Bullet Collision Detection & Physics Library
btDeformableMousePickingForce.h
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1 /*
2  Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
3 
4  Bullet Continuous Collision Detection and Physics Library
5  Copyright (c) 2019 Google Inc. http://bulletphysics.org
6  This software is provided 'as-is', without any express or implied warranty.
7  In no event will the authors be held liable for any damages arising from the use of this software.
8  Permission is granted to anyone to use this software for any purpose,
9  including commercial applications, and to alter it and redistribute it freely,
10  subject to the following restrictions:
11  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.
12  2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13  3. This notice may not be removed or altered from any source distribution.
14  */
15 
16 #ifndef BT_MOUSE_PICKING_FORCE_H
17 #define BT_MOUSE_PICKING_FORCE_H
18 
20 
22 {
23  // If true, the damping force will be in the direction of the spring
24  // If false, the damping force will be in the direction of the velocity
29 
30 public:
32  btDeformableMousePickingForce(btScalar k, btScalar d, const btSoftBody::Face& face, btVector3 mouse_pos, btScalar maxForce = 0.3) : m_elasticStiffness(k), m_dampingStiffness(d), m_face(face), m_mouse_pos(mouse_pos), m_maxForce(maxForce)
33  {
34  }
35 
36  virtual void addScaledForces(btScalar scale, TVStack& force)
37  {
38  addScaledDampingForce(scale, force);
39  addScaledElasticForce(scale, force);
40  }
41 
42  virtual void addScaledExplicitForce(btScalar scale, TVStack& force)
43  {
44  addScaledElasticForce(scale, force);
45  }
46 
47  virtual void addScaledDampingForce(btScalar scale, TVStack& force)
48  {
49  for (int i = 0; i < 3; ++i)
50  {
51  btVector3 v_diff = m_face.m_n[i]->m_v;
52  btVector3 scaled_force = scale * m_dampingStiffness * v_diff;
53  if ((m_face.m_n[i]->m_x - m_mouse_pos).norm() > SIMD_EPSILON)
54  {
55  btVector3 dir = (m_face.m_n[i]->m_x - m_mouse_pos).normalized();
56  scaled_force = scale * m_dampingStiffness * v_diff.dot(dir) * dir;
57  }
58  force[m_face.m_n[i]->index] -= scaled_force;
59  }
60  }
61 
62  virtual void addScaledElasticForce(btScalar scale, TVStack& force)
63  {
64  btScalar scaled_stiffness = scale * m_elasticStiffness;
65  for (int i = 0; i < 3; ++i)
66  {
67  btVector3 dir = (m_face.m_n[i]->m_q - m_mouse_pos);
68  btVector3 scaled_force = scaled_stiffness * dir;
69  if (scaled_force.safeNorm() > m_maxForce)
70  {
71  scaled_force.safeNormalize();
72  scaled_force *= m_maxForce;
73  }
74  force[m_face.m_n[i]->index] -= scaled_force;
75  }
76  }
77 
78  virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df)
79  {
80  btScalar scaled_k_damp = m_dampingStiffness * scale;
81  for (int i = 0; i < 3; ++i)
82  {
83  btVector3 local_scaled_df = scaled_k_damp * dv[m_face.m_n[i]->index];
84  if ((m_face.m_n[i]->m_x - m_mouse_pos).norm() > SIMD_EPSILON)
85  {
86  btVector3 dir = (m_face.m_n[i]->m_x - m_mouse_pos).normalized();
87  local_scaled_df = scaled_k_damp * dv[m_face.m_n[i]->index].dot(dir) * dir;
88  }
89  df[m_face.m_n[i]->index] -= local_scaled_df;
90  }
91  }
92 
94 
95  virtual double totalElasticEnergy(btScalar dt)
96  {
97  double energy = 0;
98  for (int i = 0; i < 3; ++i)
99  {
100  btVector3 dir = (m_face.m_n[i]->m_q - m_mouse_pos);
101  btVector3 scaled_force = m_elasticStiffness * dir;
102  if (scaled_force.safeNorm() > m_maxForce)
103  {
104  scaled_force.safeNormalize();
105  scaled_force *= m_maxForce;
106  }
107  energy += 0.5 * scaled_force.dot(dir);
108  }
109  return energy;
110  }
111 
112  virtual double totalDampingEnergy(btScalar dt)
113  {
114  double energy = 0;
115  for (int i = 0; i < 3; ++i)
116  {
117  btVector3 v_diff = m_face.m_n[i]->m_v;
118  btVector3 scaled_force = m_dampingStiffness * v_diff;
119  if ((m_face.m_n[i]->m_x - m_mouse_pos).norm() > SIMD_EPSILON)
120  {
121  btVector3 dir = (m_face.m_n[i]->m_x - m_mouse_pos).normalized();
122  scaled_force = m_dampingStiffness * v_diff.dot(dir) * dir;
123  }
124  energy -= scaled_force.dot(m_face.m_n[i]->m_v) / dt;
125  }
126  return energy;
127  }
128 
129  virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df)
130  {
131  btScalar scaled_stiffness = scale * m_elasticStiffness;
132  for (int i = 0; i < 3; ++i)
133  {
134  btVector3 dir = (m_face.m_n[i]->m_q - m_mouse_pos);
135  btScalar dir_norm = dir.norm();
136  btVector3 dir_normalized = (dir_norm > SIMD_EPSILON) ? dir.normalized() : btVector3(0, 0, 0);
137  int id = m_face.m_n[i]->index;
138  btVector3 dx_diff = dx[id];
139  btScalar r = 0; // rest length is 0 for picking spring
140  btVector3 scaled_df = btVector3(0, 0, 0);
141  if (dir_norm > SIMD_EPSILON)
142  {
143  scaled_df -= scaled_stiffness * dir_normalized.dot(dx_diff) * dir_normalized;
144  scaled_df += scaled_stiffness * dir_normalized.dot(dx_diff) * ((dir_norm - r) / dir_norm) * dir_normalized;
145  scaled_df -= scaled_stiffness * ((dir_norm - r) / dir_norm) * dx_diff;
146  }
147  df[id] += scaled_df;
148  }
149  }
150 
151  void setMousePos(const btVector3& p)
152  {
153  m_mouse_pos = p;
154  }
155 
157  {
158  return BT_MOUSE_PICKING_FORCE;
159  }
160 };
161 
162 #endif /* btMassSpring_h */
SIMD_EPSILON
#define SIMD_EPSILON
Definition: btScalar.h:543
btDeformableMousePickingForce::m_mouse_pos
btVector3 m_mouse_pos
Definition: btDeformableMousePickingForce.h:27
btDeformableMousePickingForce::totalElasticEnergy
virtual double totalElasticEnergy(btScalar dt)
Definition: btDeformableMousePickingForce.h:95
btDeformableMousePickingForce::btDeformableMousePickingForce
btDeformableMousePickingForce(btScalar k, btScalar d, const btSoftBody::Face &face, btVector3 mouse_pos, btScalar maxForce=0.3)
Definition: btDeformableMousePickingForce.h:32
btDeformableMousePickingForce::addScaledDampingForceDifferential
virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack &dv, TVStack &df)
Definition: btDeformableMousePickingForce.h:78
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btDeformableMousePickingForce::buildDampingForceDifferentialDiagonal
virtual void buildDampingForceDifferentialDiagonal(btScalar scale, TVStack &diagA)
Definition: btDeformableMousePickingForce.h:93
btDeformableMousePickingForce::addScaledExplicitForce
virtual void addScaledExplicitForce(btScalar scale, TVStack &force)
Definition: btDeformableMousePickingForce.h:42
btVector3::safeNorm
btScalar safeNorm() const
Return the norm (length) of the vector.
Definition: btVector3.h:269
btVector3::dot
btScalar dot(const btVector3 &v) const
Return the dot product.
Definition: btVector3.h:229
btDeformableMousePickingForce::m_face
const btSoftBody::Face & m_face
Definition: btDeformableMousePickingForce.h:26
BT_MOUSE_PICKING_FORCE
@ BT_MOUSE_PICKING_FORCE
Definition: btDeformableLagrangianForce.h:30
btSoftBody::Node::m_q
btVector3 m_q
Definition: btSoftBody.h:270
btSoftBody::Node::m_x
btVector3 m_x
Definition: btSoftBody.h:269
btDeformableMousePickingForce::m_elasticStiffness
btScalar m_elasticStiffness
Definition: btDeformableMousePickingForce.h:25
btSoftBody::Face
Definition: btSoftBody.h:306
btDeformableLagrangianForce
Definition: btDeformableLagrangianForce.h:39
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btSoftBody::Node::index
int index
Definition: btSoftBody.h:280
btDeformableMousePickingForce::TVStack
btAlignedObjectArray< btVector3 > TVStack
Definition: btDeformableMousePickingForce.h:31
btAlignedObjectArray< btVector3 >
btDeformableMousePickingForce::totalDampingEnergy
virtual double totalDampingEnergy(btScalar dt)
Definition: btDeformableMousePickingForce.h:112
btDeformableMousePickingForce::getForceType
virtual btDeformableLagrangianForceType getForceType()
Definition: btDeformableMousePickingForce.h:156
btDeformableMousePickingForce::m_maxForce
btScalar m_maxForce
Definition: btDeformableMousePickingForce.h:28
btDeformableMousePickingForce::addScaledDampingForce
virtual void addScaledDampingForce(btScalar scale, TVStack &force)
Definition: btDeformableMousePickingForce.h:47
btDeformableLagrangianForceType
btDeformableLagrangianForceType
Definition: btDeformableLagrangianForce.h:24
btDeformableMousePickingForce::setMousePos
void setMousePos(const btVector3 &p)
Definition: btDeformableMousePickingForce.h:151
btVector3::norm
btScalar norm() const
Return the norm (length) of the vector.
Definition: btVector3.h:263
btSoftBody::Face::m_n
Node * m_n[3]
Definition: btSoftBody.h:307
btDeformableLagrangianForce.h
btSoftBody::Node::m_v
btVector3 m_v
Definition: btSoftBody.h:271
btVector3::normalized
btVector3 normalized() const
Return a normalized version of this vector.
Definition: btVector3.h:949
btVector3::safeNormalize
btVector3 & safeNormalize()
Definition: btVector3.h:286
btDeformableMousePickingForce::addScaledElasticForceDifferential
virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack &dx, TVStack &df)
Definition: btDeformableMousePickingForce.h:129
btDeformableMousePickingForce::addScaledForces
virtual void addScaledForces(btScalar scale, TVStack &force)
Definition: btDeformableMousePickingForce.h:36
btDeformableMousePickingForce::addScaledElasticForce
virtual void addScaledElasticForce(btScalar scale, TVStack &force)
Definition: btDeformableMousePickingForce.h:62
btDeformableMousePickingForce::m_dampingStiffness
btScalar m_dampingStiffness
Definition: btDeformableMousePickingForce.h:25
btDeformableMousePickingForce
Definition: btDeformableMousePickingForce.h:22