Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add option to approximate face contact with collision quadrature points

Browse Source
This commit is contained in:
Xuchen Han
2019-11-12 17:10:39 -08:00
parent 42b5c93bad
commit 2edd94c722
3 changed files with 73 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/BulletSoftBody/btSoftBody.h
View File

@@ -802,6 +802,7 @@ public:
btScalar m_sleepingThreshold;
btScalar m_maxSpeedSquared;
bool m_useFaceContact;
btAlignedObjectArray<btVector3> m_quads; // quadrature points for collision detection
btAlignedObjectArray<btVector4> m_renderNodesInterpolationWeights;
btAlignedObjectArray<btAlignedObjectArray<const btSoftBody::Node*> > m_renderNodesParents;
@@ -1143,6 +1144,7 @@ public:
void applyForces();
void setMaxStress(btScalar maxStress);
void interpolateRenderMesh();
void setCollisionQuadrature(int N);
static void PSolve_Anchors(btSoftBody* psb, btScalar kst, btScalar ti);
static void PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti);
static void PSolve_SContacts(btSoftBody* psb, btScalar, btScalar ti);