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add back preTickCallback & disable position Correction for more stability

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This commit is contained in:
Xuchen Han
2019-09-09 16:34:54 -07:00
committed by Xuchen Han
parent acfcc3fc9a
commit 36278edc00
1 changed files with 8 additions and 3 deletions
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11
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
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@@ -37,6 +37,10 @@ The algorithm also closely resembles the one in http://physbam.stanford.edu/~fed
void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
{
BT_PROFILE("internalSingleStepSimulation");
if (0 != m_internalPreTickCallback)
{
(*m_internalPreTickCallback)(this, timeStep);
}
reinitialize(timeStep);
// add gravity to velocity of rigid and multi bodys
applyRigidBodyGravity(timeStep);
@@ -144,8 +148,8 @@ void btDeformableMultiBodyDynamicsWorld::positionCorrection(btScalar timeStep)
void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
{
BT_PROFILE("integrateTransforms");
m_deformableBodySolver->backupVelocity();
positionCorrection(timeStep);
//m_deformableBodySolver->backupVelocity();
//positionCorrection(timeStep);
btMultiBodyDynamicsWorld::integrateTransforms(timeStep);
for (int i = 0; i < m_softBodies.size(); ++i)
{
@@ -170,8 +174,9 @@ void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
node.m_q = node.m_x;
node.m_vn = node.m_v;
}
psb->interpolateRenderMesh();
}
m_deformableBodySolver->revertVelocity();
//m_deformableBodySolver->revertVelocity();
}
void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep)