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add dynamic friction for deformable contact

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This commit is contained in:
Xuchen Han
2019-09-20 13:53:34 -07:00
parent 416e516735
commit 20abbc9ee7
1 changed files with 39 additions and 2 deletions
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39
src/BulletSoftBody/btDeformableContactProjection.cpp
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@@ -387,14 +387,51 @@ void btDeformableContactProjection::applyDynamicFriction(TVStack& f)
// it's ok to add the friction force generated by the entire impulse here because the normal component of the residual will be projected out anyway. // it's ok to add the friction force generated by the entire impulse here because the normal component of the residual will be projected out anyway.
for (int k = 0; k < 3; ++k) for (int k = 0; k < 3; ++k)
{ {
if (face->m_n[0]->index == i) if (face->m_n[k]->index == i)
{
if (face->m_n[k]->m_im != 0)
{ {
f[i] += constraint->getDv(face->m_n[k])* (1./face->m_n[k]->m_im); f[i] += constraint->getDv(face->m_n[k])* (1./face->m_n[k]->m_im);
}
break; break;
} }
} }
} }
} }
if (m_deformableConstraints.find(i) != NULL)
{
btAlignedObjectArray<btDeformableFaceNodeContactConstraint*>& constraintsList = *m_deformableConstraints[i];
for (int j = 0; j < constraintsList.size(); ++j)
{
const btDeformableFaceNodeContactConstraint* constraint = constraintsList[j];
btSoftBody::Face* face = constraint->getContact()->m_face;
btSoftBody::Node* node = constraint->getContact()->m_node;
// it's ok to add the friction force generated by the entire impulse here because the normal component of the residual will be projected out anyway.
if (node->index == i)
{
if (node->m_im != 0)
{
f[i] += constraint->getDv(node)*(1./node->m_im);
}
}
else
{
for (int k = 0; k < 3; ++k)
{
if (face->m_n[k]->index == i)
{
if (face->m_n[k]->m_im != 0)
{
f[i] += constraint->getDv(face->m_n[k])* (1./face->m_n[k]->m_im);
}
break;
}
}
}
}
}
} }
} }