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Support kinematic nodes

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This commit is contained in:
Irlan 2019-05-28 14:01:27 -03:00
parent df21ca37d7
commit 0e5262629d
3 changed files with 12 additions and 5 deletions
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2
include/bounce/softbody/softbody_node.h
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@ -69,10 +69,12 @@ struct b3NodeBodyContactWorldPoint
}; };
// Static node: Can be moved manually. // Static node: Can be moved manually.
// Kinematic node: Non-zero velocity, can be moved by the solver.
// Dynamic node: Non-zero velocity determined by force, can be moved by the solver. // Dynamic node: Non-zero velocity determined by force, can be moved by the solver.
enum b3SoftBodyNodeType enum b3SoftBodyNodeType
{ {
e_staticSoftBodyNode, e_staticSoftBodyNode,
e_kinematicSoftBodyNode,
e_dynamicSoftBodyNode e_dynamicSoftBodyNode
}; };

5
src/bounce/softbody/softbody.cpp
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@ -839,6 +839,11 @@ void b3SoftBody::Draw() const
b3Draw_draw->DrawPoint(v, 4.0f, b3Color_white); b3Draw_draw->DrawPoint(v, 4.0f, b3Color_white);
} }
if (n->m_type == e_kinematicSoftBodyNode)
{
b3Draw_draw->DrawPoint(v, 4.0f, b3Color_blue);
}
if (n->m_type == e_dynamicSoftBodyNode) if (n->m_type == e_dynamicSoftBodyNode)
{ {
b3Draw_draw->DrawPoint(v, 4.0f, b3Color_green); b3Draw_draw->DrawPoint(v, 4.0f, b3Color_green);

10
src/bounce/softbody/softbody_solver.cpp
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@ -92,7 +92,7 @@ static void b3ExtractRotation(b3Mat33& out, b3Quat& q, const b3Mat33& A, u32 max
static void b3SolveMPCG(b3DenseVec3& x, static void b3SolveMPCG(b3DenseVec3& x,
const b3SparseMat33& A, const b3DenseVec3& b, const b3SparseMat33& A, const b3DenseVec3& b,
const b3DenseVec3& x0, const b3DiagMat33& S, u32 maxIterations = 20) const b3DenseVec3& z, const b3DiagMat33& S, u32 maxIterations = 20)
{ {
b3DiagMat33 P(A.rowCount); b3DiagMat33 P(A.rowCount);
b3DiagMat33 invP(A.rowCount); b3DiagMat33 invP(A.rowCount);
@ -116,7 +116,7 @@ static void b3SolveMPCG(b3DenseVec3& x,
invP[i] = b3Diagonal(D.x.x, D.y.y, D.z.z); invP[i] = b3Diagonal(D.x.x, D.y.y, D.z.z);
} }
x = x0; x = z;
float32 delta_0 = b3Dot(S * b, P * (S * b)); float32 delta_0 = b3Dot(S * b, P * (S * b));
@ -200,7 +200,7 @@ void b3SoftBodySolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIter
b3DenseVec3 p(m_mesh->vertexCount); b3DenseVec3 p(m_mesh->vertexCount);
b3DenseVec3 v(m_mesh->vertexCount); b3DenseVec3 v(m_mesh->vertexCount);
b3DenseVec3 fe(m_mesh->vertexCount); b3DenseVec3 fe(m_mesh->vertexCount);
b3DenseVec3 x0(m_mesh->vertexCount); b3DenseVec3 z(m_mesh->vertexCount);
b3DiagMat33 S(m_mesh->vertexCount); b3DiagMat33 S(m_mesh->vertexCount);
for (u32 i = 0; i < m_mesh->vertexCount; ++i) for (u32 i = 0; i < m_mesh->vertexCount; ++i)
@ -218,7 +218,7 @@ void b3SoftBodySolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIter
p[i] = n->m_position; p[i] = n->m_position;
v[i] = n->m_velocity; v[i] = n->m_velocity;
fe[i] = n->m_force; fe[i] = n->m_force;
x0[i] = n->m_velocity; z[i] = n->m_velocity;
// Apply gravity // Apply gravity
if (n->m_type == e_dynamicSoftBodyNode) if (n->m_type == e_dynamicSoftBodyNode)
@ -382,7 +382,7 @@ void b3SoftBodySolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIter
// Solve Ax = b // Solve Ax = b
b3DenseVec3 sx(m_mesh->vertexCount); b3DenseVec3 sx(m_mesh->vertexCount);
b3SolveMPCG(sx, A, b, x0, S); b3SolveMPCG(sx, A, b, z, S);
// Solve constraints // Solve constraints
b3SoftBodyContactSolverDef contactSolverDef; b3SoftBodyContactSolverDef contactSolverDef;