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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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27
src/BulletSoftBody/btCGProjection.h
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@@ -21,11 +21,10 @@ struct DeformableContactConstraint
btAlignedObjectArray<btScalar> m_value;
// the magnitude of the total impulse the node applied to the rb in the normal direction in the cg solve
btAlignedObjectArray<btScalar> m_accumulated_normal_impulse;
btAlignedObjectArray<btMultiBodyJacobianData> m_normal_jacobian;
DeformableContactConstraint(const btSoftBody::RContact& rcontact, const btMultiBodyJacobianData& jacobian)
DeformableContactConstraint(const btSoftBody::RContact& rcontact)
{
append(rcontact, jacobian);
append(rcontact);
}
DeformableContactConstraint(const btVector3 dir)
@@ -34,8 +33,6 @@ struct DeformableContactConstraint
m_direction.push_back(dir);
m_value.push_back(0);
m_accumulated_normal_impulse.push_back(0);
btMultiBodyJacobianData j;
m_normal_jacobian.push_back(j);
}
DeformableContactConstraint()
@@ -44,17 +41,14 @@ struct DeformableContactConstraint
m_direction.push_back(btVector3(0,0,0));
m_value.push_back(0);
m_accumulated_normal_impulse.push_back(0);
btMultiBodyJacobianData j;
m_normal_jacobian.push_back(j);
}
void append(const btSoftBody::RContact& rcontact, const btMultiBodyJacobianData& jacobian)
void append(const btSoftBody::RContact& rcontact)
{
m_contact.push_back(&rcontact);
m_direction.push_back(rcontact.m_cti.m_normal);
m_value.push_back(0);
m_accumulated_normal_impulse.push_back(0);
m_normal_jacobian.push_back(jacobian);
}
~DeformableContactConstraint()
@@ -77,8 +71,6 @@ struct DeformableFrictionConstraint
btAlignedObjectArray<btVector3> m_direction_prev;
btAlignedObjectArray<bool> m_released; // whether the contact is released
btAlignedObjectArray<btMultiBodyJacobianData> m_complementary_jacobian;
btAlignedObjectArray<btVector3> m_complementaryDirection;
// the total impulse the node applied to the rb in the tangential direction in the cg solve
@@ -89,12 +81,6 @@ struct DeformableFrictionConstraint
append();
}
DeformableFrictionConstraint(const btVector3& complementaryDir, const btMultiBodyJacobianData& jacobian)
{
append();
addJacobian(complementaryDir, jacobian);
}
void append()
{
m_static.push_back(false);
@@ -112,13 +98,6 @@ struct DeformableFrictionConstraint
m_accumulated_tangent_impulse.push_back(btVector3(0,0,0));
m_released.push_back(false);
}
void addJacobian(const btVector3& complementaryDir, const btMultiBodyJacobianData& jacobian)
{
m_complementary_jacobian.push_back(jacobian);
m_complementaryDirection.push_back(complementaryDir);
}
};
class btCGProjection