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path: root/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp
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Diffstat (limited to 'extern/bullet2/src/BulletSoftBody/btSoftBody.cpp')
-rw-r--r--extern/bullet2/src/BulletSoftBody/btSoftBody.cpp220
1 files changed, 160 insertions, 60 deletions
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp b/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp
index 9c06841801c..e8c8fdb6402 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp
@@ -105,12 +105,12 @@ void btSoftBody::initDefaults()
/* Collision shape */
///for now, create a collision shape internally
m_collisionShape = new btSoftBodyCollisionShape(this);
- m_collisionShape->setMargin(0.25);
+ m_collisionShape->setMargin(0.25f);
m_initialWorldTransform.setIdentity();
m_windVelocity = btVector3(0,0,0);
-
+ m_restLengthScale = btScalar(1.0);
}
//
@@ -460,8 +460,8 @@ void btSoftBody::addAeroForceToNode(const btVector3& windVelocity,int nodeInde
const btScalar dt = m_sst.sdt;
const btScalar kLF = m_cfg.kLF;
const btScalar kDG = m_cfg.kDG;
- const btScalar kPR = m_cfg.kPR;
- const btScalar kVC = m_cfg.kVC;
+ //const btScalar kPR = m_cfg.kPR;
+ //const btScalar kVC = m_cfg.kVC;
const bool as_lift = kLF>0;
const bool as_drag = kDG>0;
const bool as_aero = as_lift || as_drag;
@@ -501,10 +501,22 @@ void btSoftBody::addAeroForceToNode(const btVector3& windVelocity,int nodeInde
fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm);
// Check angle of attack
- // cos(10º) = 0.98480
+ // cos(10º) = 0.98480
if ( 0 < n_dot_v && n_dot_v < 0.98480f)
fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f-n_dot_v*n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm));
+ // Check if the velocity change resulted by aero drag force exceeds the current velocity of the node.
+ btVector3 del_v_by_fDrag = fDrag*n.m_im*m_sst.sdt;
+ btScalar del_v_by_fDrag_len2 = del_v_by_fDrag.length2();
+ btScalar v_len2 = n.m_v.length2();
+
+ if (del_v_by_fDrag_len2 >= v_len2 && del_v_by_fDrag_len2 > 0)
+ {
+ btScalar del_v_by_fDrag_len = del_v_by_fDrag.length();
+ btScalar v_len = n.m_v.length();
+ fDrag *= btScalar(0.8)*(v_len / del_v_by_fDrag_len);
+ }
+
n.m_f += fDrag;
n.m_f += fLift;
}
@@ -535,8 +547,8 @@ void btSoftBody::addAeroForceToFace(const btVector3& windVelocity,int faceInde
const btScalar dt = m_sst.sdt;
const btScalar kLF = m_cfg.kLF;
const btScalar kDG = m_cfg.kDG;
- const btScalar kPR = m_cfg.kPR;
- const btScalar kVC = m_cfg.kVC;
+// const btScalar kPR = m_cfg.kPR;
+// const btScalar kVC = m_cfg.kVC;
const bool as_lift = kLF>0;
const bool as_drag = kDG>0;
const bool as_aero = as_lift || as_drag;
@@ -575,7 +587,7 @@ void btSoftBody::addAeroForceToFace(const btVector3& windVelocity,int faceInde
fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm);
// Check angle of attack
- // cos(10º) = 0.98480
+ // cos(10º) = 0.98480
if ( 0 < n_dot_v && n_dot_v < 0.98480f)
fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f-n_dot_v*n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm));
@@ -586,6 +598,18 @@ void btSoftBody::addAeroForceToFace(const btVector3& windVelocity,int faceInde
{
if (f.m_n[j]->m_im>0)
{
+ // Check if the velocity change resulted by aero drag force exceeds the current velocity of the node.
+ btVector3 del_v_by_fDrag = fDrag*f.m_n[j]->m_im*m_sst.sdt;
+ btScalar del_v_by_fDrag_len2 = del_v_by_fDrag.length2();
+ btScalar v_len2 = f.m_n[j]->m_v.length2();
+
+ if (del_v_by_fDrag_len2 >= v_len2 && del_v_by_fDrag_len2 > 0)
+ {
+ btScalar del_v_by_fDrag_len = del_v_by_fDrag.length();
+ btScalar v_len = f.m_n[j]->m_v.length();
+ fDrag *= btScalar(0.8)*(v_len / del_v_by_fDrag_len);
+ }
+
f.m_n[j]->m_f += fDrag;
f.m_n[j]->m_f += fLift;
}
@@ -817,6 +841,27 @@ void btSoftBody::scale(const btVector3& scl)
}
//
+btScalar btSoftBody::getRestLengthScale()
+{
+ return m_restLengthScale;
+}
+
+//
+void btSoftBody::setRestLengthScale(btScalar restLengthScale)
+{
+ for(int i=0, ni=m_links.size(); i<ni; ++i)
+ {
+ Link& l=m_links[i];
+ l.m_rl = l.m_rl / m_restLengthScale * restLengthScale;
+ l.m_c1 = l.m_rl*l.m_rl;
+ }
+ m_restLengthScale = restLengthScale;
+
+ if (getActivationState() == ISLAND_SLEEPING)
+ activate();
+}
+
+//
void btSoftBody::setPose(bool bvolume,bool bframe)
{
m_pose.m_bvolume = bvolume;
@@ -863,9 +908,20 @@ void btSoftBody::setPose(bool bvolume,bool bframe)
m_pose.m_aqq[2]+=mq.z()*q;
}
m_pose.m_aqq=m_pose.m_aqq.inverse();
+
updateConstants();
}
+void btSoftBody::resetLinkRestLengths()
+{
+ for(int i=0, ni=m_links.size();i<ni;++i)
+ {
+ Link& l = m_links[i];
+ l.m_rl = (l.m_n[0]->m_x-l.m_n[1]->m_x).length();
+ l.m_c1 = l.m_rl*l.m_rl;
+ }
+}
+
//
btScalar btSoftBody::getVolume() const
{
@@ -1388,12 +1444,12 @@ void btSoftBody::refine(ImplicitFn* ifn,btScalar accurary,bool cut)
m=mc*f;
}
else
- { a.m_im/=0.5;m=1/a.m_im; }
+ { a.m_im/=0.5f;m=1/a.m_im; }
}
else
{
if(b.m_im>0)
- { b.m_im/=0.5;m=1/b.m_im; }
+ { b.m_im/=0.5f;m=1/b.m_im; }
else
m=0;
}
@@ -1473,7 +1529,7 @@ void btSoftBody::refine(ImplicitFn* ifn,btScalar accurary,bool cut)
{
const btVector3 v=m_nodes[i].m_v;
btScalar m=getMass(i);
- if(m>0) { m*=0.5;m_nodes[i].m_im/=0.5; }
+ if(m>0) { m*=0.5f;m_nodes[i].m_im/=0.5f; }
appendNode(x,m);
cnodes[i]=m_nodes.size()-1;
m_nodes[cnodes[i]].m_v=v;
@@ -1587,7 +1643,7 @@ bool btSoftBody::cutLink(int node0,int node1,btScalar position)
{
bool done=false;
int i,ni;
- const btVector3 d=m_nodes[node0].m_x-m_nodes[node1].m_x;
+// const btVector3 d=m_nodes[node0].m_x-m_nodes[node1].m_x;
const btVector3 x=Lerp(m_nodes[node0].m_x,m_nodes[node1].m_x,position);
const btVector3 v=Lerp(m_nodes[node0].m_v,m_nodes[node1].m_v,position);
const btScalar m=1;
@@ -2171,15 +2227,18 @@ btVector3 btSoftBody::evaluateCom() const
}
//
-bool btSoftBody::checkContact( btCollisionObject* colObj,
+bool btSoftBody::checkContact( const btCollisionObjectWrapper* colObjWrap,
const btVector3& x,
btScalar margin,
btSoftBody::sCti& cti) const
{
btVector3 nrm;
- btCollisionShape *shp = colObj->getCollisionShape();
- btRigidBody *tmpRigid = btRigidBody::upcast(colObj);
- const btTransform &wtr = tmpRigid ? tmpRigid->getWorldTransform() : colObj->getWorldTransform();
+ 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),
@@ -2188,7 +2247,7 @@ bool btSoftBody::checkContact( btCollisionObject* colObj,
margin);
if(dst<0)
{
- cti.m_colObj = colObj;
+ 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);
@@ -2304,51 +2363,93 @@ void btSoftBody::updatePose()
}
//
-void btSoftBody::updateConstants()
+void btSoftBody::updateArea(bool averageArea)
{
int i,ni;
- /* Links */
- for(i=0,ni=m_links.size();i<ni;++i)
- {
- Link& l=m_links[i];
- Material& m=*l.m_material;
- l.m_rl = (l.m_n[0]->m_x-l.m_n[1]->m_x).length();
- l.m_c0 = (l.m_n[0]->m_im+l.m_n[1]->m_im)/m.m_kLST;
- l.m_c1 = l.m_rl*l.m_rl;
- }
- /* Faces */
+ /* Face area */
for(i=0,ni=m_faces.size();i<ni;++i)
{
Face& f=m_faces[i];
f.m_ra = AreaOf(f.m_n[0]->m_x,f.m_n[1]->m_x,f.m_n[2]->m_x);
}
- /* Area's */
- btAlignedObjectArray<int> counts;
- counts.resize(m_nodes.size(),0);
- for(i=0,ni=m_nodes.size();i<ni;++i)
+
+ /* Node area */
+
+ if (averageArea)
{
- m_nodes[i].m_area = 0;
+ btAlignedObjectArray<int> counts;
+ counts.resize(m_nodes.size(),0);
+ for(i=0,ni=m_nodes.size();i<ni;++i)
+ {
+ m_nodes[i].m_area = 0;
+ }
+ for(i=0,ni=m_faces.size();i<ni;++i)
+ {
+ btSoftBody::Face& f=m_faces[i];
+ for(int j=0;j<3;++j)
+ {
+ const int index=(int)(f.m_n[j]-&m_nodes[0]);
+ counts[index]++;
+ f.m_n[j]->m_area+=btFabs(f.m_ra);
+ }
+ }
+ for(i=0,ni=m_nodes.size();i<ni;++i)
+ {
+ if(counts[i]>0)
+ m_nodes[i].m_area/=(btScalar)counts[i];
+ else
+ m_nodes[i].m_area=0;
+ }
}
- for(i=0,ni=m_faces.size();i<ni;++i)
+ else
{
- btSoftBody::Face& f=m_faces[i];
- for(int j=0;j<3;++j)
+ // initialize node area as zero
+ for(i=0,ni=m_nodes.size();i<ni;++i)
+ {
+ m_nodes[i].m_area=0;
+ }
+
+ for(i=0,ni=m_faces.size();i<ni;++i)
{
- const int index=(int)(f.m_n[j]-&m_nodes[0]);
- counts[index]++;
- f.m_n[j]->m_area+=btFabs(f.m_ra);
+ btSoftBody::Face& f=m_faces[i];
+
+ for(int j=0;j<3;++j)
+ {
+ f.m_n[j]->m_area += f.m_ra;
+ }
+ }
+
+ for(i=0,ni=m_nodes.size();i<ni;++i)
+ {
+ m_nodes[i].m_area *= 0.3333333f;
}
}
- for(i=0,ni=m_nodes.size();i<ni;++i)
+}
+
+
+void btSoftBody::updateLinkConstants()
+{
+ int i,ni;
+
+ /* Links */
+ for(i=0,ni=m_links.size();i<ni;++i)
{
- if(counts[i]>0)
- m_nodes[i].m_area/=(btScalar)counts[i];
- else
- m_nodes[i].m_area=0;
+ Link& l=m_links[i];
+ Material& m=*l.m_material;
+ l.m_c0 = (l.m_n[0]->m_im+l.m_n[1]->m_im)/m.m_kLST;
}
}
+void btSoftBody::updateConstants()
+{
+ resetLinkRestLengths();
+ updateLinkConstants();
+ updateArea();
+}
+
+
+
//
void btSoftBody::initializeClusters()
{
@@ -2817,7 +2918,7 @@ void btSoftBody::applyForces()
{
BT_PROFILE("SoftBody applyForces");
- const btScalar dt = m_sst.sdt;
+// const btScalar dt = m_sst.sdt;
const btScalar kLF = m_cfg.kLF;
const btScalar kDG = m_cfg.kDG;
const btScalar kPR = m_cfg.kPR;
@@ -2828,10 +2929,10 @@ void btSoftBody::applyForces()
const bool as_volume = kVC>0;
const bool as_aero = as_lift ||
as_drag ;
- const bool as_vaero = as_aero &&
- (m_cfg.aeromodel < btSoftBody::eAeroModel::F_TwoSided);
- const bool as_faero = as_aero &&
- (m_cfg.aeromodel >= btSoftBody::eAeroModel::F_TwoSided);
+ //const bool as_vaero = as_aero &&
+ // (m_cfg.aeromodel < btSoftBody::eAeroModel::F_TwoSided);
+ //const bool as_faero = as_aero &&
+ // (m_cfg.aeromodel >= btSoftBody::eAeroModel::F_TwoSided);
const bool use_medium = as_aero;
const bool use_volume = as_pressure ||
as_volume ;
@@ -2874,7 +2975,7 @@ void btSoftBody::applyForces()
/* Per face forces */
for(i=0,ni=m_faces.size();i<ni;++i)
{
- btSoftBody::Face& f=m_faces[i];
+ // btSoftBody::Face& f=m_faces[i];
/* Aerodynamics */
addAeroForceToFace(m_windVelocity, i);
@@ -2910,9 +3011,8 @@ void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti)
{
const RContact& c = psb->m_rcontacts[i];
const sCti& cti = c.m_cti;
-
if (cti.m_colObj->hasContactResponse()) {
- btRigidBody* tmpRigid = btRigidBody::upcast(cti.m_colObj);
+ btRigidBody* tmpRigid = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
const btVector3 va = tmpRigid ? tmpRigid->getVelocityInLocalPoint(c.m_c1)*dt : btVector3(0,0,0);
const btVector3 vb = c.m_node->m_x-c.m_node->m_q;
const btVector3 vr = vb-va;
@@ -3033,7 +3133,7 @@ btSoftBody::vsolver_t btSoftBody::getSolver(eVSolver::_ solver)
}
//
-void btSoftBody::defaultCollisionHandler(btCollisionObject* pco)
+void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap)
{
switch(m_cfg.collisions&fCollision::RVSmask)
@@ -3041,22 +3141,22 @@ void btSoftBody::defaultCollisionHandler(btCollisionObject* pco)
case fCollision::SDF_RS:
{
btSoftColliders::CollideSDF_RS docollide;
- btRigidBody* prb1=btRigidBody::upcast(pco);
- btTransform wtr=pco->getWorldTransform();
+ btRigidBody* prb1=(btRigidBody*) btRigidBody::upcast(pcoWrap->getCollisionObject());
+ btTransform wtr=pcoWrap->getWorldTransform();
- const btTransform ctr=pco->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;
- pco->getCollisionShape()->getAabb( pco->getWorldTransform(),
+ pcoWrap->getCollisionShape()->getAabb( pcoWrap->getWorldTransform(),
mins,
maxs);
volume=btDbvtVolume::FromMM(mins,maxs);
volume.Expand(btVector3(basemargin,basemargin,basemargin));
docollide.psb = this;
- docollide.m_colObj1 = pco;
+ docollide.m_colObj1Wrap = pcoWrap;
docollide.m_rigidBody = prb1;
docollide.dynmargin = basemargin+timemargin;
@@ -3067,7 +3167,7 @@ void btSoftBody::defaultCollisionHandler(btCollisionObject* pco)
case fCollision::CL_RS:
{
btSoftColliders::CollideCL_RS collider;
- collider.Process(this,pco);
+ collider.ProcessColObj(this,pcoWrap);
}
break;
}
@@ -3086,7 +3186,7 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb)
if (this!=psb || psb->m_cfg.collisions&fCollision::CL_SELF)
{
btSoftColliders::CollideCL_SS docollide;
- docollide.Process(this,psb);
+ docollide.ProcessSoftSoft(this,psb);
}
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-22 22:45:22 +0300