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add support for deformable vs. deformable contact

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This commit is contained in:
Xuchen Han
2019-09-16 16:03:36 -07:00
parent 403eb62dfa
commit 1bfb226be8
12 changed files with 426 additions and 76 deletions
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9
src/BulletSoftBody/btDeformableContactProjection.h
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@@ -31,7 +31,11 @@ public:
btHashMap<btHashInt, btAlignedObjectArray<btDeformableNodeRigidContactConstraint> > m_nodeRigidConstraints;
// map from node index to face rigid constraint
btHashMap<btHashInt, btAlignedObjectArray<btDeformableFaceRigidContactConstraint*> > m_faceRigidConstraints;
btAlignedObjectArray<btDeformableFaceRigidContactConstraint*> m_allFaceConstraints;
// map from node index to deformable constraint
btHashMap<btHashInt, btAlignedObjectArray<btDeformableFaceNodeContactConstraint*> > m_deformableConstraints;
// all constraints involving face
btAlignedObjectArray<btDeformableContactConstraint*> m_allFaceConstraints;
// map from node index to projection directions
btHashMap<btHashInt, btAlignedObjectArray<btVector3> > m_projectionsDict;
@@ -51,9 +55,6 @@ public:
// add to friction
virtual void applyDynamicFriction(TVStack& f);
// apply constraints to x in Ax=b
virtual void enforceConstraint(TVStack& x);
// update the constraints
virtual btScalar update();