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Velocities synchronization fix in btDeformableMultiBodyConstraintSolver::writeToSolverBody #4667

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Velocities synchronization fix in btDeformableMultiBodyConstraintSolver::writeToSolverBody #4667

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3 changes: 2 additions & 1 deletion src/BulletDynamics/ConstraintSolver/btSolverBody.h
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,8 @@ struct btSimdScalar
: m_vec128(v128)
{
}
union {
union
{
__m128 m_vec128;
float m_floats[4];
int m_ints[4];
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36 changes: 24 additions & 12 deletions src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp
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Expand Up @@ -42,7 +42,6 @@ btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations(b
// solver body velocity <- rigid body velocity
writeToSolverBody(bodies, numBodies, infoGlobal);


// std::cout << "------------Iteration " << iteration << "------------\n";
// std::cout << "m_leastSquaresResidual: " << m_leastSquaresResidual << "\n";

Expand All @@ -60,7 +59,7 @@ btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations(b
m_analyticsData.m_numBodies = numBodies;
m_analyticsData.m_numContactManifolds = numManifolds;
m_analyticsData.m_remainingLeastSquaresResidual = m_leastSquaresResidual;

m_deformableSolver->deformableBodyInternalWriteBack();
// std::cout << "[===================Next Step===================]\n";
break;
Expand Down Expand Up @@ -88,6 +87,21 @@ void btDeformableMultiBodyConstraintSolver::solveDeformableBodyGroup(btCollision
m_tmpNumMultiBodyConstraints = 0;
}

void btDeformableMultiBodyConstraintSolver::synchronizeSolverBodyWithRigidBody(btSolverBody* solverBody, btRigidBody* rigidBody)
{
// Compute the total velocity change
btVector3 totalDeltaLinearVelocity = rigidBody->getLinearVelocity() - (solverBody->m_linearVelocity + solverBody->m_deltaLinearVelocity);
btVector3 totalDeltaAngularVelocity = rigidBody->getAngularVelocity() - (solverBody->m_angularVelocity + solverBody->m_deltaAngularVelocity);

// Update the delta velocities
solverBody->m_deltaLinearVelocity += totalDeltaLinearVelocity;
solverBody->m_deltaAngularVelocity += totalDeltaAngularVelocity;

// Adjust the solver body's base velocities
solverBody->m_linearVelocity = rigidBody->getLinearVelocity() - solverBody->m_deltaLinearVelocity;
solverBody->m_angularVelocity = rigidBody->getAngularVelocity() - solverBody->m_deltaAngularVelocity;
}

void btDeformableMultiBodyConstraintSolver::writeToSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
{
// reduced soft body solver directly modifies the solver body
Expand All @@ -104,8 +118,7 @@ void btDeformableMultiBodyConstraintSolver::writeToSolverBody(btCollisionObject*
if (body && body->getInvMass())
{
btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId];
solverBody.m_linearVelocity = body->getLinearVelocity() - solverBody.m_deltaLinearVelocity;
solverBody.m_angularVelocity = body->getAngularVelocity() - solverBody.m_deltaAngularVelocity;
synchronizeSolverBodyWithRigidBody(&solverBody, body);
}
}
}
Expand All @@ -129,7 +142,6 @@ void btDeformableMultiBodyConstraintSolver::solverBodyWriteBack(const btContactS
}
}


void btDeformableMultiBodyConstraintSolver::pairDeformableAndSolverBody(btCollisionObject** bodies, int numBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal)
{
if (!m_deformableSolver->isReducedSolver())
Expand All @@ -138,29 +150,29 @@ void btDeformableMultiBodyConstraintSolver::pairDeformableAndSolverBody(btCollis
}

btReducedDeformableBodySolver* solver = static_cast<btReducedDeformableBodySolver*>(m_deformableSolver);

for (int i = 0; i < numDeformableBodies; ++i)
{
for (int k = 0; k < solver->m_nodeRigidConstraints[i].size(); ++k)
{
btReducedDeformableNodeRigidContactConstraint& constraint = solver->m_nodeRigidConstraints[i][k];
{
btReducedDeformableNodeRigidContactConstraint& constraint = solver->m_nodeRigidConstraints[i][k];

if (!constraint.m_contact->m_cti.m_colObj->isStaticObject())
{
btCollisionObject& col_obj = const_cast<btCollisionObject&>(*constraint.m_contact->m_cti.m_colObj);

// object index in the solver body pool
int bodyId = getOrInitSolverBody(col_obj, infoGlobal.m_timeStep);

const btRigidBody* body = btRigidBody::upcast(bodies[bodyId]);
if (body && body->getInvMass())
{
// std::cout << "Node: " << constraint.m_node->index << ", body: " << bodyId << "\n";
// std::cout << "Node: " << constraint.m_node->index << ", body: " << bodyId << "\n";
btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId];
constraint.setSolverBody(bodyId, solverBody);
}
}
}
}

// for (int j = 0; j < numBodies; j++)
// {
Expand All @@ -172,7 +184,7 @@ void btDeformableMultiBodyConstraintSolver::pairDeformableAndSolverBody(btCollis
// btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId];
// m_deformableSolver->pairConstraintWithSolverBody(i, bodyId, solverBody);
// }
// }
// }
}
}

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4 changes: 3 additions & 1 deletion src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h
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Expand Up @@ -40,11 +40,13 @@ btDeformableMultiBodyConstraintSolver : public btMultiBodyConstraintSolver
// write the velocity of the the solver body to the underlying rigid body
void solverBodyWriteBack(const btContactSolverInfo& infoGlobal);

void synchronizeSolverBodyWithRigidBody(btSolverBody * solverBody, btRigidBody * rigidBody);

// write the velocity of the underlying rigid body to the the the solver body
void writeToSolverBody(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal);

// let each deformable body knows which solver body is in constact
void pairDeformableAndSolverBody(btCollisionObject** bodies, int numBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal);
void pairDeformableAndSolverBody(btCollisionObject * *bodies, int numBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal);

virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject * *bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);

Expand Down