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Code Releases Wiki Activity

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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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)