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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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4
src/BulletSoftBody/btSoftBody.cpp
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@@ -2368,7 +2368,7 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO
btVector3 guess(0,0,0);
const btConvexShape* csh = static_cast<const btConvexShape*>(shp);
btGjkEpaSolver2::SignedDistance(&triangle, triangle_transform, csh, wtr, guess, results);
btScalar dst = results.distance;
btScalar dst = results.distance - margin;
contact_point = results.witnesses[0];
getBarycentric(contact_point, f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary);
if (!predict)
@@ -3431,7 +3431,7 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap
docollideFace.m_rigidBody = prb1;
docollideFace.dynmargin = basemargin + timemargin;
docollideFace.stamargin = basemargin;
m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace);
// m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace);
}
break;
}