b7901c773c
Stop include Bullet headers using `-isystem` for GCC/Clang as it misleads SCons into not properly rebuilding all files when headers change. This means we also need to make sure Bullet builds without warning, and current version fares fairly well, there were just a couple to fix (patch included). Increase minimum version for distro packages to 2.90 (this was never released as the "next" version after 2.89 was 3.05... but that covers it too).
100 lines
4.2 KiB
C++
100 lines
4.2 KiB
C++
/*
|
|
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_CONTACT_PROJECTION_H
|
|
#define BT_CONTACT_PROJECTION_H
|
|
#include "btCGProjection.h"
|
|
#include "btSoftBody.h"
|
|
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
|
|
#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;
|
|
|
|
// 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
|
|
btAlignedObjectArray<btAlignedObjectArray<btDeformableNodeRigidContactConstraint> > m_nodeRigidConstraints;
|
|
// map from node index to face rigid constraint
|
|
btAlignedObjectArray<btAlignedObjectArray<btDeformableFaceRigidContactConstraint> > m_faceRigidConstraints;
|
|
// map from node index to deformable constraint
|
|
btAlignedObjectArray<btAlignedObjectArray<btDeformableFaceNodeContactConstraint> > m_deformableConstraints;
|
|
// map from node index to node anchor constraint
|
|
btAlignedObjectArray<btAlignedObjectArray<btDeformableNodeAnchorConstraint> > m_nodeAnchorConstraints;
|
|
|
|
bool m_useStrainLimiting;
|
|
|
|
btDeformableContactProjection(btAlignedObjectArray<btSoftBody*>& softBodies)
|
|
: m_softBodies(softBodies)
|
|
{
|
|
}
|
|
|
|
virtual ~btDeformableContactProjection()
|
|
{
|
|
}
|
|
|
|
// apply the constraints to the rhs of the linear solve
|
|
virtual void project(TVStack& x);
|
|
|
|
// add friction force to the rhs of the linear solve
|
|
virtual void applyDynamicFriction(TVStack& f);
|
|
|
|
// update and solve the constraints
|
|
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(const btContactSolverInfo& infoGlobal);
|
|
|
|
// Set up projections for each vertex by adding the projection direction to
|
|
virtual void setProjection();
|
|
|
|
virtual void reinitialize(bool nodeUpdated);
|
|
|
|
btScalar solveSplitImpulse(btCollisionObject** deformableBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal);
|
|
|
|
virtual void setLagrangeMultiplier();
|
|
|
|
void checkConstraints(const TVStack& x);
|
|
};
|
|
#endif /* btDeformableContactProjection_h */
|