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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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15
src/BulletSoftBody/btDeformableContactProjection.cpp
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@@ -51,6 +51,10 @@ void btDeformableContactProjection::setConstraints()
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 (psb->m_nodes[j].m_im == 0)
@@ -61,10 +65,15 @@ void btDeformableContactProjection::setConstraints()
}
}
// set Deformable Node vs. Rigid constraint
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
if (!psb->isActive())
{
continue;
}
// set Deformable Node vs. Rigid constraint
for (int j = 0; j < psb->m_nodeRigidContacts.size(); ++j)
{
const btSoftBody::DeformableNodeRigidContact& contact = psb->m_nodeRigidContacts[j];
@@ -242,6 +251,10 @@ void btDeformableContactProjection::setProjection()
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)
{
int index = psb->m_nodes[j].index;