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add contact constraint as projections in CG

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This commit is contained in:
Xuchen Han
2019-07-04 23:07:02 -07:00
parent 32836b0694
commit 35ce2ae0e2
9 changed files with 392 additions and 141 deletions
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42
src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp
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@@ -18,12 +18,52 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS
{
btAssert("Solver initialization failed\n");
}
// from btDiscreteDynamicsWorld singleStepSimulation
if (0 != m_internalPreTickCallback)
{
(*m_internalPreTickCallback)(this, timeStep);
}
btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::internalSingleStepSimulation(timeStep);
///apply gravity, predict motion
btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep);
btDispatcherInfo& dispatchInfo = btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::getDispatchInfo();
dispatchInfo.m_timeStep = timeStep;
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_debugDraw = btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::getDebugDrawer();
// only used in CCD
// createPredictiveContacts(timeStep);
///perform collision detection
btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::performDiscreteCollisionDetection();
btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::calculateSimulationIslands();
btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::getSolverInfo().m_timeStep = timeStep;
if (0 != m_internalTickCallback)
{
(*m_internalTickCallback)(this, timeStep);
}
// btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::internalSingleStepSimulation(timeStep);
///solve deformable bodies constraints
solveDeformableBodiesConstraints(timeStep);
predictUnconstraintMotion(timeStep);
//integrate transforms
btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::integrateTransforms(timeStep);
///update vehicle simulation
btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::updateActions(timeStep);
btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::updateActivationState(timeStep);
///update soft bodies
m_deformableBodySolver->updateSoftBodies();