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build islands once and process islands arbitrary number of times in update constraints

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This commit is contained in:
Xuchen Han
2019-08-13 14:37:45 -07:00
parent 9e6e571732
commit 07bf736aeb
7 changed files with 29 additions and 9 deletions
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8
src/BulletSoftBody/btDeformableContactProjection.cpp
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@@ -51,9 +51,11 @@ static btVector3 generateUnitOrthogonalVector(const btVector3& u)
void btDeformableContactProjection::update()
{
///solve rigid body constraints
m_world->getSolverInfo().m_numIterations = 1;
m_world->btMultiBodyDynamicsWorld::solveInternalConstraints(m_world->getSolverInfo());
{
m_world->getSolverInfo().m_numIterations = 1;
m_world->processIslands();
m_world->btMultiBodyDynamicsWorld::solveInternalConstraints(m_world->getSolverInfo()); // process constraints deferred in the previous step
}
// loop through constraints to set constrained values
for (int index = 0; index < m_constraints.size(); ++index)
{