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switched to deformable rigid contact from Jacobi to Gauss Seidel

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This commit is contained in:
Xuchen Han
2019-09-11 17:04:06 -07:00
parent f99cf56149
commit 109d9353af
9 changed files with 312 additions and 55 deletions
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8
src/BulletSoftBody/btDeformableContactProjection.h
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@@ -21,6 +21,7 @@
#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
#include "btDeformableContactConstraint.h"
#include "LinearMath/btHashMap.h"
#include <vector>
class btDeformableContactProjection : public btCGProjection
{
public:
@@ -28,9 +29,10 @@ public:
btHashMap<btHashInt, btDeformableStaticConstraint> m_staticConstraints;
// map from node index to node rigid constraint
btHashMap<btHashInt, btAlignedObjectArray<btDeformableNodeRigidContactConstraint> > m_nodeRigidConstraints;
// // map from node index to face rigid constraint
// btHashMap<btHashInt, btAlignedObjectArray<btDeformableFaceRigidContactConstraint> > m_faceRigidConstraints;
// map from node index to face rigid constraint
btHashMap<btHashInt, btAlignedObjectArray<btDeformableFaceRigidContactConstraint*> > m_faceRigidConstraints;
btAlignedObjectArray<btDeformableFaceRigidContactConstraint*> m_allFaceConstraints;
// map from node index to projection directions
btHashMap<btHashInt, btAlignedObjectArray<btVector3> > m_projectionsDict;