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bug fix in friction; accumulate friction impulses in cg; forbid switching from static to dynamic friction

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This commit is contained in:
Xuchen Han
2019-07-16 15:28:33 -07:00
parent befab4eab6
commit 2fc376e8f5
5 changed files with 124 additions and 56 deletions
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28
src/BulletSoftBody/btCGProjection.h
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@@ -39,17 +39,27 @@ struct Constraint
struct Friction
{
bool m_static;
btScalar m_value;
btVector3 m_direction;
btAlignedObjectArray<bool> m_static;
btAlignedObjectArray<btScalar> m_value;
btAlignedObjectArray<btVector3> m_direction;
bool m_static_prev;
btScalar m_value_prev;
btVector3 m_direction_prev;
btAlignedObjectArray<bool> m_static_prev;
btAlignedObjectArray<btScalar> m_value_prev;
btAlignedObjectArray<btVector3> m_direction_prev;
btAlignedObjectArray<btVector3> m_accumulated_impulse;
Friction()
{
m_direction_prev.setZero();
m_direction.setZero();
m_static.push_back(false);
m_static_prev.push_back(false);
m_direction.push_back(btVector3(0,0,0));
m_direction_prev.push_back(btVector3(0,0,0));
m_value.push_back(0);
m_value_prev.push_back(0);
m_accumulated_impulse.push_back(btVector3(0,0,0));
}
};
@@ -65,7 +75,7 @@ public:
std::unordered_map<btSoftBody::Node *, size_t> m_indices;
const btScalar& m_dt;
std::unordered_map<btSoftBody::Node *, btAlignedObjectArray<Constraint> > m_constraints;
std::unordered_map<btSoftBody::Node *, Friction > m_frictions;
std::unordered_map<btSoftBody::Node *, btAlignedObjectArray<Friction> > m_frictions;
btCGProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt)
: m_softBodies(softBodies)