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add support for deformable vs. deformable contact

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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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3
src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp
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@@ -23,7 +23,7 @@ btScalar btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlyIteration
///this is a special step to resolve penetrations (just for contacts)
solveGroupCacheFriendlySplitImpulseIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
m_maxOverrideNumSolverIterations = 150;
// m_maxOverrideNumSolverIterations = 150;
int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations;
for (int iteration = 0; iteration < maxIterations; iteration++)
{
@@ -39,7 +39,6 @@ btScalar btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlyIteration
printf("residual = %f at iteration #%d\n", m_leastSquaresResidual, iteration);
#endif
m_analyticsData.m_numSolverCalls++;
std::cout << "Contact Residual = " << m_leastSquaresResidual << std::endl;
m_analyticsData.m_numIterationsUsed = iteration+1;
m_analyticsData.m_islandId = -2;
if (numBodies>0)