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enable deformable sleeping

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This commit is contained in:
Xuchen Han
2019-10-16 12:00:02 -07:00
parent 3ae193ff15
commit 3d622a3bee
9 changed files with 162 additions and 54 deletions
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16
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -200,7 +200,7 @@ void btDeformableBodySolver::updateDv(btScalar scale)
void btDeformableBodySolver::computeStep(TVStack& ddv, const TVStack& residual)
{
m_cg.solve(*m_objective, ddv, residual, false);
m_cg.solve(*m_objective, ddv, residual);
}
void btDeformableBodySolver::reinitialize(const btAlignedObjectArray<btSoftBody *>& softBodies, btScalar dt)
@@ -248,6 +248,11 @@ void btDeformableBodySolver::updateVelocity()
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
psb->m_maxSpeedSquared = 0;
if (!psb->isActive())
{
continue;
}
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
// set NaN to zero;
@@ -256,6 +261,7 @@ void btDeformableBodySolver::updateVelocity()
m_dv[counter].setZero();
}
psb->m_nodes[j].m_v = m_backupVelocity[counter]+m_dv[counter];
psb->m_maxSpeedSquared = btMax(psb->m_maxSpeedSquared, psb->m_nodes[j].m_v.length2());
++counter;
}
}
@@ -267,6 +273,10 @@ void btDeformableBodySolver::updateTempPosition()
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
if (!psb->isActive())
{
continue;
}
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
psb->m_nodes[j].m_q = psb->m_nodes[j].m_x + m_dt * psb->m_nodes[j].m_v;
@@ -295,6 +305,10 @@ void btDeformableBodySolver::setupDeformableSolve(bool implicit)
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
if (!psb->isActive())
{
continue;
}
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
if (implicit)