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add option for deformable rigid split impulse

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This commit is contained in:
Xuchen Han
2019-11-05 18:07:32 -08:00
parent fb85b2e05f
commit 13314360a8
15 changed files with 571 additions and 3 deletions
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14
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -36,7 +36,7 @@ btDeformableBodySolver::~btDeformableBodySolver()
void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt)
{
BT_PROFILE("solveConstraints");
BT_PROFILE("solveDeformableConstraints");
if (!m_implicit)
{
m_objective->computeResidual(solverdt, m_residual);
@@ -241,6 +241,16 @@ btScalar btDeformableBodySolver::solveContactConstraints()
return maxSquaredResidual;
}
btScalar btDeformableBodySolver::solveSplitImpulse(const btContactSolverInfo& infoGlobal)
{
BT_PROFILE("solveSplitImpulse");
return m_objective->m_projection.solveSplitImpulse(infoGlobal);
}
void btDeformableBodySolver::splitImpulseSetup(const btContactSolverInfo& infoGlobal)
{
m_objective->m_projection.splitImpulseSetup(infoGlobal);
}
void btDeformableBodySolver::updateVelocity()
{
@@ -321,7 +331,7 @@ void btDeformableBodySolver::setupDeformableSolve(bool implicit)
}
else
m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter];
psb->m_nodes[j].m_v = m_backupVelocity[counter];
psb->m_nodes[j].m_v = m_backupVelocity[counter] + psb->m_nodes[j].m_vsplit;
++counter;
}
}