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-rw-r--r--src/BulletSoftBody/btSoftBody.cpp292
1 files changed, 178 insertions, 114 deletions
diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp
index 58796a88d..86a48bf62 100644
--- a/src/BulletSoftBody/btSoftBody.cpp
+++ b/src/BulletSoftBody/btSoftBody.cpp
@@ -110,6 +110,7 @@ void btSoftBody::initDefaults()
m_windVelocity = btVector3(0, 0, 0);
m_restLengthScale = btScalar(1.0);
+ m_dampingCoefficient = 1;
}
//
@@ -1757,115 +1758,115 @@ void btSoftBody::setSolver(eSolverPresets::_ preset)
}
}
-//
void btSoftBody::predictMotion(btScalar dt)
{
- int i, ni;
-
- /* Update */
- if (m_bUpdateRtCst)
- {
- m_bUpdateRtCst = false;
- updateConstants();
- m_fdbvt.clear();
- if (m_cfg.collisions & fCollision::VF_SS)
- {
- initializeFaceTree();
- }
- }
-
- /* Prepare */
- m_sst.sdt = dt * m_cfg.timescale;
- m_sst.isdt = 1 / m_sst.sdt;
- m_sst.velmrg = m_sst.sdt * 3;
- m_sst.radmrg = getCollisionShape()->getMargin();
- m_sst.updmrg = m_sst.radmrg * (btScalar)0.25;
- /* Forces */
- addVelocity(m_worldInfo->m_gravity * m_sst.sdt);
- applyForces();
- /* Integrate */
- for (i = 0, ni = m_nodes.size(); i < ni; ++i)
- {
- Node& n = m_nodes[i];
- n.m_q = n.m_x;
- btVector3 deltaV = n.m_f * n.m_im * m_sst.sdt;
- {
- btScalar maxDisplacement = m_worldInfo->m_maxDisplacement;
- btScalar clampDeltaV = maxDisplacement / m_sst.sdt;
- for (int c = 0; c < 3; c++)
- {
- if (deltaV[c] > clampDeltaV)
- {
- deltaV[c] = clampDeltaV;
- }
- if (deltaV[c] < -clampDeltaV)
- {
- deltaV[c] = -clampDeltaV;
- }
- }
- }
- n.m_v += deltaV;
- n.m_x += n.m_v * m_sst.sdt;
- n.m_f = btVector3(0, 0, 0);
- }
- /* Clusters */
- updateClusters();
- /* Bounds */
- updateBounds();
- /* Nodes */
- ATTRIBUTE_ALIGNED16(btDbvtVolume)
- vol;
- for (i = 0, ni = m_nodes.size(); i < ni; ++i)
- {
- Node& n = m_nodes[i];
- vol = btDbvtVolume::FromCR(n.m_x, m_sst.radmrg);
- m_ndbvt.update(n.m_leaf,
- vol,
- n.m_v * m_sst.velmrg,
- m_sst.updmrg);
- }
- /* Faces */
- if (!m_fdbvt.empty())
- {
- for (int i = 0; i < m_faces.size(); ++i)
- {
- Face& f = m_faces[i];
- const btVector3 v = (f.m_n[0]->m_v +
- f.m_n[1]->m_v +
- f.m_n[2]->m_v) /
- 3;
- vol = VolumeOf(f, m_sst.radmrg);
- m_fdbvt.update(f.m_leaf,
- vol,
- v * m_sst.velmrg,
- m_sst.updmrg);
- }
- }
- /* Pose */
- updatePose();
- /* Match */
- if (m_pose.m_bframe && (m_cfg.kMT > 0))
- {
- const btMatrix3x3 posetrs = m_pose.m_rot;
- for (int i = 0, ni = m_nodes.size(); i < ni; ++i)
- {
- Node& n = m_nodes[i];
- if (n.m_im > 0)
- {
- const btVector3 x = posetrs * m_pose.m_pos[i] + m_pose.m_com;
- n.m_x = Lerp(n.m_x, x, m_cfg.kMT);
- }
- }
- }
- /* Clear contacts */
- m_rcontacts.resize(0);
- m_scontacts.resize(0);
- /* Optimize dbvt's */
- m_ndbvt.optimizeIncremental(1);
- m_fdbvt.optimizeIncremental(1);
- m_cdbvt.optimizeIncremental(1);
+ int i, ni;
+
+ /* Update */
+ if (m_bUpdateRtCst)
+ {
+ m_bUpdateRtCst = false;
+ updateConstants();
+ m_fdbvt.clear();
+ if (m_cfg.collisions & fCollision::VF_SS)
+ {
+ initializeFaceTree();
+ }
+ }
+
+ /* Prepare */
+ m_sst.sdt = dt * m_cfg.timescale;
+ m_sst.isdt = 1 / m_sst.sdt;
+ m_sst.velmrg = m_sst.sdt * 3;
+ m_sst.radmrg = getCollisionShape()->getMargin();
+ m_sst.updmrg = m_sst.radmrg * (btScalar)0.25;
+ /* Forces */
+ addVelocity(m_worldInfo->m_gravity * m_sst.sdt);
+ applyForces();
+ /* Integrate */
+ for (i = 0, ni = m_nodes.size(); i < ni; ++i)
+ {
+ Node& n = m_nodes[i];
+ n.m_q = n.m_x;
+ btVector3 deltaV = n.m_f * n.m_im * m_sst.sdt;
+ {
+ btScalar maxDisplacement = m_worldInfo->m_maxDisplacement;
+ btScalar clampDeltaV = maxDisplacement / m_sst.sdt;
+ for (int c = 0; c < 3; c++)
+ {
+ if (deltaV[c] > clampDeltaV)
+ {
+ deltaV[c] = clampDeltaV;
+ }
+ if (deltaV[c] < -clampDeltaV)
+ {
+ deltaV[c] = -clampDeltaV;
+ }
+ }
+ }
+ n.m_v += deltaV;
+ n.m_x += n.m_v * m_sst.sdt;
+ n.m_f = btVector3(0, 0, 0);
+ }
+ /* Clusters */
+ updateClusters();
+ /* Bounds */
+ updateBounds();
+ /* Nodes */
+ ATTRIBUTE_ALIGNED16(btDbvtVolume)
+ vol;
+ for (i = 0, ni = m_nodes.size(); i < ni; ++i)
+ {
+ Node& n = m_nodes[i];
+ vol = btDbvtVolume::FromCR(n.m_x, m_sst.radmrg);
+ m_ndbvt.update(n.m_leaf,
+ vol,
+ n.m_v * m_sst.velmrg,
+ m_sst.updmrg);
+ }
+ /* Faces */
+ if (!m_fdbvt.empty())
+ {
+ for (int i = 0; i < m_faces.size(); ++i)
+ {
+ Face& f = m_faces[i];
+ const btVector3 v = (f.m_n[0]->m_v +
+ f.m_n[1]->m_v +
+ f.m_n[2]->m_v) /
+ 3;
+ vol = VolumeOf(f, m_sst.radmrg);
+ m_fdbvt.update(f.m_leaf,
+ vol,
+ v * m_sst.velmrg,
+ m_sst.updmrg);
+ }
+ }
+ /* Pose */
+ updatePose();
+ /* Match */
+ if (m_pose.m_bframe && (m_cfg.kMT > 0))
+ {
+ const btMatrix3x3 posetrs = m_pose.m_rot;
+ for (int i = 0, ni = m_nodes.size(); i < ni; ++i)
+ {
+ Node& n = m_nodes[i];
+ if (n.m_im > 0)
+ {
+ const btVector3 x = posetrs * m_pose.m_pos[i] + m_pose.m_com;
+ n.m_x = Lerp(n.m_x, x, m_cfg.kMT);
+ }
+ }
+ }
+ /* Clear contacts */
+ m_rcontacts.resize(0);
+ m_scontacts.resize(0);
+ /* Optimize dbvt's */
+ m_ndbvt.optimizeIncremental(1);
+ m_fdbvt.optimizeIncremental(1);
+ m_cdbvt.optimizeIncremental(1);
}
+
//
void btSoftBody::solveConstraints()
{
@@ -2261,18 +2262,45 @@ btVector3 btSoftBody::evaluateCom() const
return (com);
}
-//
bool btSoftBody::checkContact(const btCollisionObjectWrapper* colObjWrap,
+ const btVector3& x,
+ btScalar margin,
+ btSoftBody::sCti& cti) const
+{
+ btVector3 nrm;
+ const btCollisionShape* shp = colObjWrap->getCollisionShape();
+ // const btRigidBody *tmpRigid = btRigidBody::upcast(colObjWrap->getCollisionObject());
+ //const btTransform &wtr = tmpRigid ? tmpRigid->getWorldTransform() : colObjWrap->getWorldTransform();
+ const btTransform& wtr = colObjWrap->getWorldTransform();
+ //todo: check which transform is needed here
+
+ btScalar dst =
+ m_worldInfo->m_sparsesdf.Evaluate(
+ wtr.invXform(x),
+ shp,
+ nrm,
+ margin);
+ if (dst < 0)
+ {
+ cti.m_colObj = colObjWrap->getCollisionObject();
+ cti.m_normal = wtr.getBasis() * nrm;
+ cti.m_offset = -btDot(cti.m_normal, x - cti.m_normal * dst);
+ return (true);
+ }
+ return (false);
+}
+//
+bool btSoftBody::checkDeformableContact(const btCollisionObjectWrapper* colObjWrap,
const btVector3& x,
btScalar margin,
- btSoftBody::sCti& cti) const
+ btSoftBody::sCti& cti, bool predict) const
{
btVector3 nrm;
const btCollisionShape* shp = colObjWrap->getCollisionShape();
- // const btRigidBody *tmpRigid = btRigidBody::upcast(colObjWrap->getCollisionObject());
- //const btTransform &wtr = tmpRigid ? tmpRigid->getWorldTransform() : colObjWrap->getWorldTransform();
- const btTransform& wtr = colObjWrap->getWorldTransform();
- //todo: check which transform is needed here
+ 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
+ const btTransform &wtr = (predict) ? tmpCollisionObj->getInterpolationWorldTransform() : colObjWrap->getWorldTransform();
btScalar dst =
m_worldInfo->m_sparsesdf.Evaluate(
@@ -2280,13 +2308,14 @@ bool btSoftBody::checkContact(const btCollisionObjectWrapper* colObjWrap,
shp,
nrm,
margin);
- if (dst < 0)
+ if (!predict)
{
cti.m_colObj = colObjWrap->getCollisionObject();
cti.m_normal = wtr.getBasis() * nrm;
- cti.m_offset = -btDot(cti.m_normal, x - cti.m_normal * dst);
- return (true);
+ cti.m_offset = dst;
}
+ if (dst < 0)
+ return true;
return (false);
}
@@ -2774,6 +2803,14 @@ void btSoftBody::dampClusters()
}
}
+void btSoftBody::setSpringStiffness(btScalar k)
+{
+ for (int i = 0; i < m_links.size(); ++i)
+ {
+ m_links[i].Feature::m_material->m_kLST = k;
+ }
+}
+
//
void btSoftBody::Joint::Prepare(btScalar dt, int)
{
@@ -3252,6 +3289,33 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap
collider.ProcessColObj(this, pcoWrap);
}
break;
+ case fCollision::SDF_RD:
+ {
+ btSoftColliders::CollideSDF_RD docollide;
+ btRigidBody* prb1 = (btRigidBody*)btRigidBody::upcast(pcoWrap->getCollisionObject());
+ btTransform wtr = pcoWrap->getWorldTransform();
+
+ const btTransform ctr = pcoWrap->getWorldTransform();
+ const btScalar timemargin = (wtr.getOrigin() - ctr.getOrigin()).length();
+ const btScalar basemargin = getCollisionShape()->getMargin();
+ btVector3 mins;
+ btVector3 maxs;
+ ATTRIBUTE_ALIGNED16(btDbvtVolume)
+ volume;
+ pcoWrap->getCollisionShape()->getAabb(pcoWrap->getWorldTransform(),
+ mins,
+ maxs);
+ volume = btDbvtVolume::FromMM(mins, maxs);
+ volume.Expand(btVector3(basemargin, basemargin, basemargin));
+ docollide.psb = this;
+ docollide.m_colObj1Wrap = pcoWrap;
+ docollide.m_rigidBody = prb1;
+
+ docollide.dynmargin = basemargin + timemargin;
+ docollide.stamargin = basemargin;
+ m_ndbvt.collideTV(m_ndbvt.m_root, volume, docollide);
+ }
+ break;
}
}
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