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add correct impulse matrix to multibody-deformable contact

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This commit is contained in:
Xuchen Han
2019-07-24 16:01:47 -07:00
parent 243b9fc8c7
commit 233a381e7c
14 changed files with 618 additions and 594 deletions
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4
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -422,7 +422,11 @@ void btMultiBodyDynamicsWorld::forwardKinematics()
void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
{
solveExternalForces(solverInfo);
solveInternalConstraints(solverInfo);
}
void btMultiBodyDynamicsWorld::solveInternalConstraints(btContactSolverInfo& solverInfo)
{
/// solve all the constraints for this island
m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback);

1
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
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@@ -113,6 +113,7 @@ public:
virtual void getAnalyticsData(btAlignedObjectArray<struct btSolverAnalyticsData>& m_islandAnalyticsData) const;
virtual void solveExternalForces(btContactSolverInfo& solverInfo);
virtual void solveInternalConstraints(btContactSolverInfo& solverInfo);
};
#endif //BT_MULTIBODY_DYNAMICS_WORLD_H