_point, bary, m, c.m_cti, /*predict = */ false);
// psb->checkDeformableFaceContact(m_colObj1Wrap, f, contact_point, bary, m, c.m_cti, /*predict = */ false);
btSoftBody::sCti& cti = c.m_cti;
c.m_contactPoint = contact_point;
c.m_bary = bary;
// todo xuchenhan@: this is assuming mass of all vertices are the same. Need to modify if mass are different for distinct vertices
c.m_weights = btScalar(2)/(btScalar(1) + bary.length2()) * bary;
c.m_face = &f;
// friction is handled by the nodes to prevent sticking
// const btScalar fc = 0;
const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction();
// the effective inverse mass of the face as in https://graphics.stanford.edu/papers/cloth-sig02/cloth.pdf
ima = bary.getX()*c.m_weights.getX() * n0->m_im + bary.getY()*c.m_weights.getY() * n1->m_im + bary.getZ()*c.m_weights.getZ() * n2->m_im;
c.m_c2 = ima;
c.m_c3 = fc;
c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR;
@ -1316,19 +1901,11 @@ struct btSoftColliders
{
btSoftBody::Node* node = (btSoftBody::Node*)lnode->data;
btSoftBody::Face* face = (btSoftBody::Face*)lface->data;
btVector3 o = node->m_x;
btVector3 p;
btScalar d = SIMD_INFINITY;
ProjectOrigin(face->m_n[0]->m_x - o,
face->m_n[1]->m_x - o,
face->m_n[2]->m_x - o,
p, d);
const btScalar m = mrg + (o - node->m_q).safeNorm() * 2;
if (d < (m * m))
btVector3 bary;
if (proximityTest(face->m_n[0]->m_x, face->m_n[1]->m_x, face->m_n[2]->m_x, node->m_x, face->m_normal, mrg, bary))
{
const btSoftBody::Node* n[] = {face->m_n[0], face->m_n[1], face->m_n[2]};
const btVector3 w = BaryCoord(n[0]->m_x, n[1]->m_x, n[2]->m_x, p + o);
const btVector3 w = bary;
const btScalar ma = node->m_im;
btScalar mb = BaryEval(n[0]->m_im, n[1]->m_im, n[2]->m_im, w);
if ((n[0]->m_im <= 0) ||
@ -1341,20 +1918,14 @@ struct btSoftColliders
if (ms > 0)
{
btSoftBody::DeformableFaceNodeContact c;
if (useFaceNormal)
c.m_normal = face->m_normal;
else
c.m_normal = p / -btSqrt(d);
c.m_normal = face->m_normal;
if (!useFaceNormal && c.m_normal.dot(node->m_x - face->m_n[2]->m_x) < 0)
c.m_normal = -face->m_normal;
c.m_margin = mrg;
c.m_node = node;
c.m_face = face;
c.m_bary = w;
// todo xuchenhan@: this is assuming mass of all vertices are the same. Need to modify if mass are different for distinct vertices
c.m_weights = btScalar(2)/(btScalar(1) + w.length2()) * w;
c.m_friction = psb[0]->m_cfg.kDF * psb[1]->m_cfg.kDF;
// the effective inverse mass of the face as in https://graphics.stanford.edu/papers/cloth-sig02/cloth.pdf
c.m_imf = c.m_bary[0]*c.m_weights[0] * n[0]->m_im + c.m_bary[1]*c.m_weights[1] * n[1]->m_im + c.m_bary[2]*c.m_weights[2] * n[2]->m_im;
c.m_c0 = btScalar(1)/(ma + c.m_imf);
psb[0]->m_faceNodeContacts.push_back(c);
}
}
@ -1372,69 +1943,152 @@ struct btSoftColliders
void Process(const btDbvntNode* lface1,
const btDbvntNode* lface2)
{
btSoftBody::Face* f = (btSoftBody::Face*)lface1->data;
btSoftBody::Face* face = (btSoftBody::Face*)lface2->data;
btSoftBody::Face* f1 = (btSoftBody::Face*)lface1->data;
btSoftBody::Face* f2 = (btSoftBody::Face*)lface2->data;
if (f1 != f2)
{
Repel(f1, f2);
Repel(f2, f1);
}
}
void Repel(btSoftBody::Face* f1, btSoftBody::Face* f2)
{
//#define REPEL_NEIGHBOR 1
#ifndef REPEL_NEIGHBOR
for (int node_id = 0; node_id < 3; ++node_id)
{
btSoftBody::Node* node = f->m_n[node_id];
bool skip = false;
btSoftBody::Node* node = f1->m_n[node_id];
for (int i = 0; i < 3; ++i)
{
if (face->m_n[i] == node)
if (f2->m_n[i] == node)
return;
}
}
#endif
bool skip = false;
for (int node_id = 0; node_id < 3; ++node_id)
{
btSoftBody::Node* node = f1->m_n[node_id];
#ifdef REPEL_NEIGHBOR
for (int i = 0; i < 3; ++i)
{
if (f2->m_n[i] == node)
{
skip = true;
break;
}
}
if (skip)
continue;
btVector3 o = node->m_x;
btVector3 p;
btScalar d = SIMD_INFINITY;
ProjectOrigin(face->m_n[0]->m_x - o,
face->m_n[1]->m_x - o,
face->m_n[2]->m_x - o,
p, d);
const btScalar m = mrg + (o - node->m_q).safeNorm() * 2;
if (d < (m * m))
{
const btSoftBody::Node* n[] = {face->m_n[0], face->m_n[1], face->m_n[2]};
const btVector3 w = BaryCoord(n[0]->m_x, n[1]->m_x, n[2]->m_x, p + o);
const btScalar ma = node->m_im;
btScalar mb = BaryEval(n[0]->m_im, n[1]->m_im, n[2]->m_im, w);
if ((n[0]->m_im <= 0) ||
(n[1]->m_im <= 0) ||
(n[2]->m_im <= 0))
{
mb = 0;
}
const btScalar ms = ma + mb;
if (ms > 0)
{
btSoftBody::DeformableFaceNodeContact c;
if (useFaceNormal)
c.m_normal = face->m_normal;
else
c.m_normal = p / -btSqrt(d);
c.m_margin = mrg;
c.m_node = node;
c.m_face = face;
c.m_bary = w;
// todo xuchenhan@: this is assuming mass of all vertices are the same. Need to modify if mass are different for distinct vertices
c.m_weights = btScalar(2)/(btScalar(1) + w.length2()) * w;
c.m_friction = psb[0]->m_cfg.kDF * psb[1]->m_cfg.kDF;
// the effective inverse mass of the face as in https://graphics.stanford.edu/papers/cloth-sig02/cloth.pdf
c.m_imf = c.m_bary[0]*c.m_weights[0] * n[0]->m_im + c.m_bary[1]*c.m_weights[1] * n[1]->m_im + c.m_bary[2]*c.m_weights[2] * n[2]->m_im;
c.m_c0 = btScalar(1)/(ma + c.m_imf);
psb[0]->m_faceNodeContacts.push_back(c);
}
skip = false;
continue;
}
#endif
btSoftBody::Face* face = f2;
btVector3 bary;
if (!proximityTest(face->m_n[0]->m_x, face->m_n[1]->m_x, face->m_n[2]->m_x, node->m_x, face->m_normal, mrg, bary))
continue;
btSoftBody::DeformableFaceNodeContact c;
c.m_normal = face->m_normal;
if (!useFaceNormal && c.m_normal.dot(node->m_x - face->m_n[2]->m_x) < 0)
c.m_normal = -face->m_normal;
c.m_margin = mrg;
c.m_node = node;
c.m_face = face;
c.m_bary = bary;
c.m_friction = psb[0]->m_cfg.kDF * psb[1]->m_cfg.kDF;
psb[0]->m_faceNodeContacts.push_back(c);
}
}
btSoftBody* psb[2];
btScalar mrg;
bool useFaceNormal;
};
};
struct CollideCCD : btDbvt::ICollide
{
void Process(const btDbvtNode* lnode,
const btDbvtNode* lface)
{
btSoftBody::Node* node = (btSoftBody::Node*)lnode->data;
btSoftBody::Face* face = (btSoftBody::Face*)lface->data;
btVector3 bary;
if (bernsteinCCD(face, node, dt, SAFE_EPSILON, bary))
{
btSoftBody::DeformableFaceNodeContact c;
c.m_normal = face->m_normal;
if (!useFaceNormal && c.m_normal.dot(node->m_x - face->m_n[2]->m_x) < 0)
c.m_normal = -face->m_normal;
c.m_node = node;
c.m_face = face;
c.m_bary = bary;
c.m_friction = psb[0]->m_cfg.kDF * psb[1]->m_cfg.kDF;
psb[0]->m_faceNodeContacts.push_back(c);
}
}
void Process(const btDbvntNode* lface1,
const btDbvntNode* lface2)
{
btSoftBody::Face* f1 = (btSoftBody::Face*)lface1->data;
btSoftBody::Face* f2 = (btSoftBody::Face*)lface2->data;
if (f1 != f2)
{
Repel(f1, f2);
Repel(f2, f1);
}
}
void Repel(btSoftBody::Face* f1, btSoftBody::Face* f2)
{
//#define REPEL_NEIGHBOR 1
#ifndef REPEL_NEIGHBOR
for (int node_id = 0; node_id < 3; ++node_id)
{
btSoftBody::Node* node = f1->m_n[node_id];
for (int i = 0; i < 3; ++i)
{
if (f2->m_n[i] == node)
return;
}
}
#endif
bool skip = false;
for (int node_id = 0; node_id < 3; ++node_id)
{
btSoftBody::Node* node = f1->m_n[node_id];
#ifdef REPEL_NEIGHBOR
for (int i = 0; i < 3; ++i)
{
if (f2->m_n[i] == node)
{
skip = true;
break;
}
}
if (skip)
{
skip = false;
continue;
}
#endif
btSoftBody::Face* face = f2;
btVector3 bary;
if (bernsteinCCD(face, node, dt, SAFE_EPSILON, bary))
{
btSoftBody::DeformableFaceNodeContact c;
c.m_normal = face->m_normal;
if (!useFaceNormal && c.m_normal.dot(node->m_x - face->m_n[2]->m_x) < 0)
c.m_normal = -face->m_normal;
c.m_node = node;
c.m_face = face;
c.m_bary = bary;
c.m_friction = psb[0]->m_cfg.kDF * psb[1]->m_cfg.kDF;
psb[0]->m_faceNodeContacts.push_back(c);
}
}
}
btSoftBody* psb[2];
btScalar dt, mrg;
bool useFaceNormal;
};
};
#endif //_BT_SOFT_BODY_INTERNALS_H

3
thirdparty/bullet/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp vendored
View File

@ -48,9 +48,10 @@ btSoftRigidCollisionAlgorithm::~btSoftRigidCollisionAlgorithm()
}
#include <stdio.h>
#include "LinearMath/btQuickprof.h"
void btSoftRigidCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
{
BT_PROFILE("btSoftRigidCollisionAlgorithm::processCollision");
(void)dispatchInfo;
(void)resultOut;
//printf("btSoftRigidCollisionAlgorithm\n");

419
thirdparty/bullet/BulletSoftBody/poly34.cpp vendored Normal file
View File

@ -0,0 +1,419 @@
// poly34.cpp : solution of cubic and quartic equation
// (c) Khashin S.I. http://math.ivanovo.ac.ru/dalgebra/Khashin/index.html
// khash2 (at) gmail.com
// Thanks to Alexandr Rakhmanin <rakhmanin (at) gmail.com>
// public domain
//
#include <math.h>
#include "poly34.h" // solution of cubic and quartic equation
#define TwoPi 6.28318530717958648
const btScalar eps = SIMD_EPSILON;
//=============================================================================
// _root3, root3 from http://prografix.narod.ru
//=============================================================================
static SIMD_FORCE_INLINE btScalar _root3(btScalar x)
{
btScalar s = 1.;
while (x < 1.) {
x *= 8.;
s *= 0.5;
}
while (x > 8.) {
x *= 0.125;
s *= 2.;
}
btScalar r = 1.5;
r -= 1. / 3. * (r - x / (r * r));
r -= 1. / 3. * (r - x / (r * r));
r -= 1. / 3. * (r - x / (r * r));
r -= 1. / 3. * (r - x / (r * r));
r -= 1. / 3. * (r - x / (r * r));
r -= 1. / 3. * (r - x / (r * r));
return r * s;
}
btScalar SIMD_FORCE_INLINE root3(btScalar x)
{
if (x > 0)
return _root3(x);
else if (x < 0)
return -_root3(-x);
else
return 0.;
}
// x - array of size 2
// return 2: 2 real roots x[0], x[1]
// return 0: pair of complex roots: x[0]i*x[1]
int SolveP2(btScalar* x, btScalar a, btScalar b)
{ // solve equation x^2 + a*x + b = 0
btScalar D = 0.25 * a * a - b;
if (D >= 0) {
D = sqrt(D);
x[0] = -0.5 * a + D;
x[1] = -0.5 * a - D;
return 2;
}
x[0] = -0.5 * a;
x[1] = sqrt(-D);
return 0;
}
//---------------------------------------------------------------------------
// x - array of size 3
// In case 3 real roots: => x[0], x[1], x[2], return 3
// 2 real roots: x[0], x[1], return 2
// 1 real root : x[0], x[1] i*x[2], return 1
int SolveP3(btScalar* x, btScalar a, btScalar b, btScalar c)
{ // solve cubic equation x^3 + a*x^2 + b*x + c = 0
btScalar a2 = a * a;
btScalar q = (a2 - 3 * b) / 9;
if (q < 0)
q = eps;
btScalar r = (a * (2 * a2 - 9 * b) + 27 * c) / 54;
// equation x^3 + q*x + r = 0
btScalar r2 = r * r;
btScalar q3 = q * q * q;
btScalar A, B;
if (r2 <= (q3 + eps)) { //<<-- FIXED!
btScalar t = r / sqrt(q3);
if (t < -1)
t = -1;
if (t > 1)
t = 1;
t = acos(t);
a /= 3;
q = -2 * sqrt(q);
x[0] = q * cos(t / 3) - a;
x[1] = q * cos((t + TwoPi) / 3) - a;
x[2] = q * cos((t - TwoPi) / 3) - a;
return (3);
}
else {
//A =-pow(fabs(r)+sqrt(r2-q3),1./3);
A = -root3(fabs(r) + sqrt(r2 - q3));
if (r < 0)
A = -A;
B = (A == 0 ? 0 : q / A);
a /= 3;
x[0] = (A + B) - a;
x[1] = -0.5 * (A + B) - a;
x[2] = 0.5 * sqrt(3.) * (A - B);
if (fabs(x[2]) < eps) {
x[2] = x[1];
return (2);
}
return (1);
}
} // SolveP3(btScalar *x,btScalar a,btScalar b,btScalar c) {
//---------------------------------------------------------------------------
// a>=0!
void CSqrt(btScalar x, btScalar y, btScalar& a, btScalar& b) // returns: a+i*s = sqrt(x+i*y)
{
btScalar r = sqrt(x * x + y * y);
if (y == 0) {
r = sqrt(r);
if (x >= 0) {
a = r;
b = 0;
}
else {
a = 0;
b = r;
}
}
else { // y != 0
a = sqrt(0.5 * (x + r));
b = 0.5 * y / a;
}
}
//---------------------------------------------------------------------------
int SolveP4Bi(btScalar* x, btScalar b, btScalar d) // solve equation x^4 + b*x^2 + d = 0
{
btScalar D = b * b - 4 * d;
if (D >= 0) {
btScalar sD = sqrt(D);
btScalar x1 = (-b + sD) / 2;
btScalar x2 = (-b - sD) / 2; // x2 <= x1
if (x2 >= 0) // 0 <= x2 <= x1, 4 real roots
{
btScalar sx1 = sqrt(x1);
btScalar sx2 = sqrt(x2);
x[0] = -sx1;
x[1] = sx1;
x[2] = -sx2;
x[3] = sx2;
return 4;
}
if (x1 < 0) // x2 <= x1 < 0, two pair of imaginary roots
{
btScalar sx1 = sqrt(-x1);
btScalar sx2 = sqrt(-x2);
x[0] = 0;
x[1] = sx1;
x[2] = 0;
x[3] = sx2;
return 0;
}
// now x2 < 0 <= x1 , two real roots and one pair of imginary root
btScalar sx1 = sqrt(x1);
btScalar sx2 = sqrt(-x2);
x[0] = -sx1;
x[1] = sx1;
x[2] = 0;
x[3] = sx2;
return 2;
}
else { // if( D < 0 ), two pair of compex roots
btScalar sD2 = 0.5 * sqrt(-D);
CSqrt(-0.5 * b, sD2, x[0], x[1]);
CSqrt(-0.5 * b, -sD2, x[2], x[3]);
return 0;
} // if( D>=0 )
} // SolveP4Bi(btScalar *x, btScalar b, btScalar d) // solve equation x^4 + b*x^2 d
//---------------------------------------------------------------------------
#define SWAP(a, b) \
{ \
t = b; \
b = a; \
a = t; \
}
static void dblSort3(btScalar& a, btScalar& b, btScalar& c) // make: a <= b <= c
{
btScalar t;
if (a > b)
SWAP(a, b); // now a<=b
if (c < b) {
SWAP(b, c); // now a<=b, b<=c
if (a > b)
SWAP(a, b); // now a<=b
}
}
//---------------------------------------------------------------------------
int SolveP4De(btScalar* x, btScalar b, btScalar c, btScalar d) // solve equation x^4 + b*x^2 + c*x + d
{
//if( c==0 ) return SolveP4Bi(x,b,d); // After that, c!=0
if (fabs(c) < 1e-14 * (fabs(b) + fabs(d)))
return SolveP4Bi(x, b, d); // After that, c!=0
int res3 = SolveP3(x, 2 * b, b * b - 4 * d, -c * c); // solve resolvent
// by Viet theorem: x1*x2*x3=-c*c not equals to 0, so x1!=0, x2!=0, x3!=0
if (res3 > 1) // 3 real roots,
{
dblSort3(x[0], x[1], x[2]); // sort roots to x[0] <= x[1] <= x[2]
// Note: x[0]*x[1]*x[2]= c*c > 0
if (x[0] > 0) // all roots are positive
{
btScalar sz1 = sqrt(x[0]);
btScalar sz2 = sqrt(x[1]);
btScalar sz3 = sqrt(x[2]);
// Note: sz1*sz2*sz3= -c (and not equal to 0)
if (c > 0) {
x[0] = (-sz1 - sz2 - sz3) / 2;
x[1] = (-sz1 + sz2 + sz3) / 2;
x[2] = (+sz1 - sz2 + sz3) / 2;
x[3] = (+sz1 + sz2 - sz3) / 2;
return 4;
}
// now: c<0
x[0] = (-sz1 - sz2 + sz3) / 2;
x[1] = (-sz1 + sz2 - sz3) / 2;
x[2] = (+sz1 - sz2 - sz3) / 2;
x[3] = (+sz1 + sz2 + sz3) / 2;
return 4;
} // if( x[0] > 0) // all roots are positive
// now x[0] <= x[1] < 0, x[2] > 0
// two pair of comlex roots
btScalar sz1 = sqrt(-x[0]);
btScalar sz2 = sqrt(-x[1]);
btScalar sz3 = sqrt(x[2]);
if (c > 0) // sign = -1
{
x[0] = -sz3 / 2;
x[1] = (sz1 - sz2) / 2; // x[0]i*x[1]
x[2] = sz3 / 2;
x[3] = (-sz1 - sz2) / 2; // x[2]i*x[3]
return 0;
}
// now: c<0 , sign = +1
x[0] = sz3 / 2;
x[1] = (-sz1 + sz2) / 2;
x[2] = -sz3 / 2;
x[3] = (sz1 + sz2) / 2;
return 0;
} // if( res3>1 ) // 3 real roots,
// now resoventa have 1 real and pair of compex roots
// x[0] - real root, and x[0]>0,
// x[1]i*x[2] - complex roots,
// x[0] must be >=0. But one times x[0]=~ 1e-17, so:
if (x[0] < 0)
x[0] = 0;
btScalar sz1 = sqrt(x[0]);
btScalar szr, szi;
CSqrt(x[1], x[2], szr, szi); // (szr+i*szi)^2 = x[1]+i*x[2]
if (c > 0) // sign = -1
{
x[0] = -sz1 / 2 - szr; // 1st real root
x[1] = -sz1 / 2 + szr; // 2nd real root
x[2] = sz1 / 2;
x[3] = szi;
return 2;
}
// now: c<0 , sign = +1
x[0] = sz1 / 2 - szr; // 1st real root
x[1] = sz1 / 2 + szr; // 2nd real root
x[2] = -sz1 / 2;
x[3] = szi;
return 2;
} // SolveP4De(btScalar *x, btScalar b, btScalar c, btScalar d) // solve equation x^4 + b*x^2 + c*x + d
//-----------------------------------------------------------------------------
btScalar N4Step(btScalar x, btScalar a, btScalar b, btScalar c, btScalar d) // one Newton step for x^4 + a*x^3 + b*x^2 + c*x + d
{
btScalar fxs = ((4 * x + 3 * a) * x + 2 * b) * x + c; // f'(x)
if (fxs == 0)
return x; //return 1e99; <<-- FIXED!
btScalar fx = (((x + a) * x + b) * x + c) * x + d; // f(x)
return x - fx / fxs;
}
//-----------------------------------------------------------------------------
// x - array of size 4
// return 4: 4 real roots x[0], x[1], x[2], x[3], possible multiple roots
// return 2: 2 real roots x[0], x[1] and complex x[2]i*x[3],
// return 0: two pair of complex roots: x[0]i*x[1], x[2]i*x[3],
int SolveP4(btScalar* x, btScalar a, btScalar b, btScalar c, btScalar d)
{ // solve equation x^4 + a*x^3 + b*x^2 + c*x + d by Dekart-Euler method
// move to a=0:
btScalar d1 = d + 0.25 * a * (0.25 * b * a - 3. / 64 * a * a * a - c);
btScalar c1 = c + 0.5 * a * (0.25 * a * a - b);
btScalar b1 = b - 0.375 * a * a;
int res = SolveP4De(x, b1, c1, d1);
if (res == 4) {
x[0] -= a / 4;
x[1] -= a / 4;
x[2] -= a / 4;
x[3] -= a / 4;
}
else if (res == 2) {
x[0] -= a / 4;
x[1] -= a / 4;
x[2] -= a / 4;
}
else {
x[0] -= a / 4;
x[2] -= a / 4;
}
// one Newton step for each real root:
if (res > 0) {
x[0] = N4Step(x[0], a, b, c, d);
x[1] = N4Step(x[1], a, b, c, d);
}
if (res > 2) {
x[2] = N4Step(x[2], a, b, c, d);
x[3] = N4Step(x[3], a, b, c, d);
}
return res;
}
//-----------------------------------------------------------------------------
#define F5(t) (((((t + a) * t + b) * t + c) * t + d) * t + e)
//-----------------------------------------------------------------------------
btScalar SolveP5_1(btScalar a, btScalar b, btScalar c, btScalar d, btScalar e) // return real root of x^5 + a*x^4 + b*x^3 + c*x^2 + d*x + e = 0
{
int cnt;
if (fabs(e) < eps)
return 0;
btScalar brd = fabs(a); // brd - border of real roots
if (fabs(b) > brd)
brd = fabs(b);
if (fabs(c) > brd)
brd = fabs(c);
if (fabs(d) > brd)
brd = fabs(d);
if (fabs(e) > brd)
brd = fabs(e);
brd++; // brd - border of real roots
btScalar x0, f0; // less than root
btScalar x1, f1; // greater than root
btScalar x2, f2, f2s; // next values, f(x2), f'(x2)
btScalar dx = 0;
if (e < 0) {
x0 = 0;
x1 = brd;
f0 = e;
f1 = F5(x1);
x2 = 0.01 * brd;
} // positive root
else {
x0 = -brd;
x1 = 0;
f0 = F5(x0);
f1 = e;
x2 = -0.01 * brd;
} // negative root
if (fabs(f0) < eps)
return x0;
if (fabs(f1) < eps)
return x1;
// now x0<x1, f(x0)<0, f(x1)>0
// Firstly 10 bisections
for (cnt = 0; cnt < 10; cnt++) {
x2 = (x0 + x1) / 2; // next point
//x2 = x0 - f0*(x1 - x0) / (f1 - f0); // next point
f2 = F5(x2); // f(x2)
if (fabs(f2) < eps)
return x2;
if (f2 > 0) {
x1 = x2;
f1 = f2;
}
else {
x0 = x2;
f0 = f2;
}
}
// At each step:
// x0<x1, f(x0)<0, f(x1)>0.
// x2 - next value
// we hope that x0 < x2 < x1, but not necessarily
do {
if (cnt++ > 50)
break;
if (x2 <= x0 || x2 >= x1)
x2 = (x0 + x1) / 2; // now x0 < x2 < x1
f2 = F5(x2); // f(x2)
if (fabs(f2) < eps)
return x2;
if (f2 > 0) {
x1 = x2;
f1 = f2;
}
else {
x0 = x2;
f0 = f2;
}
f2s = (((5 * x2 + 4 * a) * x2 + 3 * b) * x2 + 2 * c) * x2 + d; // f'(x2)
if (fabs(f2s) < eps) {
x2 = 1e99;
continue;
}
dx = f2 / f2s;
x2 -= dx;
} while (fabs(dx) > eps);
return x2;
} // SolveP5_1(btScalar a,btScalar b,btScalar c,btScalar d,btScalar e) // return real root of x^5 + a*x^4 + b*x^3 + c*x^2 + d*x + e = 0
//-----------------------------------------------------------------------------
int SolveP5(btScalar* x, btScalar a, btScalar b, btScalar c, btScalar d, btScalar e) // solve equation x^5 + a*x^4 + b*x^3 + c*x^2 + d*x + e = 0
{
btScalar r = x[0] = SolveP5_1(a, b, c, d, e);
btScalar a1 = a + r, b1 = b + r * a1, c1 = c + r * b1, d1 = d + r * c1;
return 1 + SolveP4(x + 1, a1, b1, c1, d1);
} // SolveP5(btScalar *x,btScalar a,btScalar b,btScalar c,btScalar d,btScalar e) // solve equation x^5 + a*x^4 + b*x^3 + c*x^2 + d*x + e = 0
//-----------------------------------------------------------------------------

38
thirdparty/bullet/BulletSoftBody/poly34.h vendored Normal file
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@ -0,0 +1,38 @@
// poly34.h : solution of cubic and quartic equation
// (c) Khashin S.I. http://math.ivanovo.ac.ru/dalgebra/Khashin/index.html
// khash2 (at) gmail.com
#ifndef POLY_34
#define POLY_34
#include "LinearMath/btScalar.h"
// x - array of size 2
// return 2: 2 real roots x[0], x[1]
// return 0: pair of complex roots: x[0]i*x[1]
int SolveP2(btScalar* x, btScalar a, btScalar b); // solve equation x^2 + a*x + b = 0
// x - array of size 3
// return 3: 3 real roots x[0], x[1], x[2]
// return 1: 1 real root x[0] and pair of complex roots: x[1]i*x[2]
int SolveP3(btScalar* x, btScalar a, btScalar b, btScalar c); // solve cubic equation x^3 + a*x^2 + b*x + c = 0
// x - array of size 4
// return 4: 4 real roots x[0], x[1], x[2], x[3], possible multiple roots
// return 2: 2 real roots x[0], x[1] and complex x[2]i*x[3],
// return 0: two pair of complex roots: x[0]i*x[1], x[2]i*x[3],
int SolveP4(btScalar* x, btScalar a, btScalar b, btScalar c, btScalar d); // solve equation x^4 + a*x^3 + b*x^2 + c*x + d = 0 by Dekart-Euler method
// x - array of size 5
// return 5: 5 real roots x[0], x[1], x[2], x[3], x[4], possible multiple roots
// return 3: 3 real roots x[0], x[1], x[2] and complex x[3]i*x[4],
// return 1: 1 real root x[0] and two pair of complex roots: x[1]i*x[2], x[3]i*x[4],
int SolveP5(btScalar* x, btScalar a, btScalar b, btScalar c, btScalar d, btScalar e); // solve equation x^5 + a*x^4 + b*x^3 + c*x^2 + d*x + e = 0
//-----------------------------------------------------------------------------
// And some additional functions for internal use.
// Your may remove this definitions from here
int SolveP4Bi(btScalar* x, btScalar b, btScalar d); // solve equation x^4 + b*x^2 + d = 0
int SolveP4De(btScalar* x, btScalar b, btScalar c, btScalar d); // solve equation x^4 + b*x^2 + c*x + d = 0
void CSqrt(btScalar x, btScalar y, btScalar& a, btScalar& b); // returns as a+i*s, sqrt(x+i*y)
btScalar N4Step(btScalar x, btScalar a, btScalar b, btScalar c, btScalar d); // one Newton step for x^4 + a*x^3 + b*x^2 + c*x + d
btScalar SolveP5_1(btScalar a, btScalar b, btScalar c, btScalar d, btScalar e); // return real root of x^5 + a*x^4 + b*x^3 + c*x^2 + d*x + e = 0
#endif

4
thirdparty/bullet/LinearMath/btImplicitQRSVD.h vendored
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@ -41,7 +41,7 @@
#ifndef btImplicitQRSVD_h
#define btImplicitQRSVD_h
#include <limits>
#include "btMatrix3x3.h"
class btMatrix2x2
{
@ -753,7 +753,7 @@ inline int singularValueDecomposition(const btMatrix3x3& A,
btMatrix3x3& V,
btScalar tol = 128*std::numeric_limits<btScalar>::epsilon())
{
using std::fabs;
// using std::fabs;
btMatrix3x3 B = A;
U.setIdentity();
V.setIdentity();

16
thirdparty/bullet/LinearMath/btMatrix3x3.h vendored
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@ -26,10 +26,12 @@ subject to the following restrictions:
#endif
#if defined(BT_USE_SSE)
#define v0000 (_mm_set_ps(0.0f, 0.0f, 0.0f, 0.0f))
#define v1000 (_mm_set_ps(0.0f, 0.0f, 0.0f, 1.0f))
#define v0100 (_mm_set_ps(0.0f, 0.0f, 1.0f, 0.0f))
#define v0010 (_mm_set_ps(0.0f, 1.0f, 0.0f, 0.0f))
#elif defined(BT_USE_NEON)
const btSimdFloat4 ATTRIBUTE_ALIGNED16(v0000) = {0.0f, 0.0f, 0.0f, 0.0f};
const btSimdFloat4 ATTRIBUTE_ALIGNED16(v1000) = {1.0f, 0.0f, 0.0f, 0.0f};
const btSimdFloat4 ATTRIBUTE_ALIGNED16(v0100) = {0.0f, 1.0f, 0.0f, 0.0f};
const btSimdFloat4 ATTRIBUTE_ALIGNED16(v0010) = {0.0f, 0.0f, 1.0f, 0.0f};
@ -330,6 +332,20 @@ public:
btScalar(0.0), btScalar(0.0), btScalar(1.0));
#endif
}
/**@brief Set the matrix to the identity */
void setZero()
{
#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
m_el[0] = v0000;
m_el[1] = v0000;
m_el[2] = v0000;
#else
setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0),
btScalar(0.0), btScalar(0.0), btScalar(0.0),
btScalar(0.0), btScalar(0.0), btScalar(0.0));
#endif
}
static const btMatrix3x3& getIdentity()
{

3
thirdparty/bullet/LinearMath/btMatrixX.h vendored
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@ -346,10 +346,9 @@ struct btMatrixX
T dotProd = 0;
{
{
int r = rows();
int c = cols();
for (int k = 0; k < cols(); k++)
for (int k = 0; k < c; k++)
{
T w = (*this)(i, k);
if (other(k, j) != 0.f)

83
thirdparty/bullet/LinearMath/btModifiedGramSchmidt.h vendored Normal file
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@ -0,0 +1,83 @@
//
// btModifiedGramSchmidt.h
// LinearMath
//
// Created by Xuchen Han on 4/4/20.
//
#ifndef btModifiedGramSchmidt_h
#define btModifiedGramSchmidt_h
#include "btReducedVector.h"
#include "btAlignedObjectArray.h"
#include <iostream>
#include <cmath>
template<class TV>
class btModifiedGramSchmidt
{
public:
btAlignedObjectArray<TV> m_in;
btAlignedObjectArray<TV> m_out;
btModifiedGramSchmidt(const btAlignedObjectArray<TV>& vecs): m_in(vecs)
{
m_out.resize(0);
}
void solve()
{
m_out.resize(m_in.size());
for (int i = 0; i < m_in.size(); ++i)
{
// printf("========= starting %d ==========\n", i);
TV v(m_in[i]);
// v.print();
for (int j = 0; j < i; ++j)
{
v = v - v.proj(m_out[j]);
// v.print();
}
v.normalize();
m_out[i] = v;
// v.print();
}
}
void test()
{
std::cout << SIMD_EPSILON << std::endl;
printf("=======inputs=========\n");
for (int i = 0; i < m_out.size(); ++i)
{
m_in[i].print();
}
printf("=======output=========\n");
for (int i = 0; i < m_out.size(); ++i)
{
m_out[i].print();
}
btScalar eps = SIMD_EPSILON;
for (int i = 0; i < m_out.size(); ++i)
{
for (int j = 0; j < m_out.size(); ++j)
{
if (i == j)
{
if (std::abs(1.0-m_out[i].dot(m_out[j])) > eps)// && std::abs(m_out[i].dot(m_out[j])) > eps)
{
printf("vec[%d] is not unit, norm squared = %f\n", i,m_out[i].dot(m_out[j]));
}
}
else
{
if (std::abs(m_out[i].dot(m_out[j])) > eps)
{
printf("vec[%d] and vec[%d] is not orthogonal, dot product = %f\n", i, j, m_out[i].dot(m_out[j]));
}
}
}
}
}
};
template class btModifiedGramSchmidt<btReducedVector>;
#endif /* btModifiedGramSchmidt_h */

170
thirdparty/bullet/LinearMath/btReducedVector.cpp vendored Normal file
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@ -0,0 +1,170 @@
//
// btReducedVector.cpp
// LinearMath
//
// Created by Xuchen Han on 4/4/20.
//
#include <stdio.h>
#include "btReducedVector.h"
#include <cmath>
// returns the projection of this onto other
btReducedVector btReducedVector::proj(const btReducedVector& other) const
{
btReducedVector ret(m_sz);
btScalar other_length2 = other.length2();
if (other_length2 < SIMD_EPSILON)
{
return ret;
}
return other*(this->dot(other))/other_length2;
}
void btReducedVector::normalize()
{
if (this->length2() < SIMD_EPSILON)
{
m_indices.clear();
m_vecs.clear();
return;
}
*this /= std::sqrt(this->length2());
}
bool btReducedVector::testAdd() const
{
int sz = 5;
btAlignedObjectArray<int> id1;
id1.push_back(1);
id1.push_back(3);
btAlignedObjectArray<btVector3> v1;
v1.push_back(btVector3(1,0,1));
v1.push_back(btVector3(3,1,5));
btAlignedObjectArray<int> id2;
id2.push_back(2);
id2.push_back(3);
id2.push_back(5);
btAlignedObjectArray<btVector3> v2;
v2.push_back(btVector3(2,3,1));
v2.push_back(btVector3(3,4,9));
v2.push_back(btVector3(0,4,0));
btAlignedObjectArray<int> id3;
id3.push_back(1);
id3.push_back(2);
id3.push_back(3);
id3.push_back(5);
btAlignedObjectArray<btVector3> v3;
v3.push_back(btVector3(1,0,1));
v3.push_back(btVector3(2,3,1));
v3.push_back(btVector3(6,5,14));
v3.push_back(btVector3(0,4,0));
btReducedVector rv1(sz, id1, v1);
btReducedVector rv2(sz, id2, v2);
btReducedVector ans(sz, id3, v3);
bool ret = ((ans == rv1+rv2) && (ans == rv2+rv1));
if (!ret)
printf("btReducedVector testAdd failed\n");
return ret;
}
bool btReducedVector::testMinus() const
{
int sz = 5;
btAlignedObjectArray<int> id1;
id1.push_back(1);
id1.push_back(3);
btAlignedObjectArray<btVector3> v1;
v1.push_back(btVector3(1,0,1));
v1.push_back(btVector3(3,1,5));
btAlignedObjectArray<int> id2;
id2.push_back(2);
id2.push_back(3);
id2.push_back(5);
btAlignedObjectArray<btVector3> v2;
v2.push_back(btVector3(2,3,1));
v2.push_back(btVector3(3,4,9));
v2.push_back(btVector3(0,4,0));
btAlignedObjectArray<int> id3;
id3.push_back(1);
id3.push_back(2);
id3.push_back(3);
id3.push_back(5);
btAlignedObjectArray<btVector3> v3;
v3.push_back(btVector3(-1,-0,-1));
v3.push_back(btVector3(2,3,1));
v3.push_back(btVector3(0,3,4));
v3.push_back(btVector3(0,4,0));
btReducedVector rv1(sz, id1, v1);
btReducedVector rv2(sz, id2, v2);
btReducedVector ans(sz, id3, v3);
bool ret = (ans == rv2-rv1);
if (!ret)
printf("btReducedVector testMinus failed\n");
return ret;
}
bool btReducedVector::testDot() const
{
int sz = 5;
btAlignedObjectArray<int> id1;
id1.push_back(1);
id1.push_back(3);
btAlignedObjectArray<btVector3> v1;
v1.push_back(btVector3(1,0,1));
v1.push_back(btVector3(3,1,5));
btAlignedObjectArray<int> id2;
id2.push_back(2);
id2.push_back(3);
id2.push_back(5);
btAlignedObjectArray<btVector3> v2;
v2.push_back(btVector3(2,3,1));
v2.push_back(btVector3(3,4,9));
v2.push_back(btVector3(0,4,0));
btReducedVector rv1(sz, id1, v1);
btReducedVector rv2(sz, id2, v2);
btScalar ans = 58;
bool ret = (ans == rv2.dot(rv1) && ans == rv1.dot(rv2));
ans = 14+16+9+16+81;
ret &= (ans==rv2.dot(rv2));
if (!ret)
printf("btReducedVector testDot failed\n");
return ret;
}
bool btReducedVector::testMultiply() const
{
int sz = 5;
btAlignedObjectArray<int> id1;
id1.push_back(1);
id1.push_back(3);
btAlignedObjectArray<btVector3> v1;
v1.push_back(btVector3(1,0,1));
v1.push_back(btVector3(3,1,5));
btScalar s = 2;
btReducedVector rv1(sz, id1, v1);
btAlignedObjectArray<int> id2;
id2.push_back(1);
id2.push_back(3);
btAlignedObjectArray<btVector3> v2;
v2.push_back(btVector3(2,0,2));
v2.push_back(btVector3(6,2,10));
btReducedVector ans(sz, id2, v2);
bool ret = (ans == rv1*s);
if (!ret)
printf("btReducedVector testMultiply failed\n");
return ret;
}
void btReducedVector::test() const
{
bool ans = testAdd() && testMinus() && testDot() && testMultiply();
if (ans)
{
printf("All tests passed\n");
}
else
{
printf("Tests failed\n");
}
}

320
thirdparty/bullet/LinearMath/btReducedVector.h vendored Normal file
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@ -0,0 +1,320 @@
//
// btReducedVectors.h
// BulletLinearMath
//
// Created by Xuchen Han on 4/4/20.
//
#ifndef btReducedVectors_h
#define btReducedVectors_h
#include "btVector3.h"
#include "btMatrix3x3.h"
#include "btAlignedObjectArray.h"
#include <stdio.h>
#include <vector>
#include <algorithm>
struct TwoInts
{
int a,b;
};
inline bool operator<(const TwoInts& A, const TwoInts& B)
{
return A.b < B.b;
}
// A helper vector type used for CG projections
class btReducedVector
{
public:
btAlignedObjectArray<int> m_indices;
btAlignedObjectArray<btVector3> m_vecs;
int m_sz; // all m_indices value < m_sz
public:
btReducedVector():m_sz(0)
{
m_indices.resize(0);
m_vecs.resize(0);
m_indices.clear();
m_vecs.clear();
}
btReducedVector(int sz): m_sz(sz)
{
m_indices.resize(0);
m_vecs.resize(0);
m_indices.clear();
m_vecs.clear();
}
btReducedVector(int sz, const btAlignedObjectArray<int>& indices, const btAlignedObjectArray<btVector3>& vecs): m_sz(sz), m_indices(indices), m_vecs(vecs)
{
}
void simplify()
{
btAlignedObjectArray<int> old_indices(m_indices);
btAlignedObjectArray<btVector3> old_vecs(m_vecs);
m_indices.resize(0);
m_vecs.resize(0);
m_indices.clear();
m_vecs.clear();
for (int i = 0; i < old_indices.size(); ++i)
{
if (old_vecs[i].length2() > SIMD_EPSILON)
{
m_indices.push_back(old_indices[i]);
m_vecs.push_back(old_vecs[i]);
}
}
}
btReducedVector operator+(const btReducedVector& other)
{
btReducedVector ret(m_sz);
int i=0, j=0;
while (i < m_indices.size() && j < other.m_indices.size())
{
if (m_indices[i] < other.m_indices[j])
{
ret.m_indices.push_back(m_indices[i]);
ret.m_vecs.push_back(m_vecs[i]);
++i;
}
else if (m_indices[i] > other.m_indices[j])
{
ret.m_indices.push_back(other.m_indices[j]);
ret.m_vecs.push_back(other.m_vecs[j]);
++j;
}
else
{
ret.m_indices.push_back(other.m_indices[j]);
ret.m_vecs.push_back(m_vecs[i] + other.m_vecs[j]);
++i; ++j;
}
}
while (i < m_indices.size())
{
ret.m_indices.push_back(m_indices[i]);
ret.m_vecs.push_back(m_vecs[i]);
++i;
}
while (j < other.m_indices.size())
{
ret.m_indices.push_back(other.m_indices[j]);
ret.m_vecs.push_back(other.m_vecs[j]);
++j;
}
ret.simplify();
return ret;
}
btReducedVector operator-()
{
btReducedVector ret(m_sz);
for (int i = 0; i < m_indices.size(); ++i)
{
ret.m_indices.push_back(m_indices[i]);
ret.m_vecs.push_back(-m_vecs[i]);
}
ret.simplify();
return ret;
}
btReducedVector operator-(const btReducedVector& other)
{
btReducedVector ret(m_sz);
int i=0, j=0;
while (i < m_indices.size() && j < other.m_indices.size())
{
if (m_indices[i] < other.m_indices[j])
{
ret.m_indices.push_back(m_indices[i]);
ret.m_vecs.push_back(m_vecs[i]);
++i;
}
else if (m_indices[i] > other.m_indices[j])
{
ret.m_indices.push_back(other.m_indices[j]);
ret.m_vecs.push_back(-other.m_vecs[j]);
++j;
}
else
{
ret.m_indices.push_back(other.m_indices[j]);
ret.m_vecs.push_back(m_vecs[i] - other.m_vecs[j]);
++i; ++j;
}
}
while (i < m_indices.size())
{
ret.m_indices.push_back(m_indices[i]);
ret.m_vecs.push_back(m_vecs[i]);
++i;
}
while (j < other.m_indices.size())
{
ret.m_indices.push_back(other.m_indices[j]);
ret.m_vecs.push_back(-other.m_vecs[j]);
++j;
}
ret.simplify();
return ret;
}
bool operator==(const btReducedVector& other) const
{
if (m_sz != other.m_sz)
return false;
if (m_indices.size() != other.m_indices.size())
return false;
for (int i = 0; i < m_indices.size(); ++i)
{
if (m_indices[i] != other.m_indices[i] || m_vecs[i] != other.m_vecs[i])
{
return false;
}
}
return true;
}
bool operator!=(const btReducedVector& other) const
{
return !(*this == other);
}
btReducedVector& operator=(const btReducedVector& other)
{
if (this == &other)
{
return *this;
}
m_sz = other.m_sz;
m_indices.copyFromArray(other.m_indices);
m_vecs.copyFromArray(other.m_vecs);
return *this;
}
btScalar dot(const btReducedVector& other) const
{
btScalar ret = 0;
int j = 0;
for (int i = 0; i < m_indices.size(); ++i)
{
while (j < other.m_indices.size() && other.m_indices[j] < m_indices[i])
{
++j;
}
if (j < other.m_indices.size() && other.m_indices[j] == m_indices[i])
{
ret += m_vecs[i].dot(other.m_vecs[j]);
// ++j;
}
}
return ret;
}
btScalar dot(const btAlignedObjectArray<btVector3>& other) const
{
btScalar ret = 0;
for (int i = 0; i < m_indices.size(); ++i)
{
ret += m_vecs[i].dot(other[m_indices[i]]);
}
return ret;
}
btScalar length2() const
{
return this->dot(*this);
}
void normalize();
// returns the projection of this onto other
btReducedVector proj(const btReducedVector& other) const;
bool testAdd() const;
bool testMinus() const;
bool testDot() const;
bool testMultiply() const;
void test() const;
void print() const
{
for (int i = 0; i < m_indices.size(); ++i)
{
printf("%d: (%f, %f, %f)/", m_indices[i], m_vecs[i][0],m_vecs[i][1],m_vecs[i][2]);
}
printf("\n");
}
void sort()
{
std::vector<TwoInts> tuples;
for (int i = 0; i < m_indices.size(); ++i)
{
TwoInts ti;
ti.a = i;
ti.b = m_indices[i];
tuples.push_back(ti);
}
std::sort(tuples.begin(), tuples.end());
btAlignedObjectArray<int> new_indices;
btAlignedObjectArray<btVector3> new_vecs;
for (int i = 0; i < tuples.size(); ++i)
{
new_indices.push_back(tuples[i].b);
new_vecs.push_back(m_vecs[tuples[i].a]);
}
m_indices = new_indices;
m_vecs = new_vecs;
}
};
SIMD_FORCE_INLINE btReducedVector operator*(const btReducedVector& v, btScalar s)
{
btReducedVector ret(v.m_sz);
for (int i = 0; i < v.m_indices.size(); ++i)
{
ret.m_indices.push_back(v.m_indices[i]);
ret.m_vecs.push_back(s*v.m_vecs[i]);
}
ret.simplify();
return ret;
}
SIMD_FORCE_INLINE btReducedVector operator*(btScalar s, const btReducedVector& v)
{
return v*s;
}
SIMD_FORCE_INLINE btReducedVector operator/(const btReducedVector& v, btScalar s)
{
return v * (1.0/s);
}
SIMD_FORCE_INLINE btReducedVector& operator/=(btReducedVector& v, btScalar s)
{
v = v/s;
return v;
}
SIMD_FORCE_INLINE btReducedVector& operator+=(btReducedVector& v1, const btReducedVector& v2)
{
v1 = v1+v2;
return v1;
}
SIMD_FORCE_INLINE btReducedVector& operator-=(btReducedVector& v1, const btReducedVector& v2)
{
v1 = v1-v2;
return v1;
}
#endif /* btReducedVectors_h */

1
thirdparty/bullet/btBulletCollisionAll.cpp vendored
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@ -23,6 +23,7 @@
#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp"
#include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp"
#include "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp"
#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp"
#include "BulletCollision/CollisionDispatch/btCollisionObject.cpp"

1
thirdparty/bullet/btLinearMathAll.cpp vendored
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@ -8,6 +8,7 @@
#include "LinearMath/btConvexHullComputer.cpp"
#include "LinearMath/btQuickprof.cpp"
#include "LinearMath/btThreads.cpp"
#include "LinearMath/btReducedVector.cpp"
#include "LinearMath/TaskScheduler/btTaskScheduler.cpp"
#include "LinearMath/TaskScheduler/btThreadSupportPosix.cpp"
#include "LinearMath/TaskScheduler/btThreadSupportWin32.cpp"